Soft Exosuit for Assistance with Human Motion

• US 20160107309A1
• Filed: 05/30/2014
• Published: 04/21/2016
• Est. Priority Date: 05/31/2013
• Status: Active Grant

• Current Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Original Assignee: President and Fellows of Harvard College (Harvard Corporation)
• Inventors: Walsh, Conor, Asbeck, Alan Thomas, Ding, Ye, Bujanda, Ignacio Galiana, De Rossi, Stefano Marco Maria
• Granted Patent: US 10,843,332 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: A61B 5/112 Gait analysis
• CPC Class Codes: A61B 5/6812 Orthopaedic devices
• CPC Class Codes: A61B 5/6828 Leg
• CPC Class Codes: A61B 5/6831 Straps, bands or harnesses
• CPC Class Codes: A61H 1/024 Knee A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2003/001 on steps or stairways
• CPC Class Codes: A61H 2003/007 secured to the patient, e.g. with belts
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/123 Linear drive
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1253 driven by a human being, e.g. hand driven
• CPC Class Codes: A61H 2201/1628 Pelvis
• CPC Class Codes: A61H 2201/164 Feet or leg, e.g. pedal
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/501 connected to external computer devices or networks
• CPC Class Codes: A61H 2201/5046 Touch screens
• CPC Class Codes: A61H 2201/5048 Audio interfaces, e.g. voice or music controlled
• CPC Class Codes: A61H 2201/5061 : Force sensors
• CPC Class Codes: A61H 2201/5064 : Position sensors
• CPC Class Codes: A61H 2201/5084 : Acceleration sensors
• CPC Class Codes: A61H 2201/5097 : wireless
• CPC Class Codes: A61H 2230/60 : Muscle strain, i.e. measured on the user, e.g. Electromyography [EMG]
• CPC Class Codes: A61H 3/00 : Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: A63B 2071/0666 : worn on the head or face, e.g. combined with goggles or glasses
• CPC Class Codes: A63B 2071/068 : Input by voice recognition
• CPC Class Codes: A63B 21/00178 : for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/0054 : for charging a battery
• CPC Class Codes: A63B 21/008 : using hydraulic or pneumatic force-resisters
• CPC Class Codes: A63B 21/023 : Wound springs
• CPC Class Codes: A63B 21/152 : Bowden-type cables
• CPC Class Codes: A63B 21/4009 : to the waist
• CPC Class Codes: A63B 21/4013 : to the ankle
• CPC Class Codes: A63B 21/4015 : to the foot
• CPC Class Codes: A63B 21/4025 : Resistance devices worn on the user's body A63B21/065 takes precedence
• CPC Class Codes: A63B 21/4047 : Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2220/24 : Angular displacement
• CPC Class Codes: A63B 2220/40 : Acceleration
• CPC Class Codes: A63B 2220/51 : Force
• CPC Class Codes: A63B 2220/801 : Contact switches
• CPC Class Codes: A63B 2225/20 : with means for remote communication, e.g. internet or the like
• CPC Class Codes: A63B 2225/50 : Wireless data transmission, e.g. by radio transmitters or telemetry
• CPC Class Codes: A63B 2230/60 : muscle strain, i.e. measured on the user
• CPC Class Codes: A63B 23/03541 : Moving independently from each other A63B22/00 takes precedence
• CPC Class Codes: A63B 23/0405 : involving a bending of the knee and hip joints simultaneously A63B23/0476 takes precedence
• CPC Class Codes: A63B 24/0087 : Electric or electronic controls for exercising apparatus of groups A63B21/00 - A63B23/00, e.g. controlling load
• 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 9/1694 : characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
• CPC Class Codes: F03G 7/005 : Electro-chemical actuators; Actuators having a material for absorbing or desorbing gas, e.g. a metal hydride; Actuators using the difference in osmotic pressure between fluids; Actuators with elements stretchable when contacted with liquid rich in ions, with UV light, with a salt solution
• CPC Class Codes: G09B 19/0038 : Sports

Abstract

A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.

Claims