Unidirectional actuated exoskeleton device
Inventors
Mooney, Luke • Duval, Jean-Francois
Assignees
Publication Number
US-10265195-B2
Publication Date
2019-04-23
Expiration Date
2037-10-12
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Abstract
The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.
Core Innovation
The invention concerns an autonomous exoskeleton device that features one or more actuators, controllers, and sensors, utilizing one or more unidirectional transmissions. This design establishes a mechanical joint operating in parallel with a biological joint, commonly at the ankle or knee. The exoskeleton is constructed to include an electric motor, with a configuration where its diameter is larger than its length, which powers a winch, chain, belt, cam transmission, or other mechanisms to provide unidirectional force and thus assist rotation about the body joint.
Previous exoskeletons have struggled to balance low mass with high force, torque, or power output, often requiring design tradeoffs. These devices must also transfer significant force efficiently to the human body without interfering with its natural range of motion while remaining energy efficient and easy to control. The present invention addresses these challenges by offering a compact and lightweight structure with high force output, integrating comfort, adjustable attachments, and advanced sensors for improved control and energy transfer.
A key technical aspect is the use of a unidirectional actuator, such as a drive belt or winch, that enables force or torque to be applied in one direction only, enhancing efficiency and ease of control. Sensors monitor joint and motor angles, while control electronics synchronize the actuation to the user’s movement, particularly for supporting plantarflexion or dorsiflexion in walking. Additional features like a composite footplate integrated into footwear, variable thickness carbon fiber, and multiple transmission options further distinguish this unidirectional actuated exoskeleton device from prior art.
Claims Coverage
The patent features one independent claim focusing on the novel biomechanical joint design that integrates electric actuation, unidirectional transmission, and advanced mechanical interconnections.
Biomechanical joint with electric motor and unidirectional transmission
A biomechanical joint is configured to generate torque about an axis, comprising: - A shin pad attached to the shin of a user and a shank structure with two ends, the first end connected to the shin pad. - An electric motor attached to the shank structure with its axis of rotation perpendicular to the longitudinal axis of the shank, and arranged with a unidirectional transmission. - The second end of the shank structure is pivotally connected to a joint cross member about a first joint whose axis of rotation is set perpendicular to the user’s sagittal plane. - A lever arm connected to the joint cross member. - A rotary encoder at the first joint. - A foot plate configured to attach to the user’s foot, pivotally connected to the joint cross member via a second joint whose axis of rotation is perpendicular to that of the first joint. - The unidirectional transmission is operatively connected between the electric motor and lever arm.
The claims are primarily directed to a biomechanical joint that integrates a brushless electric motor with a unidirectional transmission to actuate movements in parallel with a biological joint, utilizing specific spatial and mechanical arrangements to provide torque while maintaining compatibility with human anatomy.
Stated Advantages
The device is compact, lightweight, and inexpensive to manufacture.
It is powerful and easy to control, overcoming many disadvantages of prior exoskeleton devices.
The exoskeleton allows for efficient transfer of energy to the user while maintaining user comfort and natural range of motion.
The device offers high force, torque, or power output without significant increase in mass.
It is adaptable to different leg sizes and shapes, with adjustable attachments for secure and comfortable fit.
Quick detachment of the exoskeleton from the footplate or footwear is possible.
The articulated eversion/inversion joint allows for natural foot movement and simplifies footplate design.
Documented Applications
Use as an exoskeleton device to assist movement at the ankle joint by providing plantarflexion or dorsiflexion torque, supporting walking.
Integration into footwear or military boots for assisted locomotion.
Application at the knee joint for providing extension and flexion assistance via dual unidirectional control.
Bilateral use, where exoskeletons can be worn on both legs, communicating for coordinated control.
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