Lower-leg exoskeleton system and method
Inventors
Piercy, Brenton • Swift, Tim • Nucci, Giancarlo • Lamb, Callum • Lynn, Pete • Griffith, Saul • Luce, Leanne
Assignees
Publication Number
US-10543110-B2
Publication Date
2020-01-28
Expiration Date
2036-03-28
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Abstract
A lower-leg exoskeleton including an inflatable actuator that is configured to be worn over a front portion of a foot of a user; a rigid foot structure coupled to the inflatable actuator that is configured to surround a portion of a foot of the user; and a rigid shin structure coupled to the inflatable actuator and configured to engage the shin of the user. When worn by a user, the lower-leg exoskeleton can receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure which is forward of the heel of a user. Inflation of the inflatable actuator can generate a moment about the ankle of a user to cause flexion of the foot of the user.
Core Innovation
The invention describes a lower-leg exoskeleton system designed to improve power transmission and user comfort through a novel combination of rigid and inflatable structures. The system includes an inflatable actuator configured to be worn over the front portion of a user's foot and disposed adjacent to and surrounding the ankle. This actuator is generally C-shaped and is designed to interact with both a rigid foot structure and a rigid shin structure to efficiently receive and transmit actuator loads.
A significant aspect is the positioning and structure of the rigid components. The rigid foot structure surrounds a portion of the user's foot and includes a rigid base configured to engage the bottom of the foot forward of the heel. This design allows actuator forces to be directed without relying on the heel as the main contact point, addressing issues found in conventional exoskeletons. The rigid shin structure engages the user's shin and is connected to the actuator to ensure efficient force transfer during actuation.
The inflatable actuator, when inflated, generates a moment about the ankle to cause flexion of the foot, providing control over movement such as plantar flexion and dorsiflexion. The system can be integrated with footwear or clothing, and may include dynamically adjustable or semi-compliant structures for comfort and efficacy. A control system and fluidic (pneumatic) system manage the inflation of actuators, enabling controlled motion assistance tailored to activities like walking or lifting. The invention provides a solution to the limitations of traditional exoskeletons, such as nonstandard gait and limited range of motion due to heel-based force transmission.
Claims Coverage
There are two main independent claims, each covering inventive features related to a lower-leg exoskeleton system and a lower-leg exoskeleton with specific actuator and structural components.
Exoskeleton system with inflatable actuator and rigid structures transmitting force forward of the heel
An exoskeleton system including: - An actuation system with a fluidic system and control system. - A first and second lower-leg exoskeleton, each comprising: - An inflatable actuator worn over the front of the user's foot, generally C-shaped and surrounding the ankle. - A rigid foot structure coupled to one actuator end, configured to surround part of the foot and direct force from the actuator around the foot to a rigid base, so force is not applied directly to the top of the foot. The rigid base engages a bottom portion of the foot forward of the heel. - A rigid shin structure coupled to the other actuator end, engaging the user's shin. - The combination of components receives and transmits actuator load to a contact point in the rigid base forward of the heel, and actuator inflation generates a moment about the ankle to cause flexion.
Lower-leg exoskeleton with removable base portion and actuator load transmission
A lower-leg exoskeleton comprising: - An inflatable actuator configured to be worn over the front portion of the user's foot and surrounding the ankle. - A rigid foot structure coupled to one actuator end, which includes: - A pair of sidewalls extending around the foot with attachment points for a removable base portion. - A removable base portion at the bottom of the foot having attachment points for removably coupling to the sidewalls. - A rigid shin structure coupled to the other actuator end and engaging the user's shin. - The system transmits actuator load to a load contact point at the bottom of the foot defined by the rigid foot structure, forward of the heel, with actuator inflation generating a moment about the ankle to cause foot flexion.
The inventive features cover a lower-leg exoskeleton system and device integrating an inflatable actuator, rigid foot and shin structures, designed to transmit forces forward of the heel and enable controlled ankle and foot flexion distinct from prior systems.
Stated Advantages
Allows force to be transmitted directly through the sole without using the user's foot as part of the load path.
Reduces user discomfort by using semi-compliant and/or dynamically adjustable structures.
Maintains a sufficiently rigid force transmission path for efficient power output and control.
Provides more comfortable power transmission and a better range of motion compared to conventional exoskeletons.
Quick-connect attachments and retractable connection points facilitate easier donning and removal for the user.
Load transmission forward of the heel addresses nonstandard gait and action limitations present in traditional exoskeletons.
Documented Applications
Assisting disabled users with mobility where they lack control or have reduced strength in lower body parts.
Providing users with strength assistance or extra-human abilities for tasks such as lifting or carrying heavy objects.
Regaining mobility or increasing strength in the lower legs or feet.
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