Exoskeleton and method for controlling a swing leg of the exoskeleton

• US 8,801,641 B2
• Filed: 07/23/2009
• Issued: 08/12/2014
• Est. Priority Date: 07/23/2008
• Status: Active Grant

• Current Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.), Regents of the University of California (University of California)
• Original Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.), Regents of the University of California (University of California)
• Inventors: Kazerooni, Homayoon, Amundson, Kurt, Angold, Russdon, Harding, Nathan
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US12/922,918
• Publication Number:
  US 20110105966A1
• Time in Patent Office: 1,846 Days
• Field of Search: 601/5, 601/23, 601/24, 601/33, 601/34, 601/35, 602/5, 602/16, 602 23- 26, 128/898
• US Class Current: 601/35
• CPC Class Codes: A61H 1/0244 Hip A61H1/0255 takes precedence
• CPC Class Codes: A61H 1/0255 Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved in a plane substantially parallel to the body-symmetrical-plane A61H1/0214 takes precedence
• CPC Class Codes: A61H 2003/002 with attached or incorporated article carrying means
• CPC Class Codes: A61H 2201/0165 Damping, vibration related features
• CPC Class Codes: A61H 2201/1215 Rotary drive
• 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 2201/1614 Shoulder, e.g. for neck stretching
• 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 2201/164 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 2201/5051 hydraulically controlled
• CPC Class Codes: A61H 2201/5056 pneumatically controlled
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5071 Pressure 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; 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: A61H 3/008 : Using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses drawing-out devices A61H1/0218
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure

Abstract

A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person'"'"'s lower limbs, an exoskeleton trunk configurable to be coupled to the person'"'"'s upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person'"'"'s lower limb during at least a portion of the swing phase is in the direction of the person'"'"'s lower limb swing velocity.

Claims

1. A method of reducing the energy consumption of a person in motion coupled to an exoskeleton device, the method comprising:

supplying energy from a power unit of the exoskeleton, which includes said power unit, first and second leg supports rotatably connected to an exoskeleton trunk for attachment to the person'"'"'s legs, and first and second hip actuators attached to the exoskeleton trunk and the first and second leg supports, to the first hip actuator;

creating a torque profile;

imposing a first torque, based on the torque profile, on said first leg support when the first leg support is in a stance phase and the second leg support strikes a support surface so as to also be in a stance phase, with the first torque starting before the first leg support leaves the support surface and enters a swing phase, being in a forward swing direction for the first leg support, and transferring mechanical energy to the person from the first leg support; and

imposing a second torque on the first leg support, based on the torque profile, in a direction opposite of the forward swing direction when said first leg support subsequently strikes a support surface.

2. The method of claim 1, wherein said first torque rises to a nominal value and stays substantially constant during toe-off of said first leg support.

3. The method of claim 2, wherein said first torque rises to a nominal value and varies no more than fifty percent from said nominal value during double stance and toe-off of said first leg support.

4. The method of claim 1, wherein said first torque is substantially unidirectional.

5. The method of claim 1, wherein said first torque rises to a nominal value and stays within fifty percent of its nominal value during double stance, toe-off, and a majority of a period from toe-off to heel strike of said first leg support.

6. The method of claim 5, wherein said first torque rises to a nominal value and stays within fifty percent of its nominal value then reduces to a value near zero before heel strike occurs.

7. The method of claim 1, wherein said first torque rises to a nominal value and varies no more than fifty percent from said nominal value during a majority of double stance and then transitions to a torque which is calculated from terms including one that is proportional to and in the same direction as an angular velocity of a hip joint of said first leg support.

8. The method of claim 1, wherein said first torque on said first leg support rises to a nominal value and varies no more than fifty percent from said nominal value during a majority of double stance and then transitions to a torque which is calculated from terms including one that is proportional to and in the same direction as an angular velocity of a hip joint of said first leg support and including one that is proportional to the sine of an angle of a thigh link of the first leg support with respect to gravity.

9. A method of controlling an exoskeleton worn by a user, the method comprising:

supplying energy from at least one power unit of said exoskeleton, which includes first and second leg supports configurable to be coupled to the user'"'"'s lower limbs, an exoskeleton trunk configurable to be coupled to the user'"'"'s upper body and rotatably connectable to said first and second leg supports to allow for flexion and extension between each of the first and second leg supports and said exoskeleton trunk, first and second hip actuators configured to create torque between said exoskeleton trunk and respective first and second leg supports, and said at least one power unit providing power to said first and second hip actuators based on at least one created torque profile, to the first hip actuator during at least one segment of a swing phase of the first leg support, wherein the energy is;

a) supplied when both the first and second leg supports are on a supporting surface;

b) initiated before the first leg support leaves the supporting surface; and

c) applied in a forward swing direction, thereby transferring mechanical energy to a lower limb of the user through said first leg support from prior to toe-off and into the swing phase as the lower limb moves in the forward swing direction.