USER COUPLED HUMAN-MACHINE INTERFACE
First Claim
Patent Images
1. A system for operating an exoskeleton comprising:
- an exoskeleton including;
first and second leg supports configured to be coupled to a user'"'"'s lower limbs, each of the first and second leg supports including a thigh link;
an exoskeleton trunk configured to be coupled to a user'"'"'s upper body, said exoskeleton trunk being rotatably connected to each of the first and second leg supports to allow for the flexion and extension between said first and second leg supports and said exoskeleton trunk;
first and second powered actuators coupled to respective first and second leg supports, said first and second actuators configured to provide movement of the leg supports relative to said exoskeleton trunk;
a support device separate from the exoskeleton to be held by a user of the exoskeleton, said support device comprising at least one support handle; and
a user input device for commanding said exoskeleton configured to shift said exoskeleton between a plurality of operational states and receive user command signals, said input device including;
a signal generator adaptable to be coupled to said user'"'"'s finger and capable of generating at least one electric signal when said at least one signal generator contacts said support device handle, andan input device controller adaptable to be coupled to said user'"'"'s body capable of receiving said at least one signal from said signal generator, processing said at least one signal and transmitting a command signal to said exoskeleton to perform a function.
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Abstract
An input device for commanding an exoskeleton worn by a person, adapted to be coupled to the person, the input device comprising: at least one signal generator adapted to be coupled to the user'"'"'s finger capable of generating at least one electric signal when said one signal generator gets contacted and, an input device controller adapted to be coupled to the user'"'"'s body capable of receiving and processing at least one signal and transmitting a command signal to the exoskeleton.
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Citations
24 Claims
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1. A system for operating an exoskeleton comprising:
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an exoskeleton including; first and second leg supports configured to be coupled to a user'"'"'s lower limbs, each of the first and second leg supports including a thigh link; an exoskeleton trunk configured to be coupled to a user'"'"'s upper body, said exoskeleton trunk being rotatably connected to each of the first and second leg supports to allow for the flexion and extension between said first and second leg supports and said exoskeleton trunk; first and second powered actuators coupled to respective first and second leg supports, said first and second actuators configured to provide movement of the leg supports relative to said exoskeleton trunk; a support device separate from the exoskeleton to be held by a user of the exoskeleton, said support device comprising at least one support handle; and a user input device for commanding said exoskeleton configured to shift said exoskeleton between a plurality of operational states and receive user command signals, said input device including; a signal generator adaptable to be coupled to said user'"'"'s finger and capable of generating at least one electric signal when said at least one signal generator contacts said support device handle, and an input device controller adaptable to be coupled to said user'"'"'s body capable of receiving said at least one signal from said signal generator, processing said at least one signal and transmitting a command signal to said exoskeleton to perform a function. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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17. A control method of an exoskeleton worn by a person through the use of an instrumented glove, said glove comprising at least one signal generator and one input device controller;
- said control method comprising the steps of;
generating at least one signal by contacting a support device handle with said signal generator in said glove; processing said signal in said input device controller; generating a command signal for said exoskeleton; and transmitting said command signal to said exoskeleton to cause, change, or inhibit motion in said exoskeleton. - View Dependent Claims (18, 19, 20, 21)
- said control method comprising the steps of;
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22. A control method of an exoskeleton worn by a person using an instrumented glove, said glove having at least one signal generator and one input device controller;
- said control method comprising the steps of;
generating at least one signal by contacting a first finger with said signal generator worn on a second finger; processing said signal in said input device controller; generating a command signal for said exoskeleton as a function of said at least one signal; and transmitting said command signal to said exoskeleton to cause or inhibit motion in said exoskeleton.
- said control method comprising the steps of;
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23. An input device for commanding an exoskeleton worn by a person, adapted to be coupled to a user'"'"'s hand, said input device comprising:
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an instrumented glove comprising at least one signal generator integrated on at least one glove digit capable of generating at least one electric signal when said glove digit gets contacted and, an input device controller adapted to be coupled to said person'"'"'s body capable of receiving at least one signal from said signal generator, processing said signal and transmitting a command signal to said exoskeleton to perform a function. - View Dependent Claims (24)
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Specification