Elastic Element Exoskeleton and Method of Using Same

• US 20170246492A1
• Filed: 05/16/2017
• Published: 08/31/2017
• Est. Priority Date: 02/24/2012
• Status: Abandoned Application

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Herr, Hugh M., Elliott, Grant, Marecki, Andrew, Briner, Hazel
• Application Number:
  US15/596,483
• Publication Number:
  US 20170246492A1
• Time in Patent Office: Days
• CPC Class Codes: A61F 2002/2825 Femur
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/7887 for connecting limb exoprostheses to the stump bone
• 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 21/0004 Exercising devices moving as a whole during exercise bar bells or dumb bells A63B21/072; on wheels A63B22/20
• CPC Class Codes: A63B 21/00181 comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/157 Ratchet-wheel links; Overrunning clutches; One-way clutches
• CPC Class Codes: A63B 21/22 Resisting devices with rotary bodies A63B21/0608 takes precedence
• CPC Class Codes: A63B 21/4007 to the chest region, e.g. to the back chest
• CPC Class Codes: A63B 21/4011 to the lower limbs means for physically limiting movements of body parts A63B69/0057
• 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 2220/40 Acceleration
• CPC Class Codes: A63B 2220/62 Time or time measurement used for time reference, time stamp, master time or clock signal
• CPC Class Codes: A63B 2220/803 Motion sensors
• CPC Class Codes: A63B 2220/805 Optical or opto-electronic sensors
• CPC Class Codes: A63B 2220/833 Sensors arranged on the exercise apparatus or sports implement
• CPC Class Codes: A63B 2225/02 Testing, calibrating or measuring of equipment
• CPC Class Codes: A63B 2225/096 automatically adjusted according to anthropometric data of the user
• CPC Class Codes: A63B 2225/74 : with powered illuminating means, e.g. lights
• 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 9/104 : with cables, chains or ribbons

Abstract

Running in a mammal, such as a human, is augmented by adaptively modulating anticipation of maximum leg extension of a mammal when running, and actuating an exoskeletal clutch linked in series to at least one elastic element, wherein the clutch and elastic element form an exoskeleton and are attached in parallel to at least one muscle-tendon unit of a leg of the mammal and span at least one joint of the mammal fitted with the exoskeleton. The exoskeletal clutch is actuated in advance of a predicted maximum extension of the exoskeletal clutch to thereby cause the exoskeletal clutch to lock essentially simultaneously with ground strike by the leg of the mammal. The elastic element is thereby engaged during stance phase of the gait of the mammal while running, and subsequently is disengaged prior to or during the swing phase of the gait of the mammal, thereby augmenting running of the mammal.

Claims

1. A method for augmenting running in a mammal, comprising the steps of:

a) adaptively modulating anticipation of a maximum extension of an exoskeletal clutch linked to at least one elastic element, the exoskeletal clutch and the elastic element being an exoskeleton attached in parallel to at least one muscle-tendon unit of a leg of the mammal and spanning at least one joint of the mammal, to thereby estimate a predicted maximum extension of the exoskeletal clutch prior to leg strike of the mammal while running;

b) actuating the exoskeletal clutch in advance of the predicted maximum extension of the exoskeletal clutch, to thereby cause the exoskeletal clutch to lock essentially simultaneously with the ground strike of the leg by the mammal, whereby the elastic element is engaged during a stance phase of the gait of the mammal while running; and

c) disengaging the elastic element prior to or during a swing phase of the gait of the mammal, thereby augmenting running in the mammal.

2. The method of claim 1, wherein adaptively modulating anticipation of the maximum extension of the exoskeletal clutch includes correlating both

a) a position of the exoskeletal clutch;

and

b) an angular velocity of the exoskeleton in a sagittal plane of the mammal, with a phase of the gait cycle of the mammal while running, to thereby estimate the predicted maximum extension of the exoskeletal clutch prior to leg strike of the mammal while running.

3. The method of claim 2, wherein adaptively modulating anticipation of the maximum extension of the exoskeletal clutch further includes, upon or after estimating the predicted the maximum extension, correlating past positions of the exoskeletal clutch during terminal swing phase with each other, to thereby predict maximum extension of the exoskeletal clutch while running.

4. The method of claim 3, wherein the elastic element is disengaged by:

a) correlating the position of the exoskeletal clutch and the angular velocity of the exoskeleton with a mid-stance phase of the gait cycle; and

b) actuating disengagement of the exoskeletal clutch during the mid-stance phase.

5. The method of claim 3, wherein correlating the past positions of the exoskeletal clutch to predict maximum extension of the exoskeleton includes using a latency compensation algorithm.

6. The method of claim 5, wherein the latency compensation algorithm includes a quadratic least squares analysis.

7. The method of claim 5, wherein the latency compensation algorithm includes fitting differentials of encoder readings to a line and seeking a zero crossing.

8. The method of claim 1, wherein the clutch is a rotary clutch.

9. The method of claim 8, wherein the elastic element includes a leaf spring.

10. The method of claim 9, wherein the rotary clutch links two leaf springs in series.

11. The method of claim 1, wherein the exoskeleton spans a knee joint of the mammal.

12. The method of claim 11, wherein the exoskeleton further spans an ankle joint of the mammal.

13. The method of claim 12, wherein the exoskeleton further spans a hip joint of the mammal.

14. The method of claim 11, wherein the exoskeleton further spans at least one of an ankle joint and a hip joint of the mammal.

15. The method of claim 1, wherein the clutch is a linear clutch.

16. The method of claim 15, wherein the elastic element is at least one member selected from the group consisting of a leaf spring, compression spring and tension spring.

17. A method for augmenting running in a mammal, comprising the steps of:

a) adaptively anticipating a maximum extension of an exoskeletal clutch, to thereby estimate a predicted maximum extension of the exoskeletal clutch prior to leg strike of the mammal while running;

b) actuating the exoskeletal clutch in advance of the predicted maximum extension of the exoskeletal clutch; and

c) disengaging the exoskeletal clutch prior to or during a swing phase of the gait of the mammal, thereby augmenting running in the mammal.