Semi-powered lower extremity exoskeleton

• US 8,057,410 B2
• Filed: 04/13/2006
• Issued: 11/15/2011
• Est. Priority Date: 04/13/2005
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Angold, Russdon, Harding, Nathan H., Kazerooni, Homayoon
• Primary Examiner(s): YU, JUSTINE ROMANG
• Application Number:
  US11/404,719
• Publication Number:
  US 20070056592A1
• Time in Patent Office: 2,042 Days
• Field of Search: 601/5, 601/23, 601/24, 601/26, 601/33, 601/34, 601/35, 600/587, 600/595, 602/23, 602/26
• US Class Current: 601/5
• CPC Class Codes: A61B 5/1038 Measuring plantar pressure during gait
• CPC Class Codes: A61B 5/4528 Joints A61B5/4533, A61B5/4538 take precedence
• CPC Class Codes: A61F 5/0102 specially adapted for correcting deformities of the limbs or for supporting them; Ortheses, e.g. with articulations
• 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 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1614 Shoulder, e.g. for neck stretching
• CPC Class Codes: A61H 2201/1616 Holding means therefor
• CPC Class Codes: A61H 2201/1621 Holding means therefor
• CPC Class Codes: A61H 2201/1623 Back
• CPC Class Codes: A61H 2201/1628 Pelvis
• CPC Class Codes: A61H 2201/163 holding means therefor
• CPC Class Codes: A61H 2201/1635 Hand or arm, e.g. handle
• CPC Class Codes: A61H 2201/164 Feet or leg, e.g. pedal
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003
• CPC Class Codes: A61H 3/008 using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure

Abstract

The lower extremity exoskeleton comprises two leg supports connectable to person'"'"'s lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'"'"'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

Claims

1. A lower extremity exoskeleton, configurable to be coupled to a person, said lower extremity exoskeleton comprising:

two leg supports configurable to be coupled to said person'"'"'s lower limbs and configured to rest on the ground during their stance phases alongside said person'"'"'s feet resting on the ground, wherein each said leg support comprises a thigh link and a shank link, and said two leg supports, during their stance phases, transfer forces from their shank links to the ground;

two knee joints, each configured to allow flexion and extension between the respective shank link and the respective thigh link; and

an exoskeleton trunk configurable to be coupled to said person'"'"'s upper body, rotatably connectable to said thigh links of said leg supports allowing for flexion and extension between said leg supports and said exoskeleton trunk;

two torque generators coupled to said knee joints; and

a power unit, capable of providing power, coupled to said torque generators, wherein the power unit is configured to operate in at least two modes for each torque generator, with said power unit including a power injecting subcomponent capable of injecting power to the torque generator, and a power dissipating subcomponent capable of dissipating power from the torque generator, wherein;

when said power unit operates in its first mode with respect to one of said torque generators, said power unit injects power into the one of said torque generators to extend a respective knee angle defined between the respective shank link and respective thigh link, and

when said power unit operates in its second mode with respect to the one of said torque generators, the energy required for said flexion and extension between the respective shank link and the respective thigh link of said corresponding leg support over a cyclic knee motion is provided by said person but said power unit causes the one of said torque generators to resist flexion.

2. The device of claim 1 wherein said power unit further operates in a third mode with respect to a torque generator, wherein:

when said power unit operates in said third mode with respect to one of said torque generators, the energy required for said flexion and extension between the shank link and the respective thigh link of said corresponding leg support over a cyclic knee motion is provided by said person, and wherein the torque generator'"'"'s resistance to knee flexion and extension is minimized.

3. The device of claim 1 wherein the energy required for flexion and extension movement between a thigh link and said exoskeleton trunk over a cyclic hip motion is provided by said person.

4. The lower extremity exoskeleton of claim 2 wherein said lower extremity exoskeleton comprises at least one foot sensor per said leg support which produces a stance signal representing force on the bottom of each person'"'"'s foot, and wherein said power unit controls said torque generators as a function of said stance signals.

5. The lower extremity exoskeleton of claim 4 wherein said lower extremity exoskeleton further comprises at least one angle sensor per said leg support which produces an angle signal representing the knee angle, wherein said power unit controls said torque generators as a function of said angle signals.

6. The device of claim 5 wherein said power unit operates in said first mode with respect to one of said torque generators when said corresponding stance signal indicates the presence of a force on the bottom of corresponding human foot and said corresponding angle sensor detects that said corresponding leg support is either bent or postured to climb stairs or a slope.

