Exoskeleton device and method of impeding relative movement in the exoskeleton device
Inventors
Assignees
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Publication Number
US-10238522-B2
Publication Date
2019-03-26
Expiration Date
Abstract
An exoskeleton device includes a first brace coupled to a first portion of a wearer of the exoskeleton device and a second brace coupled to a second portion of the wearer. A first joint connects the first and second braces and allows relative movement between the first and second braces. A first brake is controllable between an unactuated state and a plurality of actuated states, and the first brake impedes relative movement between the first and second braces at the first joint while the first brake is in one of the plurality of actuated states. A manual actuator is selectively used by the wearer during relative movement between the first and second braces. Use of the actuator causes the first brake to enter one of the plurality of actuated states such that relative movement between the first and second braces is impeded at the first joint.
Core Innovation
The invention relates to an unpowered exoskeleton orthosis that limits joint motion by impeding relative movement at a joint using a controllable first brake having a plurality of actuated states. The first brake is configured to impede, but not prevent, relative movement between a first brace and a second brace connected by a first joint while the first brake is in one of the actuated states.
A wearer selectively actuates the braking using a manual actuator that is a handbrake. Use of the manual actuator causes the first brake to enter one of the plurality of actuated states such that relative movement between the first and second braces is impeded at the first joint during relative movement, while an unactuated state allows relative movement at the first joint.
The disclosure provides embodiments for knee and hip braking during downhill or sloped descent, including hydraulic or cable handbrake actuation via brake lines and rotary braking using a rotor and caliper. It also describes unrolled or linear non-rotary braking to provide angle-dependent moment-arm behavior, integration with a backpack for load transfer, extension to multiple joints using a shared hand actuator and routed brake lines, and safety devices such as an over-torque release.
Claims Coverage
The document includes two independent claims, an apparatus claim and a method claim. The inventive coverage centers on an unpowered exoskeleton device in which a manually operated handbrake selectively places a first brake into one of multiple actuated states to impede relative joint movement without preventing it.
Exoskeleton with two braces and a joint impeded by a multi-state first brake
An exoskeleton device comprising a first brace and a second brace coupled to portions of a wearer, a first joint connecting the braces and allowing relative movement, and a first brake controllable between an unactuated state and a plurality of actuated states, where the first brake impedes relative movement between the braces at the first joint while in one of the plurality of actuated states.
Wearer-selective handbrake actuation that impedes but does not prevent joint relative movement
A manual actuator configured to be selectively used by the wearer during relative movement, wherein the manual actuator is a handbrake and use of the manual actuator causes the first brake to enter one of the plurality of actuated states such that relative movement between the braces is impeded at the first joint, with the first brake configured to impede but not prevent relative movement while in the actuated state.
Method of impeding relative movement using a manually actuated multi-state first brake
A method of impeding relative movement in an exoskeleton device by selectively using a manual actuator during relative movement between first and second braces connected by a first joint, where the manual actuator is a handbrake that causes a first brake to enter one of the plurality of actuated states such that relative movement is impeded at the first joint, and wherein the first brake impedes but does not prevent relative movement while in the actuated state.
Across the independent claim set, the core coverage is for an exoskeleton in which a first brake with an unactuated state and multiple actuated states is placed into an actuated state by a wearer-operated handbrake to impede, without preventing, relative movement at a joint.
Stated Advantages
Injury risk reduction.
Improved control.
Unpowered operation.
Documented Applications
Braking use during downhill or sloped surface descent (knee and hip braking).
Integration with a backpack for load transfer.
Extension to multiple joints using a shared hand actuator and routed brake lines.
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