Gait orthotic device and method for protecting gait orthotic device and user from damage
Inventors
Angold, Russdon • Sandler, Reuben • Moore, Robert
Assignees
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Publication Number
US-10154937-B2
Publication Date
2018-12-18
Expiration Date
Abstract
A gait orthotic device, such as a powered exoskeleton, includes at least one joint; at least one actuator configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface or object; and a controller. The controller is configured to determine when a fall is occurring and direct the actuator to: orient the device so the cushioning mechanism makes contact with the surface or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work. The cushioning mechanism can take various forms, including an airbag, a spring, a bumper, a roll bar or a kickstand. Preferably, the cushioning mechanism is an airbag in the form of an airbag module that is detachably coupled to the device for removal and replacement.
Core Innovation
The invention relates to a gait orthotic device configured to be coupled to a user and comprising an actuator at a joint and a cushioning mechanism that absorb energy or spread a force during an impact with a surface or object. The device further includes a controller configured to determine when a fall is occurring and direct the actuator to change the device state so that protection occurs during the fall.
In one protective action, the controller orientates the gait orthotic device so the cushioning mechanism makes contact with the surface or object during the fall. In another protective action, the controller reduces a kinetic energy of the gait orthotic device during the fall.
The cushioning mechanism is described in embodiments as an airbag module, including a detachably removable and replaceable airbag module, and may be implemented as a plurality of airbag modules. The airbag module is positioned near user body areas including the head, pelvis, hips, or knees, and the controller may selectively deploy one or more airbag modules based on the device position during a fall and/or the direction of the fall.
Claims Coverage
The partial content identifies two independent claims: clm-00008 (device) and clm-00015 (method). Across these claims, the coverage centers on a controller-directed protective response during a fall that either orients the gait orthotic device so a cushioning mechanism contacts an impact surface/object or reduces the kinetic energy of the gait orthotic device during the fall.
Fall detection with controller-directed actuator response
A gait orthotic device coupled to a user with an actuator configured to cause movement at a joint and a controller configured to determine when a fall is occurring and direct the actuator to orient the gait orthotic device so that the cushioning mechanism makes contact with the surface or object during the fall, or reduce a kinetic energy of the gait orthotic device during the fall.
Protecting the gait orthotic device during a fall by orienting or kinetic-energy reduction
A method for protecting a gait orthotic device configured to be coupled to a user, including a controller and comprising determining, with the controller, when the fall is occurring, and directing, with the controller, at least one of the actuators to orient the gait orthotic device so that the cushioning mechanism makes contact with the surface or object during the fall, or reduce a kinetic energy of the gait orthotic device during the fall.
The independent-claim scope is directed to fall detection combined with controller-directed actuation to provide protection via either impact positioning of a cushioning mechanism or reduction of the device’s kinetic energy during the fall.
Stated Advantages
Provides protection of a user and the gait orthotic device from damage during a fall.
Documented Applications
Used in protecting a user and a gait orthotic device during a fall.
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