7. The device of claim 5 wherein said power unit operates in said first mode with respect to one of said torque generators, when said corresponding stance signal indicates the presence of a force on the bottom of corresponding human foot and said corresponding angle signal indicates that said corresponding leg support is in a position from which to extend said knee.

8. The device of claim 5 wherein said power unit operates in said second mode with respect to one of said torque generators, when said corresponding stance signal indicates the presence of a force on the bottom of corresponding human foot and said corresponding angle signal indicates that said corresponding leg support is neither bent nor postured to climb stairs or a slope.

9. The device of claim 4 wherein said power unit operates in said third mode with respect to one of said torque generators when said corresponding stance signal detects that a leg support is in a swing phase.

10. The device of claim 1 wherein each said torque generator comprises a hydraulic torque generator, and wherein said power unit, capable of providing hydraulic power, includes a hydraulic circuitry connectable to said hydraulic torque generators, wherein said hydraulic circuitry is configured to control said hydraulic torque generators by modulating the hydraulic fluid flow to and from said hydraulic torque generators.

11. The device of claim 10 wherein said hydraulic torque generator is a hydraulic piston-cylinder.

12. The device of claim 10 wherein said hydraulic torque generator is a rotary hydraulic vane type torque generator.

13. The device of claim 10 wherein said hydraulic circuitry comprises a hydraulic pump coupled to a motor, wherein when said power unit operates in said first mode with respect to one of said torque generators, said hydraulic pump injects hydraulic fluid into that torque generator causing knee joint of said corresponding leg support to extend.

14. The device of claim 10 wherein said power injecting subcomponent includes a hydraulic pump coupled to a motor, wherein when said power unit operates in said first mode with respect to one of said torque generators, said a pump isolating valve connects said hydraulic pump to the one of said torque generators.

15. The device of claim 10 wherein said power dissipating subcomponent includes an actuated flow restricting valve, wherein when said power unit operates in said second mode with respect to one of said torque generators, said actuated flow restricting valve restricts the fluid flow from the one of said torque generators.

16. The device of claim 15 wherein when said power unit operates in a third mode with respect to one of said torque generators, said actuated flow restricting valve opens and allows for minimum resistance hydraulic fluid flow between that torque generator and a source of hydraulic fluid.

17. The device of claim 13 wherein said motor is an electric motor, wherein when said power unit operates in a power regeneration mode with respect to one of said torque generators, that torque generator injects hydraulic fluid into said hydraulic pump, which then acts as a hydraulic motor, causing said electric motor, which then acts as an electric generator, to generate electricity.

18. The device of claim 10 wherein said hydraulic circuitry further comprises a hydraulic check valve connecting a source of hydraulic fluid to said torque generator allowing for free extension of said knee when said power units operates in said first and second modes.

19. The device of claim 15 wherein said hydraulic circuitry further comprises a three-way valve, wherein when said power unit is operating in said first mode with respect to one of said torque generators, said three-way valve connects that hydraulic torque generator to said hydraulic pump;

and when said power unit is operating in the second mode said three-way valve connects that hydraulic torque generator to said actuated flow restricting valve.

20. The device of claim 5 wherein said power unit further comprises a signal processor capable of controlling said power unit.

21. The device of claim 20 wherein said signal processor comprises an element or combination of elements selected from a group consisting of analog devices;

analog computation modules;

digital devices including, without limitation, small-, medium-, and large-scale integrated circuits, application specific integrated circuits, programmable gate arrays, and programmable logic arrays; and

digital computation modules including, without limitation, microcomputers, microprocessors, microcontrollers, and programmable logic controllers.

22. The device of claim 20 wherein signal processor comprises an element or combination of elements selected from a group consisting of electromechanical relays or MOSFET switches.

23. The device of claim 20 wherein signal processor generates command signals for said hydraulic circuitry from said stance signals, said angle signal, or combination of stance signals and angle signals.

24. The device of claim 1 wherein said exoskeleton trunk further allows for rotation of each said leg support about an abduction-adduction axis generally parallel to ground.

25. The device of claim 1 wherein said exoskeleton trunk further comprises two hip links rotatably connectable to said respective thigh links to allow for said flexion and extension of said support legs relative to said exoskeleton trunk;

wherein said hip links are rotatably connected to each other to allow for abduction of leg supports.

26. The device of claim 1 wherein said exoskeleton trunk further comprises two hip links rotatably connectable to said respective thigh links to allow for said flexion and extension of said support legs relative to said exoskeleton trunk;

wherein said hip links are rotatably connected to each other to allow for adduction of leg supports.

