Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton

• US 8,945,028 B2
• Filed: 05/19/2009
• Issued: 02/03/2015
• Est. Priority Date: 05/20/2008
• Status: Active Grant

• Current Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Original Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Inventors: Kazerooni, Homayoon, Amundson, Kurt, Harding, Nathan
• Primary Examiner(s): Thanh, Quang D
• Application Number:
  US12/468,595
• Publication Number:
  US 20090292369A1
• Time in Patent Office: 2,086 Days
• Field of Search: 601/5, 601/23, 601/24, 601/33, 601/34, 601/35, 602/5, 602/16, 602/23
• US Class Current: 601/35
• 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: A61H 3/061 with electronic detecting or guiding means
• 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: leg supports configurable to be coupled to the person'"'"'s lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person'"'"'s upper body, 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. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

Claims

1. A method of reducing the energy consumption of a person in motion along a trajectory in a direction of movement coupled to an exoskeleton device including at least one power unit, two leg supports for coupling to said person'"'"'s lower limbs rotatably connected to an exoskeleton trunk, two hip actuators for creating torques between said leg supports and said exoskeleton trunk and at least one signal processor, said method comprising:

supplying energy from said at least one power unit to said hip actuator of the leg support coupled to said person'"'"'s lower limb in a stance phase and creating a torque profile in said hip actuator of said leg support in stance such that mechanical energy is transferred to said person from said lower extremity exoskeleton during said stance phase in the direction of movement, wherein said signal processor computes said torque profile and controls said hip actuator of said leg support in the stance phase to ensure said torque profile is larger than;

(M_TRUNKL²+I){umlaut over (β

)}₁−

(LM_TRUNK+RM_L)g Sin(β

₁+α

)+T_F

wherein;

M _TRUNK is a mass of the exoskeleton trunk and any attached load;

M_L is a mass of the respective first and second leg support in the stance phase;

I is moment of inertia of the respective first and second leg support in the stance phase;

L is a length of the respective first and second leg support in the stance phase;

R is a distance between a center of mass of the respective first and second leg support in the stance phase and a rotational point;

g is force due to gravity;

β

₁ is an angle between a support surface and the normal line of force on the exoskeleton trunk from the person'"'"'s upper body;

α

is a ground slope defined by an angle between a support surface and a horizontal plane; and

T_F is a frictional torque opposing the motion of the leg support relative to the exoskeleton trunk.

2. The method of claim 1 further comprising:

providing hydraulic power to one of the hip actuators from the at least one power unit which includes at least one hydraulic circuit, and modulating hydraulic fluid flow to and from said one of the hip actuators.

3. The method of claim 2 wherein said hydraulic circuit comprises a hydraulic pump coupled to an electric motor, wherein, when one of said leg supports is in the stance phase, said hydraulic pump injects hydraulic fluid into said hip actuator of said leg support in the stance phase.

4. The method of claim 1 wherein supplying energy from said at least one power unit to said hip actuator of the leg support coupled to said person'"'"'s lower limb in the stance phase includes supplying said energy in an amount at least equal to an amount of energy required to move said exoskeleton trunk and said leg support in the stance phase through the same trajectory when not worn by said person.

5. The method of claim 1 wherein supplying energy from said at least one power unit to said hip actuator of the leg support coupled to said person'"'"'s lower limb in the stance phase and creating a torque profile in said hip actuator of said leg support in stance includes providing torque at least equal to an amount of torque required to move said exoskeleton trunk and said leg support in the stance phase through the same trajectory when not worn by said person.

6. The method of claim 1 wherein supplying energy from said at least one power unit to said hip actuator of the leg support coupled to said person'"'"'s lower limb in the stance phase in the stance phase includes creating a force from said exoskeleton trunk onto the person'"'"'s upper body by use of said hip actuator of said leg support in the stance phase, wherein said force from said exoskeleton trunk onto the person'"'"'s upper body is along the person'"'"'s forward velocity.

7. The method of claim 6 further comprising:

measuring the force between said exoskeleton trunk and the person'"'"'s upper body, and ensuring that the force on the person'"'"'s upper body is always along the person'"'"'s forward velocity.

8. The method of claim 1 further comprising:

transferring weight of a load to said exoskeleton trunk through a connecting bracket.

9. The method of claim 8 further comprising:

holding the load in front of the person through an extension frame when said exoskeleton trunk is coupled to said person'"'"'s upper body.

10. The method of claim 1 further comprising:

producing a stance signal utilizing at least one stance sensor for each said leg support, with the stance signal indicating whether said leg support is in the stance phase.

11. The method of claim 10 wherein said at least one stance sensor is located inside a human shoe.

12. The method of claim 10 further comprising:

connecting said stance sensor to a bottom of a human shoe.

13. The method of claim 10 wherein each said leg support includes a foot configured to rest on a ground surface, and each said foot includes at least one stance sensor producing a stance signal indicating whether said leg support is in the stance phase.

14. The method of claim 1 wherein each said leg support further comprises a thigh link, a shank link, and a knee joint configured to allow flexion and extension between said shank link and said thigh link, said method further comprising:

allowing flexion and extension of a respective said knee joint during swing phase and resisting flexion of the respective said knee joint during stance phase to allow a transfer of force to a ground surface.

15. A method of reducing the energy consumption of a person in motion along a trajectory in a forward direction of movement coupled to an exoskeleton device including at least one power unit, two leg supports for attachment to the person'"'"'s legs rotatably connected to an exoskeleton trunk, two hip actuators for creating torques between said leg supports and said exoskeleton trunk and a processor for controlling the hip actuators, the method comprising:

supplying energy from said at least one power unit to said hip actuator of the leg support coupled to said person'"'"'s lower limb in a stance phase; and

creating, utilizing the processor, a torque profile for said hip actuator of said leg support in the stance phase based on a measured force between said exoskeleton trunk and the person'"'"'s upper body along the person'"'"'s forward velocity direction, wherein the torque profile is larger than an amount of torque required to move said exoskeleton trunk and said leg support in the stance phase through the same trajectory in the forward direction of movement when not worn by said person.

16. The method of claim 15 wherein supplying energy from said at least one power unit to said hip actuator of the leg support coupled to said person'"'"'s lower limb in the stance phase includes creating a force from said exoskeleton trunk onto the person'"'"'s upper body by use of said hip actuator of said leg support in the stance phase, wherein said force from said exoskeleton trunk onto the person'"'"'s upper body is larger than the measured force and is along the person'"'"'s forward velocity.

17. The method of claim 15 further comprising:

transferring weight of a load to said exoskeleton trunk through a connecting bracket.

18. The method of claim 17 further comprising:

holding the load in front of the person through an extension frame when said exoskeleton trunk is coupled to said person'"'"'s upper body.

19. The method of claim 15 further comprising:

producing a stance signal utilizing at least one stance sensor for each said leg support, with the stance signal indicating whether a respective said leg support is in the stance phase.

20. The method of claim 19 wherein said at least one stance sensor is located inside a human shoe.

21. The method of claim 19 further comprising:

connecting said stance sensor to a bottom of a human shoe.

22. The method of claim 19 wherein each said leg support includes a foot configured to rest on a ground surface, and each said foot includes at least one stance sensor producing a stance signal indicating whether a respective said leg support is in the stance phase.