Machine to human interfaces for communication from a lower extremity orthotic
Inventors
Sandler, Reuben • Amundson, Kurt • Stryker, James • Strausser, Katherine • Zoss, Adam • Swift, Tim
Assignees
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Publication Number
US-10391016-B2
Publication Date
2019-08-27
Expiration Date
Abstract
An exoskeleton includes a control system which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist and/or to an exoskeleton user. The feedback system can take various forms, including employing sensors to establish a feedback ready value and communicating the value through one or more light sources which can be in close proximity to joints of the exoskeleton joints.
Core Innovation
The document describes a powered lower extremity orthosis configured to be coupled to a person with a torso link, at least one leg link, and at least one actuator to shift the leg link with respect to the torso link. A plurality of sensors measures at least one of an orientation and forces of the orthosis and the person, and a controller receives signals from the sensors, estimates at least one feedback ready value based on the signals, and controls the actuator to assist a gait or movement of the person.
The controller-operated feedback system communicates the at least one feedback ready value to the person using orthosis operational information not otherwise available to the person. The feedback system includes at least one of at least one light corresponding to each actuator, where the light indicates an effort being produced by the orthosis at that corresponding actuator, and a display mounted in a field of view of the person that overlay graphics to indicate locations on a support surface.
The disclosed embodiments further include tactile feedback devices and auditory cues, and guidance targets using laser projection and associated optics. The feedback ready information includes triggers based on joint torque relative to maximum torque, expected-minus-actual joint torque for obstacle sensing, assistance level, center of pressure and center of mass relative position stability, foot height, obstacle distance, and predicted end-effector or foot placement.
Claims Coverage
The partial content identifies three independent claims: one for a lower extremity orthosis, one for a method of operating the orthosis with feedback-ready values, and one for a method of controlling actuator assistance while continuously indicating effort with lights. Across the independent claims, three inventive-feature themes recur: sensor-based estimation of feedback-ready values for gait assistance, communication of operational information through light and/or field-of-view displays, and continuous visual indication of effort produced by actuators.
Sensor-based feedback-ready orthosis control with person-facing operational communication
The orthosis includes a torso link, at least one leg link, at least one actuator to shift the leg link with respect to the torso link, a plurality of sensors configured to measure at least one of an orientation and forces of the orthosis and the person, and a controller configured to estimate at least one feedback ready value based on signals from the plurality of sensors and control the actuator to assist gait or movement, wherein the feedback system communicates the feedback ready value to the person as orthosis operational information not otherwise available to the person.
Actuator-effort indication using lights and/or field-of-view display graphics
The feedback system includes at least one of at least one light corresponding to each actuator, the light indicating an effort being produced by the orthosis at that corresponding actuator, and a display mounted in a field of view of the person overlaying graphics so that the graphics indicate locations on a support surface.
Method estimating feedback-ready values from sensor signals and communicating operational information
A method of operating the orthosis includes controlling the at least one actuator to assist a gait of the person, estimating at least one feedback ready value based on signals from the plurality of sensors, and communicating the feedback ready value to the person with the feedback system to provide orthosis operational information not otherwise available to the person.
Overlaying location-indicating graphics for support-surface guidance
The method includes overlaying graphics on a display mounted in a field of view of the person so that the graphics indicate locations on a support surface.
Continuous visual effort indication while controlling actuator-assisted gait
A method of controlling the orthosis includes receiving signals from the plurality of sensors and controlling the at least one actuator to assist a gait of the person, and controlling at least one light to continuously indicate an effort produced by the at least one actuator, whereby the orthosis provides a visual indication of assistance provided by the orthosis.
Across the independent claims, the document covers a lower extremity orthosis and corresponding operating/controlling methods that estimate at least one feedback ready value from orientation/force sensor signals, assist gait with actuator control, and communicate operational information to the person primarily via actuator-corresponding light indicators and/or a field-of-view display overlaying location graphics, while enabling continuous visual effort indication.
Stated Advantages
Provides orthosis operational information not otherwise available to the person.
Provides a visual indication of assistance provided by the orthosis through continuous effort indication by the at least one light.
Documented Applications
Assisting a gait or movement of a person with a lower extremity orthosis that communicates operational information to the person.
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