Universal tensegrity joints for human exoskeleton
Inventors
Hughes, Mike • Angold, Russdon • VICKERS, Jeff • ROAN, Bradley • Amundson, Kurt • Fleming, Nicholas
Assignees
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Publication Number
US-10350130-B2
Publication Date
2019-07-16
Expiration Date
Abstract
An exoskeleton includes first and second compression members configured to be coupled to a wearer of the exoskeleton. A tensegrity joint connects the first compression member to the second compression member, the joint including a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side.
Core Innovation
The invention relates to an exoskeleton that includes a tensegrity joint connecting a first compression member to a second compression member. The joint includes a tensile member having a first end and a second end, where the first end is coupled to the first compression member on a first side of the joint and the second end is coupled to the first compression member on a second side of the joint opposite the first side. In some embodiments, each tensile member end is directly coupled to the first compression member, while other embodiments couple an end to a support that is coupled to the first compression member.
The invention addresses a need for increased joint degrees of freedom and flexibility while maintaining weight-bearing. It describes functional behavior differences under load versus unloaded states, and it enables multi-plane joint motion including inversion and eversion and multi-plane hip or ankle motion. Weight transfer is described as a pathway from upper structures through the tensile member and optionally pulleys to supports, and then to lower supports and the ground.
Embodiments describe the tensegrity joint in different exoskeleton locations, including an ankle joint, an abdominal/torso joint with torso support and waist support, and a hip joint. The tensile member is described as being adjustable, inelastic, or elastic, and the system is presented as useful for scenarios requiring terrain adaptation and torso/hip mobility, including slope walking and combat and vehicle dismount contexts.
Claims Coverage
The independent claims cover a tensegrity joint architecture for an exoskeleton, including a tensile member coupled across opposite sides of a compression-member interface, optional support-mediated coupling, and an embodiment with pulleys. In total, the claims present four inventive features.
Opposite-side tensile-member coupling between compression members
A tensegrity joint connecting a first compression member to a second compression member, with a tensile member having a first end and a second end coupled to the first compression member on opposite sides of the joint.
Direct or support-mediated coupling of tensile-member ends
Each of the first and second ends is directly coupled to the first compression member, or the first end is directly coupled to a first support and the second end is directly coupled to a second support, with each support directly coupled to the first compression member.
Tensile member wrapped around opposite-side pulleys
The tensegrity joint further includes a first pulley on the first side of the joint and a second pulley on the second side of the joint, and the tensile member is wrapped around each pulley.
Flexibility increased by configuring an exoskeleton joint as a tensegrity joint
A method of increasing flexibility of a joint of an exoskeleton by configuring the joint as a tensegrity joint with the tensile-member coupling arrangement.
The claims define a tensegrity-joint exoskeleton arrangement in which a tensile member spans opposite sides of a compression-member interface, with either direct or support-mediated coupling, and in one embodiment is wrapped around pulleys. The method claim frames the same arrangement as increasing joint flexibility.
Stated Advantages
Greater joint degrees of freedom and flexibility.
Flexibility is provided without sacrificing weight-bearing.
Adaptation to scenarios requiring terrain adaptation.
Torso/hip mobility is enabled.
Functional behavior differs under load versus unloaded states.
Documented Applications
Terrain adaptation scenarios, including slope walking.
Combat scenarios requiring torso/hip mobility.
Vehicle dismount scenarios requiring torso/hip mobility.
Neck/helmet and spine/shoulder-arm tensegrity joint applications within an exoskeleton.
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