27. The device of claim 1 wherein said exoskeleton trunk is configured to hold a rear load behind said person when said exoskeleton trunk is coupled to said person'"'"'s upper body.

28. The device of claim 1 wherein said exoskeleton trunk further comprises an extension frame configured to hold a front load in front of said person when said exoskeleton trunk is coupled to said person'"'"'s upper body.

29. The device of claim 25 wherein said exoskeleton trunk further comprises a hip resilient element configured to apply a torque between said hip links.

30. The device of claim 26 wherein said exoskeleton trunk further comprises a hip resilient element configured to apply a torque between said hip links.

31. The devices of claim 29 or 30 wherein said hip resilient element comprises an elastic element or combination of elastic elements selected from a group consisting of extension spring, compression spring, leaf spring, air spring, gas spring, rubber, elastomer, surgical tube, and bungee cord.

32. The device of claim 25 wherein said exoskeleton trunk further comprises a hip abduction stop to limit the abduction of said hip links with respect to each other.

33. The device of claim 1 wherein said exoskeleton trunk further comprises two hip links rotatably connectable to said respective thigh links allowing for said flexion and extension of said support legs;

wherein said hip links are compliantly connected to each other allowing for adduction of leg supports.

34. The device of claim 1 wherein said exoskeleton trunk further comprises two hip links rotatably connectable to said respective thigh links allowing for said flexion and extension of said support legs;

wherein said hip links are compliantly connected to each other allowing for abduction of leg supports.

35. The device of claim 1 wherein said exoskeleton trunk further comprises a connecting bracket configured to transfer weight of a load to said exoskeleton trunk.

36. The device of claim 35 wherein said exoskeleton trunk further comprises two hip links rotatably connectable to said respective thigh links to allow for said flexion and extension of said support legs relative to said exoskeleton trunk;

wherein said hip links are rotatably connected to said connecting bracket via two hip abduction-adduction joints to allow for rotational motion of said leg supports about two abduction-adduction axes.

37. The device of claim 36 wherein said abduction-adduction axes are generally parallel to each other.

38. The device of claim 36 wherein said abduction-adduction joints coincide on each other.

39. The device of claim 35 wherein said load is an object selected from a group consisting of backpack, baby carrier, food containers, sacks, water jugs, tool boxes, barrels, ammunition, weaponry, bedding, first aid supplies, golf bags, mail bags, camera, leaf blower, compressor, electromechanical machineries and combinations thereof.

40. The device of claim 35 wherein said load is another person.

41. The device of claim 36 wherein said exoskeleton trunk further comprises hip abduction-adduction resilient elements configured to apply torques between said hip links and said connecting bracket.

42. The device of claim 41 wherein said hip abduction-adduction resilient elements, each comprises an elastic element or combination of elastic elements selected from a group consisting of extension spring, compression spring, leaf spring, air spring, gas spring, rubber, elastomer, surgical tube, and bungee cord.

43. The device of claim 35 wherein said connecting bracket further comprises an extension frame configured to hold said load in front of said person when said exoskeleton trunk is coupled to said person'"'"'s upper body.

44. The device of claim 35 wherein said exoskeleton trunk comprises a human interface device capable of coupling said person'"'"'s upper body to lower extremity exoskeleton.

45. The device of claim 44 wherein said human interface device is capable of transferring a portion of the weight of said person to said exoskeleton trunk.

46. The device of claim 44 wherein said human interface device comprises an element or combination of elements selected from a group consisting of vests, belts, straps, shoulder straps, chest straps, body cast, harness, and waist belts.

47. The device of claim 34 wherein said exoskeleton trunk further comprises two hip links rotatably connectable to said respective thigh links allowing for said flexion and extension of said support legs wherein said hip links are compliantly connected to each other allowing for adduction of leg supports.

48. The device of claim 1 wherein said thigh link of each said leg support further includes a thigh abduction-adduction joint configured to allow abduction of said perspective leg support.

49. The device of claim 48 wherein said abduction-adduction joints are generally located below said hip flexion-extension joints.

50. The device of claim 1 wherein said thigh of each said leg support further includes a thigh abduction-adduction joint configured to allow adduction of said leg support.

51. The device of claim 50 wherein said abduction-abduction joints are generally located below said hip flexion-extension joints.

52. The device of claim 1 wherein each said leg support further includes a leg rotation joint configured to allow rotation of said leg support.

