Exosuit System

• US 20140277739A1
• Filed: 03/12/2014
• Published: 09/18/2014
• Est. Priority Date: 03/15/2013
• Status: Active Grant

• Current Assignee: SRI International, Inc.
• Original Assignee: SRI International, Inc.
• Inventors: Kornbluh, Roy David, Kernbuam, Alexander Steele, Witherspoon, Katherine Goss, McCoy, Brian Keith, Ziemba, Adam Arnold Edward, Birkmeyer, Paul Michael, Mahoney, Richard M., Low, Thomas
• Granted Patent: US 9,266,233 B2
• Time in Patent Office: Days
• US Class Current: 700/260
• CPC Class Codes: A41D 1/005 with embedded cable or connector
• CPC Class Codes: A41D 13/002 with controlled internal environment
• CPC Class Codes: A41D 2400/38 Shaping the contour of the body or adjusting the figure
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: B25J 9/1615 characterised by special kind of manipulator, e.g. planar, scara, gantry, cantilever, space, closed chain, passive/active joints and tendon driven manipulators
• CPC Class Codes: B25J 9/1633 compliant, force, torque control, e.g. combined with position control
• CPC Class Codes: F16D 28/00 Electrically-actuated clutches arrangements for synchronisation F16D23/02; clutches actuated directly by means of an electromagnet F16D27/00; automatic clutches F16D43/00 - F16D45/00; external control F16D48/00
• CPC Class Codes: G05B 2219/36429 Power assisted positioning
• CPC Class Codes: G05B 2219/39345 Active compliance control, control tension of spring with dc motor
• CPC Class Codes: G05B 2219/40305 Exoskeleton, human robot interaction, extenders
• CPC Class Codes: G16Z 99/00 Subject matter not provided for in other main groups of this subclass
• CPC Class Codes: Y10S 901/02 Arm motion controller
• CPC Class Codes: Y10T 29/49826 Assembling or joining

Abstract

A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer.

Claims

1. A programmable body augmentation system, comprising:

a flexible suit configured to be worn over at least a portion of a human body;

one or more flexible linear actuators coupled to the flexible suit, wherein the one or more flexible linear actuators are operable to apply forces between segments of the human body such that the forces applied by the one or more flexible linear actuators augment forces applied by musculature in the human body;

one or more clutched-compliance elements coupled to the flexible suit, wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body; and

a controller disposed in the flexible suit, wherein the controller is configured to execute computer-readable programs to operate the one or more flexible linear actuators to apply forces between segments of the human body and to operate the clutched-compliance elements to provide controlled levels of compliance between segments of the human body in a plurality of different ways to provide a plurality of different modes of operation.

2. The programmable body augmentation system of claim 1, wherein the plurality of different modes of operation relate to one or more of walking, running, jumping, lifting, load carrying, climbing, cycling, exercising, training, controlling a virtual avatar, and controlling a tele-robotic system.

3. The programmable body augmentation system of claim 1, wherein the plurality of different modes of operation relate to different potential wearers of the programmable body augmentation system.

4. The programmable body augmentation system of claim 1, wherein the controller can execute any of a plurality of stored computer-readable programs, wherein execution of a stored computer-readable program by the controller comprises operating the one or more flexible linear actuators and the one or more clutched-compliance elements in accordance with the stored computer-readable program, and wherein each of the stored computer-readable programs defines at least one of the plurality of different modes of operation.

5. The programmable body augmentation system of claim 4, wherein operating the one or more flexible linear actuators in accordance with the stored computer-readable program comprises controlling the timing and magnitude of forces applied by each of the flexible linear actuators.

6. The programmable body augmentation system of claim 4, wherein operating the one or more clutched-compliance elements in accordance with the stored computer-readable program comprises controlling a level of compliance provided by each of the one or more clutched-compliance elements.

7. The programmable body augmentation system of claim 4, further comprising one or more kinematic sensors configured to provide data to the controller, wherein operating the one or more flexible linear actuators and the one or more clutched-compliance elements in accordance with the stored computer-readable program comprises operating the one or more flexible linear actuators and the one or more clutched-compliance elements in response to the data provided by the one or more kinematic sensors.

8. The programmable body augmentation system of claim 4, further comprising a user interface, wherein the user interface is operable to select any of the plurality of stored computer-readable programs for execution by the controller.

9. The programmable body augmentation system of claim 8, wherein the user interface is operable to select additional computer-readable programs that define additional modes of operation of the programmable body augmentation system.

10. The programmable body augmentation system of claim 1, wherein the one or more flexible linear actuators are configured to apply forces across one or more joints, wherein the one or more joints include at least one of an ankle joint, a knee joint, or a hip joint.

11. The programmable body augmentation system of claim 1, wherein the one or more clutched-compliance elements are configured to provide a controllable compliance across one or more joints, wherein the one or more joints include at least one of an ankle joint, a knee joint, or a hip joint.

12. The programmable body augmentation system of claim 1, wherein at least one of the one or more flexible linear actuators comprises a twisted string actuator.

13. The programmable body augmentation system of claim 12, wherein the twisted string actuator comprises an electric motor coupled to a string element comprising a plurality of flexible strands.

14. The programmable body augmentation system of claim 1, wherein each of the clutched-compliance elements includes a respective electrostatic clutch.

15. The programmable body augmentation system of claim 14, wherein at least one of the respective electrostatic clutches comprises an electrolaminate clutch.

16. The programmable body augmentation system of claim 1, wherein the one or more clutched-compliance elements include at least one clutched-compliance element connected in series with a flexible linear actuator.

