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Publication Number
US-10342723-B2
Publication Date
2019-07-09
Expiration Date
Abstract
An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.
Core Innovation
An exoskeleton includes a first support structure and a second support structure connected by a joint configured to enable relative movement between the first and second support structures. The exoskeleton further includes a first cord loop and a second cord loop that each connect the first and second support structures. The motor twists the cord loops to thereby shorten them.
Shortening of the first cord loop causes relative pivotal movement of the first and second support structures about the joint in a first direction. Shortening of the second cord loop causes relative pivotal movement of the first and second support structures about the joint in a second, opposite direction.
A brake is configured to prevent relative movement of the first and second support structures about the joint in at least one of the first and second directions when one of the first and second cord loops breaks. The brake architecture is described with gear and pawl arrangements and spring and pulley elements, and an alternative brake architecture is described using a spring-loaded sliding element and gear contact.
To reduce cord-loop wear, spindle arrangements and cord guides are used, including wedge-shaped cord guides and strand separators that define cord contact and reduce formation of twisted helical cord structures to transition regions. Bidirectional motion is described using either two motors or a single bidirectional motor, where relative pivotal movement is produced via twisting and shortening of the first and second cord loops.
Claims Coverage
Independent claim clm-00001 provides a coverage framework with inventive features including a jointed two-support exoskeleton, two cord loops driven by twisting motors for opposite directions, and a brake that prevents joint motion when a cord loop breaks. The dependent claim set refines braking implementations, motor architecture, and cord-loop wear reduction by specifying spindle/cord-guide and cord-contact features.
Jointed two-support exoskeleton with relative movement
A first support structure configured to be coupled to a wearer; a second support structure configured to be coupled to the wearer; and a joint connecting the first and second support structures, the joint being configured to enable relative movement between the first and second support structures.
Dual cord loops twisted to shorten and pivot in opposite directions
A first cord loop and a second cord loop connecting the first and second support structures; at least one motor configured to twist and thereby shorten the first and second cord loops, wherein shortening of the first cord loop causes relative pivotal movement about the joint in a first direction, and shortening of the second cord loop causes relative pivotal movement about the joint in a second, opposite direction.
Brake preventing pivotal movement upon cord-loop breakage
A brake configured to prevent relative movement of the first and second support structures about the joint in at least one of the first and second directions when one of the first and second cord loops breaks.
Gear-and-pawl brake responsive to a broken cord loop
A brake including a gear and a first pawl arranged so that the pawl contacts the gear when a first cord loop breaks, preventing relative movement about the joint in at least one direction.
Mirrored pawl/pulley/spring braking for the second cord loop
A brake including a second pawl, second pulley, and second spring to control whether the second pawl contacts a gear when a second cord loop breaks, thereby preventing relative movement about the joint in at least one direction.
Single motor twisting both cord loops in opposite rotational directions
At least one motor embodied as a single motor configured to simultaneously twist both the first and second cord loops in opposite rotational directions.
Spindle with cord slot and cord guide for a cord loop
A spindle coupled to one of the first and second cord loops, where the spindle has a cord slot and a first cord guide, and the selected cord loop passes through the cord slot to contact the first cord guide.
Wedge-shaped cord guide eliminating a gap with the twisted helical cord structure
A first cord guide with a wedge shape configured to eliminate any gap between the first cord guide and a twisted helical cord structure when the first or second cord loop is twisted by at least one motor.
Overall, the claims cover an exoskeleton in which a motor twists two cord loops to shorten them and produce opposite-direction pivotal movement about a joint, with a brake that prevents joint movement when a cord loop breaks. Dependent claims refine the brake mechanism, motor architecture, and cord-loop mechanics using spindles, cord slots, cord guides, and strand separators to reduce cord-loop wear.
Stated Advantages
Reduced cord-loop wear.
Safety-related prevention of unsafe joint motion when a cord loop breaks.
Documented Applications
Knee actuation, including examples for a knee joint and a knee cam.
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