53. The device of claim 52 wherein said leg rotation joints are generally located above said knee flexion-extension joints.

54. The device of claim 52 wherein said leg rotation joints further comprise a leg rotation resilient element that provides a restoring torque which generally restores said leg support back to a neutral position.

55. The device of claim 1 wherein said thigh link of each said leg support further includes a compression-elongation mechanism configured to allow a change in the distance between said hip flexion-extension joint and said knee flexion-extension joint.

56. The device of claim 55 wherein said compression-elongation mechanism comprises a leg compression-elongation resilient element that provides a restoring force which generally restores said leg support back to a neutral configuration.

57. The device of claim 1 further comprising two swing resilient elements configured to apply torque between said thigh links and said exoskeleton trunk.

58. The device of claim 1 wherein said thigh links include thigh holding devices configured to allow said person to couple to said leg supports.

59. The device claim 58 wherein each said thigh holding device comprises an element or combination of elements selected from a group consisting of strap, bar, c-shape brackets, body cast and elastomers.

60. The device of claim 1 wherein said shank links include shank holding devices configured to allow said person to couple to said leg supports.

61. The device claim 60 wherein each said shank holding device comprises an element or combination of elements selected from a group consisting of strap, bar, c-shape brackets, body cast and elastomers.

62. The device of claim 1 wherein each said leg support further comprises an exoskeleton foot configured to be coupled to respective said person'"'"'s foot and coupled to respective said shank link to allow the transfer of forces from said shank link to the ground.

63. The device of claim 1 wherein each said leg support further comprises an exoskeleton foot coupled to respective said shank link and configured to be coupled to the bottom of the said respective person'"'"'s shoe to allow the transfer of forces from said shank link to the ground.

64. The device of claim 62 wherein each said exoskeleton foot further comprises a shoe wearable by said person to allow said exoskeleton foot to couple said person'"'"'s foot.

65. The device of claim 62 wherein each said exoskeleton foot further comprises an exoskeleton insole insertable inside said person'"'"'s shoe to allow said exoskeleton foot to couple said person'"'"'s foot.

66. The device of claim 1 wherein each said leg support further comprises an exoskeleton foot configured to be coupled to respective said person'"'"'s foot and compliantly coupled to respective said shank link to allow the transfer of forces from said shank link to the ground.

67. The device of claim 1 wherein each said leg support further comprises an exoskeleton foot configured to be coupled to respective said person'"'"'s foot and rotatably coupled to respective said shank link to allow the transfer of forces from said shank link to the ground;

said exoskeleton foot rotates about an ankle plantar-dorsi flexion axis generally parallel to plantar-dorsi flexion axis in the human ankle.

68. The device of claim 67 wherein each said leg support further comprises at least one ankle plantar-dorsi flexion resilient element resisting the rotation of respective said exoskeleton foot about said ankle plantar-dorsi flexion axis.

69. The device of claim 1 wherein each said leg support further comprises an exoskeleton foot configured to be coupled to respective said person'"'"'s foot and rotatably coupled to respective said shank link to allow the transfer of forces from said shank link to the ground;

said exoskeleton foot rotates about an ankle abduction-adduction axis generally parallel to abduction-adduction axis in the human ankle.

70. The device of claim 69 wherein said each leg support further comprises at least one ankle abduction-adduction resilient element to resist the rotation of respective said exoskeleton foot about said ankle abduction-adduction axis.

71. The device of claim 1 wherein each said leg support further comprises an exoskeleton foot configured to be coupled to respective said person'"'"'s foot and rotatably coupled to respective said shank link to allow the transfer of forces from said shank link to the ground;

said exoskeleton foot rotates about an ankle rotation axis generally parallel to rotation axis in the human ankle.

72. The device of claim 71 wherein each said leg support further comprises at least one resilient element to resist the rotation of respective said exoskeleton foot about said ankle rotation axis.