17. A method for body augmentation, comprising:

coupling a programmable body augmentation system to a human body, wherein the programmable body augmentation system comprises;

(a) one or more flexible linear actuators, wherein the one or more flexible linear actuators are operable to apply forces between segments of the human body such that the forces applied by the one or more flexible linear actuators augment forces applied by musculature in the human body;

(b) one or more clutched-compliance elements, wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body; and

(c) a controller, wherein the controller is configured to execute computer-readable programs to operate the one or more flexible linear actuators to apply forces between segments of the human body and to operate the clutched-compliance elements to provide controlled levels of compliance between segments of the human body in a plurality of different ways to provide a plurality of different modes of operation;

selecting one of the modes of operation; and

performing one or more actions of the human body related to the selected mode of operation while the controller operates the one or more flexible linear actuators to apply forces to the human body and operate the one or more clutched-compliance elements to provide levels of compliance between segments of the human body related to the one or more actions.

18. The method of claim 17, wherein the one or more flexible linear actuators, the one or more clutched-compliance elements, and the controller are coupled to a flexible suit, and wherein coupling the programmable body augmentation system to the human body comprises wearing the flexible suit over at least a portion of the human body.

19. The method of claim 17, further comprising:

subsequently selecting a different one of the plurality of modes of operation; and

performing one or more additional actions of the human body related to the subsequently-selected mode of operation while the controller controls the forces applied by the one or more flexible linear actuators and the compliance provided by the one or more clutched-compliance elements so as to assist the one or more additional movements.

20. The method of claim 17, wherein selecting one of the modes of operation comprises interacting with a user interface communicatively coupled to the controller.

21. The method of claim 17, wherein operating the one or more clutched-compliance elements to provide levels of compliance between segments of the human body comprises operating the one or more clutched-compliance elements to store mechanical energy from the human body during a first period of time, and wherein operating the one or more clutched-compliance elements to provide levels of compliance between segments of the human body comprises operating the one or more clutched-compliance elements to apply the mechanical energy stored during the first period of time to the human body during a second period of time

22. A method for body augmentation, comprising:

providing a programmable body augmentation system, wherein the programmable body augmentation system comprises;

(a) a flexible suit configured to worn over at least a portion of a human body;

(b) a plurality of body-augmentation elements coupled to the flexible suit in a particular physical arrangement, the body-augmentation elements including one or more flexible linear actuators and one or more clutched-compliance elements, wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body, and wherein the one or more clutched-compliance elements are operable to provide controllable levels of compliance between segments of the human body;

(c) a controller disposed in the flexible suit, wherein the controller can be programmed to control the forces applied by the one or more flexible linear actuators and the compliance provided by the clutched-compliance elements;

enabling a first mode of operation of the programmable body augmentation system, wherein the first mode of operation involves the one or more flexible linear actuators applying forces and the one or more clutched-compliance elements providing compliances related to a first type of action of the human body, and wherein enabling the first mode of operation of the programmable body augmentation system comprises programming the controller based on the first mode of operation without changing the particular physical arrangement of body-augmentation elements; and

enabling a second mode of operation of the programmable body augmentation system, wherein the second mode of operation involves the one or more flexible linear actuators applying forces and the one or more clutched-compliance elements providing compliances related to a second type of action of the human body, wherein the second type of action is different than the first type of movement, and wherein enabling the second mode of operation of the programmable body augmentation system comprises programming the controller based on the second mode of operation without changing the particular physical arrangement of body-augmentation elements.

23. The method of claim 22, wherein the controller comprises:

a processor; and

a computer-readable storage medium configured to store one or more computer-readable programs, wherein the one or more computer-readable programs can be executed by the processor to cause the controller to operate the one or more flexible linear actuators and the one or more clutched-compliance elements.

24. The method of claim 23, wherein programming the controller based on the first mode of operation comprises storing a first computer-readable program in the computer-readable storage medium and programming the controller based on the second mode of operation comprises storing a second computer-readable programs in the computer-readable storage medium.

25. A platform for body augmentation, comprising:

a flexible suit configured to be worn over at least a portion of a human body;

a selection of electronically operable actuators coupled to the flexible suit;

a selection of sensors disposed in the flexible suit and configured to provide information relating to the operation of the platform for body augmentation;

a control system disposed in the flexible suit, wherein the control system is configured to electronically operate the actuators using the information provided by the sensors in a plurality of different ways to provide a plurality of different modes of operation.

26. The platform for body augmentation of claim 25, wherein the plurality of different modes of operation relate to one or more of walking, running, jumping, lifting, load carrying, climbing, cycling, exercising, training, controlling a virtual avatar, and controlling a tele-robotic system.

27. The platform for body augmentation of claim 25, where in the selection of electronically operable actuators comprises one or more flexible linear actuators and one or more clutched-compliance elements.

28. The platform for body augmentation of claim 25, wherein the control system is configured to execute any of a plurality of stored computer-readable programs, wherein execution of a stored computer-readable program by the control system comprises operating the actuators using the information provided by the sensors in accordance with the stored computer-readable program, and wherein each of the stored computer-readable programs defines at least one of the plurality of different modes of operation.

29. The platform for body augmentation of claim 28, wherein the control system is configured to determine a configuration of electronically operable actuators coupled to the flexible suit and sensors disposed in the flexible suit;

and wherein operating the actuators using the information provided by the sensors in accordance with the stored computer-readable program further comprises operating the actuators using the information provided by the sensors in accordance with the determined configuration of electronically operable actuators coupled to the flexible suit and sensors disposed in the flexible suit.