EXOSKELETON SYSTEM

• US 20190328605A1
• Filed: 04/30/2019
• Published: 10/31/2019
• Est. Priority Date: 04/30/2018
• Status: Active Grant

• Current Assignee: Cleveland State University
• Original Assignee: Cleveland State University
• Inventors: van den Bogert, Antonie J., Miller, Daniel, Doris, Ryan, Moody, Robert, Grimes, JR., Donald
• Granted Patent: US 11,191,694 B2
• Time in Patent Office: Days
• CPC Class Codes: A61H 1/0237 for the lower limbs
• 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 1/0262 Walking movement; Appliances for aiding disabled persons to walk A61H3/00 takes precedence
• CPC Class Codes: A61H 1/0266 Foot
• CPC Class Codes: A61H 2003/007 secured to the patient, e.g. with belts
• CPC Class Codes: A61H 2201/0157 portable
• CPC Class Codes: A61H 2201/0192 Specific means for adjusting dimensions
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1246 by piston-cylinder systems
• CPC Class Codes: A61H 2201/163 holding means therefor
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/5056 pneumatically controlled
• CPC Class Codes: A61H 2201/5071 Pressure sensors
• CPC Class Codes: A61H 2205/10 Leg
• 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: B25J 9/0006 Exoskeletons, i.e. resembling a human figure

Abstract

An exoskeleton system is passively powered and pneumatically operated. The system may be a lower-limb system for walking gait restoration. The system may include a first linear actuator located in front of an upper leg section and a second linear actuator located behind a lower leg section.

Claims

1. An exoskeleton system;

wherein the system is powered passively; and

wherein the system is operated pneumatically.

2. The exoskeleton system of claim 1, wherein the system comprises:

a first actuator configured for a first side of a first portion of a user; and

a second actuator configured for a second side of a second portion of the user.

3. The exoskeleton system of claim 2, wherein the first portion is an upper leg portion and the second portion is a lower leg portion.

4. The exoskeleton system of claim 2, wherein the first side is a front side and the second side is a rear side.

5. A lower-limb exoskeleton system comprising:

a hip or thigh belt;

a foot plate;

an ankle fixture extending from a rear of the foot plate;

a calf brace link comprising;

an inner leg section extending upward from an inner section of the foot plate;

an outer leg section extending upward from an outer section of the foot plate; and

an arced rear section connected to upper portions of the inner leg section and the outer leg section;

a thigh link extending between the hip or thigh belt and an upper portion of the outer leg section;

a first actuator located between the hip or thigh belt and the thigh link;

a second actuator located between the ankle fixture and the rear section of the calf brace link; and

tubing connecting the first actuator and the second actuator;

wherein the lower-limb exoskeleton system does not comprise any battery, motor, or controller.

6. The lower-limb exoskeleton system of claim 5, wherein the hip or thigh belt comprises a front portion and a rear portion.

7. The lower-limb exoskeleton system of claim 5, wherein the foot plate and the ankle fixture are a unitary structure.

8. The lower-limb exoskeleton system of claim 5, wherein the foot plate and the ankle fixture are connected via at least one fastener.

9. The lower-limb exoskeleton system of claim 5, wherein each of the hip or thigh belt, the foot plate, the ankle fixture, the calf brace link, and the thigh link comprises an aluminum alloy.

10. The lower-limb exoskeleton system of claim 5, wherein the tubing comprises a first tube extending between a top end of the first actuator and a bottom end of the second actuator.

11. The lower-limb exoskeleton system of claim 10, wherein the tubing comprises a second tube extending between a top end of the second actuator and a bottom end of the first actuator.

12. The lower-limb exoskeleton system of claim 11, further comprising:

at least one pressure gauge in fluid communication with the tubing.

13. The lower-limb exoskeleton system of claim 12, wherein the at least one pressure gauge comprises a first pressure gauge in fluid communication with the first tube.

14. The lower-limb exoskeleton system of claim 13, wherein the at least one pressure gauge comprises a second pressure gauge in fluid communication with the second tube.

15. The lower-limb exoskeleton system of claim 5, wherein each of the first actuator and the second actuator is mounted to a rod side pin mount on a first end and a clevis mount on a second end.

16. An exoskeleton system for a limb with a hinge joint, the system comprising:

an upper securing element for securing the system to the limb above the hinge joint;

a lower securing element for securing the system to the limb below the hinge joint;

a hinged connector between the upper securing element and the lower securing element, the hinged connector comprising an upper connecting element, a lower connecting element, and a hinge connecting the upper connecting element to the lower connecting element;

a first actuator located above the hinge and comprising a first chamber and a second chamber; and

a second actuator located below the hinge and comprising a third chamber and a fourth chamber;

wherein the first chamber is in fluid communication with the third chamber via a first tube; and

wherein the second chamber is in fluid communication with the fourth chamber via a second tube;

wherein the first chamber, the third chamber, and the first tube define a first gas volume; and

wherein the second chamber, the fourth chamber, and the second tube define a second gas volume.

17. The exoskeleton system of claim 16, further comprising:

a check valve for pressurizing the first gas volume;

wherein the check valve is configured to permit ambient air to flow into but not out of the first gas volume.

18. The exoskeleton system of claim 16, further comprising:

a check valve for pressurizing the second gas volume;

wherein the check valve is configured to permit ambient air to flow into but not out of the second gas volume.

19. The exoskeleton system of claim 16, wherein the first gas volume and the second gas volume are connected by a double-acting cylinder with a spring-loaded piston.

20. The exoskeleton system of claim 16, wherein the first gas volume and the second gas volume are connected by an elastic diaphragm.