73. A method of operating a lower extremity exoskeleton, said lower extremity exoskeleton comprising:

two leg supports configurable to be coupled to a person'"'"'s lower limbs and configured to rest on the ground during their stance phases alongside a person'"'"'s feet, wherein each said leg support comprises a thigh link and a shank link, and said two leg supports, during their stance phases, transfer forces from their shank links to the ground;

two knee joints, each configured to allow flexion and extension between the respective shank link and the respective thigh link; and

an exoskeleton trunk configurable to be coupled to said person'"'"'s upper body, rotatably connectable to said thigh links of said leg supports allowing for flexion and extension between said leg supports and said exoskeleton trunk; and

two torque generators coupled to each said knee joints;

said method comprising;

coupling a person to said exoskeleton;

automatically operating a power unit to allow the flexion of said respective knee joint during a swing phase;

automatically operating the power unit to cease injecting power into a respective torque generator and resist flexion of said respective knee joint during the stance phase of the respective leg support when a signal indicates that said leg support is not posed to climb stairs or a slope; and

automatically operating the power unit to resist flexion of said respective knee joint and inject power into the respective torque generator during the stance phase to extend a respective knee angle when a signal indicates that said leg support is posed to climb stairs or a slope.

79. The method of claim 73, further comprising:

coupling an object to said exoskeleton.

74. A method of stowing an exoskeleton configurable to be coupled to a person'"'"'s upper body including an exoskeleton leg rotatably coupled to a trunk of the exoskeleton at a thigh joint, the exoskeleton leg having a thigh link connected to a shank link, and a knee joint allowing flexion and extension between the thigh link and the shank link, said method comprising:

abducting the exoskeleton leg about the knee joint and the thigh joint to rotate the thigh link and the shank link such that the exoskeleton leg is rotated a full 180 degrees with respect to the trunk of the exoskeleton to a stowed position.

75. A system to operate an artificial knee disposed between a thigh link and a shank link, wherein a knee angle is defined between the thigh link and the shank link, and wherein the thigh link and the shank link comprise a leg support, the system comprising:

a hydraulic actuator coupled to said artificial knee; and

a power unit coupled to the hydraulic actuator, wherein said power unit is configured to operate automatically in at least one of two modes, wherein;

when said power unit operates in its first mode with respect to said hydraulic actuator, said power unit injects power into the hydraulic actuator through a power injecting subcomponent to extend said knee angle; and

when said power unit operates in its second mode with respect to said hydraulic actuator, the energy required for said flexion and extension between the shank link and the respective thigh link of said artificial knee over a cyclic knee motion is provided by a person but said power unit causes the torque generator to resist flexion through a power dissipating subcomponent when signals indicate that the leg support rests on the ground, alongside a person'"'"'s foot, in a stance phase.

76. A lower extremity exoskeleton, configurable to be coupled to a person, said lower extremity exoskeleton comprising:

two leg supports configurable to be coupled to a person'"'"'s lower limbs and configured to rest on the ground during their stance phases alongside a person'"'"'s feet resting on the ground, wherein each said leg support comprises a thigh link and a shank link, and said two leg supports, during their stance phases, transfer forces from their shank links to the ground;

two knee joints, each configured to allow flexion and extension between the respective shank link and the respective thigh link;

an exoskeleton trunk configurable to be coupled to a person'"'"'s upper body, rotatably connectable to said thigh links of said leg supports allowing for flexion and extension between said leg supports and said exoskeleton trunk;

two torque generators coupled to said knee joints; and

a power unit configured to operate automatically in one of at least two modes, the power unit comprising a hydraulic circuit connecting the power unit and the two torque generators, a hydraulic pump coupled to a motor, and an actuated flow restricting valve between the power unit and the two torque generators, wherein;

when said power unit operates in a first mode with respect to one of said torque generators, said hydraulic pump injects hydraulic fluid into the one of said torque generators to cause said knee joint of said corresponding leg support to extend and,

when said power unit operates in a second mode with respect to the one of said torque generators, the hydraulic pump does not inject hydraulic fluid into the one of said torque generators, the energy required for said flexion and extension between the respective shank link and the respective thigh link of said corresponding leg support over a cyclic knee motion is provided by said person and said actuated flow restricting valve restricts the hydraulic fluid flow from the one of said torque generators to the hydraulic circuit.

77. The device of claim 76 wherein when said power unit operates in a third mode with respect to the one of said torque generators, the hydraulic pump does not inject hydraulic fluid into the one of said torque generators, the energy required for said flexion and extension between the shank link and the respective thigh link of said corresponding leg support over a cyclic knee motion is provided by said person and said actuated flow restricting valve opens and allows for minimum resistance hydraulic fluid flow between the one of the torque generators and a source of hydraulic fluid.

78. The device of claim 76 wherein said motor is an electric motor, wherein when said power unit operates in a power regeneration mode with respect to one of said torque generators, that torque generator injects hydraulic fluid into said hydraulic pump, which then acts as a hydraulic motor, causing said electric motor, which then acts as an electric generator, to generate electricity.