User coupled human-machine interface

• US 9,158,376 B2
• Filed: 05/30/2014
• Issued: 10/13/2015
• Est. Priority Date: 05/30/2013
• 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: Kazerooni, Homayoon, Jeong, Yoon Jung, Kim, Kyunam
• Primary Examiner(s): Dunn, Darrin
• Assistant Examiner(s): Everett, Christopher E
• Application Number:
  US14/291,101
• Publication Number:
  US 20140358290A1
• Time in Patent Office: 501 Days
• Field of Search: None
• US Class Current: 1/1
• CPC Class Codes: A61F 4/00 Methods or devices enabling patients or disabled persons to operate an apparatus or a device not forming part of the body operating or control means for prostheses A61F2/48, A61F2/68
• CPC Class Codes: A61H 1/00 Apparatus for passive exercising A61H5/00 takes precedence; Vibrating apparatus driving means for vibrating A61H23/00; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
• 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 2201/1635 Hand or arm, e.g. handle hand-held, A61H2201/0153; fore-arm support, A61H2003/006
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1652 Harness
• CPC Class Codes: A61H 2201/5007 computer controlled
• CPC Class Codes: A61H 2201/5035 Several programs selectable
• CPC Class Codes: A61H 2201/5043 Displays
• CPC Class Codes: A61H 2201/5048 Audio interfaces, e.g. voice or music controlled
• CPC Class Codes: A61H 2201/5061 Force sensors
• CPC Class Codes: A61H 2201/5097 wireless
• CPC Class Codes: A61H 2203/0406 Standing on the feet
• 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
• CPC Class Codes: G05B 15/02 electric
• CPC Class Codes: G05B 2219/40305 Exoskeleton, human robot interaction, extenders
• CPC Class Codes: G06F 3/011 Arrangements for interaction with the human body, e.g. for user immersion in virtual reality blind teaching G09B21/00
• CPC Class Codes: G06F 3/014 : Hand-worn input/output arrangements, e.g. data gloves

Abstract

An input device for commanding an exoskeleton worn by a person, adapted to be coupled to the person, the input device comprising: at least one signal generator adapted to be coupled to the user'"'"'s finger capable of generating at least one electric signal when said one signal generator gets contacted and, an input device controller adapted to be coupled to the user'"'"'s body capable of receiving and processing at least one signal and transmitting a command signal to the exoskeleton.

Claims

1. A system for operating an exoskeleton comprising:

an exoskeleton including;

first and second leg supports configured to be coupled to a user'"'"'s lower limbs, each of the first and second leg supports including a thigh link;

an exoskeleton trunk configured to be coupled to a user'"'"'s upper body, said exoskeleton trunk being rotatably connected to each of the first and second leg supports to allow for the flexion and extension between said first and second leg supports and said exoskeleton trunk;

first and second powered actuators coupled to respective first and second leg supports, said first and second actuators configured to provide movement of the leg supports relative to said exoskeleton trunk;

a support device separate from the exoskeleton to be held by a user of the exoskeleton, said support device comprising at least one support handle adapted to be grasped by a user'"'"'s hand;

an exoskeleton controller configured to shift said exoskeleton among a plurality of operational states and to receive user command signals; and

a user input device for commanding said exoskeleton, said input device-including;

a signal generator adaptable to be coupled to said user'"'"'s finger, when the user'"'"'s hand is in weight-bearing engagement with said support handle, so that said signal generator generates at least one electric signal when said user grasps said at least one support handle and said user'"'"'s finger selectively contacts said signal generator against said at least one support handle without interfering with the weight-bearing engagement of the user'"'"'s hand, and

an input device controller adaptable to be coupled to said user'"'"'s body capable of receiving said at least one signal from said signal generator, processing said at least one signal and transmitting said user command signals to said exoskeleton controller, said input device controller having an element or combination of elements selected from the group consisting of a display, a vibrating motor, and a speaker so that said input device controller is capable of generating visual information, tactile sensation, and/or audible sound related to said exoskeleton and/or said input device controller'"'"'s status.

2. The system of claim 1, wherein said signal generator has an actuator comprising an element or combination of elements selected from the group consisting of pushbuttons, switches including momentary switches, rocker switches, sliding switches, capacitive switches, resistive switches, thumbwheels, thumb balls, roll wheels, track balls, keys, knobs, potentiometers, encoders, force sensors, stain gauge forces sensor and linear variable differential transformers.

3. The system of claim 1, wherein said signal generator is coupled to a user'"'"'s finger via an element or a combination of elements selected from the group consisting of sleeves, straps, metal rings, plastic rings, tapes, and clips.

4. The system of claim 1, wherein said signal generator transmits said at least one signal to said input device controller via at least one wire.

5. The system of claim 1, wherein said input device controller is coupled to said user'"'"'s body via an element or a combination of elements selected from the group consisting of straps, bands, tapes, clips, chains, rings, and belts.

6. The system of claim 1, wherein said input device controller comprises a microcomputer, at least one battery and a wireless transceiver module capable of wirelessly sending said command signal to said exoskeleton.

7. The system of claim 1, wherein said command signal initiates a motion in said exoskeleton.

8. The system of claim 1, wherein said command signal stops a motion in said exoskeleton.

9. The system of claim 1, wherein said command increases said exoskeleton'"'"'s speed.

10. The system of claim 1, wherein said command signal decreases said exoskeleton'"'"'s speed.

11. The system of claim 1, wherein said command signal causes a change in configuration of said exoskeleton.

12. The system of claim 1, wherein said exoskeleton is capable of sending at least one feedback signal to said input device controller for processing, wherein said feedback signal represents said exoskeleton'"'"'s status.

13. The system of claim 1, wherein said signal generator is integrated into a glove wherein said glove is adapted to be worn by said user.

14. The system of claim 1, wherein the user input device controller includes a display for displaying visual information selected from the group consisting of text, still image, animation, video clips, and a combination thereof.

15. A control method of an exoskeleton utilizing the system of claim 1;

said control method comprising the steps of;

when the user'"'"'s hand is in weight-bearing engagement with the support handle, generating at least one signal by contacting the support handle with said signal generator in said glove without interfering with the weight-bearing engagement of the user'"'"'s hand;

processing said signal in said input device controller;

generating a command signal for said exoskeleton in said input device controller;

transmitting said command signal to the exoskeleton controller to cause, change, or inhibit motion in said exoskeleton; and

generating visual information, tactile sensation, and/or audible sound related to said exoskeleton and/or said input device controller'"'"'s status on the glove.

16. The method claim of 15, where the said signal generated by said signal generator represents a force between said user'"'"'s finger and said handle.

17. The method claim of 15, wherein said signal generator has an actuator comprising an element or combination of elements selected from the group consisting of pushbuttons, switches including momentary switches, rocker switches, sliding switches, capacitive switches, resistive switches, thumbwheels, thumb balls, roll wheels, track balls, keys, knobs, potentiometers, encoders, force sensors, stain gauge forces sensor and linear variable differential transformers.

18. The method claim of 15, where the said command signal is transmitted wirelessly.

19. The method claim of 15, wherein said command signal comprises any single or combination of signals selected from the group consisting of a signal representing the desired velocity of said exoskeleton, a signal representing the desired acceleration of said exoskeleton, and a signal representing the orientation of said exoskeleton.

20. The method of claim 15, wherein visual information is generate and displayed on a display of the input device, wherein the visual information is selected from the group consisting of text, still image, animation, video clips, and a combination thereof.