Exoskeleton and method of increasing the flexibility of an exoskeleton joint
Inventors
Angold, Russdon • Preuss, Adam • Fleming, Nicholas • Sweeney, Matthew D
Assignees
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Publication Number
US-10583551-B2
Publication Date
2020-03-10
Expiration Date
Abstract
An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.
Core Innovation
The invention relates to an exoskeleton including a plurality of interconnected rigid compression support elements configured to be coupled to body portions of a user. At least two support elements are interconnected through a tensegrity joint, and the tensegrity joint includes a first tensile member with a first end coupled to a first support element and a second end coupled to a second support element.
The tensegrity joint is configured such that a weight of the exoskeleton is transferred from the first support element to the second support element through the first tensile member only when the first tensile member is under tension. The joint is described for an ankle joint, a hip joint, or an abdominal joint, each interconnecting rigid compression support elements corresponding to the relevant body portions.
For an ankle joint embodiment, the rigid compression support elements include a shank and a boot coupled to a leg and a foot of the user, respectively, with tensile members linking the shank and the boot through a ball-and-socket joint arrangement on the other side. For a hip joint embodiment, tensile members are described between a hip extension on a torso brace and an upper leg support associated with a second rigid compression support element, and for an abdominal joint embodiment, tensile members are described between the torso brace and a waist brace to allow abdominal tensegrity rotation.
Claims Coverage
The document contains two independent claims directed to an exoskeleton with rigid compression support elements linked by a tensegrity joint using a tensile member that transfers weight only when under tension, and to a method of constructing such a tensegrity joint. Across the claim set, the inventive focus is on tensegrity interconnection of rigid compression members with tension-dependent weight transfer.
Tensegrity joint with tension-dependent weight transfer
An exoskeleton with a plurality of interconnected rigid compression support elements, where at least two support elements are interconnected through a tensegrity joint including a first tensile member having first and second ends respectively coupled to the first and second support elements, and wherein the tensegrity joint is configured such that a weight of the exoskeleton is transferred from the first support element to the second support element through the first tensile member only when the first tensile member is under tension.
Tension-dependent construction of a tensegrity joint
A method of constructing a joint of an exoskeleton with interconnected rigid compression support elements, configuring the joint as a tensegrity joint by coupling a first end of a first tensile member to a first support element and coupling a second end of the first tensile member to a second support element such that a weight of the exoskeleton is transferred from the first support element to the second support element through the first tensile member, but only when the first tensile member is under tension.
Overall, the independent claims center on a tensegrity joint interconnecting rigid compression support elements using a tensile member such that exoskeleton weight transfer occurs through the tensile member only when it is under tension.
Stated Advantages
Increased degrees of freedom for weight-bearing joint movement, including inversion/eversion and lateral/medial rotations and additional torso/hip mobility for turning.
Potential weight reduction.
Easier fitting.
Documented Applications
Terrain navigation using joint flexibility, including inversion/eversion and lateral/medial rotations for sloped coronal plane terrain navigation.
Turning in narrow hallway conditions using additional torso/hip mobility.
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