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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
First Claim
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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, andwhen 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.

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