Leg exoskeleton system and method
Inventors
Lamb, Callum Russell • Nucci, Giancarlo Sigurd Sante • Lamson, Kyle Allen • Swift, Timothy Alan • Piercy, Brenton • LYNN, Peter Sturt
Assignees
Publication Number
US-11033450-B2
Publication Date
2021-06-15
Expiration Date
2038-04-13
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Abstract
A fluidic exoskeleton system. The system can include one or more fluidic actuator units that have: a joint; a first and second arm coupled to the joint; an inflatable bellows actuator extending between a first and second plate associated with the joint, the inflatable bellows actuator defining a bellows cavity, the inflatable bellows actuator configured to extend along a length of the bellows actuator when inflated by introducing fluid into the bellows cavity; and one or more constraint ribs extending from the joint and surrounding portions of the bellows actuator along the length of the bellows actuator.
Core Innovation
The invention relates to a fluidic exoskeleton system that incorporates one or more adjustable fluidic actuator units designed for use with human body joints, such as the knee. Each actuator unit includes a joint, upper and lower arms coupled to the joint, and a bellows actuator that extends between two plates. The bellows actuator defines a cavity and is constructed to extend along its length when fluid is introduced, thereby generating controlled expansion and contraction for actuation.
A key aspect of this system is the inclusion of one or more constraint ribs that extend from the joint and surround portions of the bellows actuator to guide and constrain its expansion, ensuring consistent and directional force application. The constraint ribs prevent undesired out-of-axis motion or buckling of the bellows, contributing to reliable operation. The actuator units can be integrated into wearable exoskeleton devices, controlled by a computing device that interfaces with sensors and a pneumatic system to regulate actuation according to movement and user intent.
The problem addressed by the invention is the need for controllable, consistent, and efficient actuation in wearable exoskeletons, particularly for assisting movement of human joints. Traditional systems may suffer from unreliable expansion or lack of control over actuation force direction, resulting in inefficiency or unpredictable performance. The presented design using fluidic actuators with constraining ribs solves this by providing reliable motion guidance, improved force transmission, and adaptability for various exoskeleton applications.
Claims Coverage
There are three primary independent claims, each capturing a set of inventive features relating to wearable pneumatic exoskeleton systems, methods of actuation, and a fluidic actuator unit.
Wearable pneumatic exoskeleton system with joint-aligned actuation and constraint ribs
A wearable pneumatic exoskeleton system includes: - Left and right pneumatic leg actuator units designed to align with the user’s knees. - Each actuator unit features a rotatable joint laterally adjacent to the respective knee, upper and lower arms mirroring the user’s thigh and lower leg, and a distal coupling to a ski boot in a skiing assembly. - An inflatable bellows actuator extends between first and second plates associated with the joint, defining a cavity for pneumatic inflation/deflation to control actuator extension. - Multiple constraint ribs extend from the rotatable joint, encircling sections of the bellows actuator to guide its expansion. - A pneumatic system delivers pneumatic fluid to actuate the respective bellows independently. - An exoskeleton computing device provides control based on data from built-in sensors, executing instructions to operate the pneumatic system in response to user motion or environment.
Wearable exoskeleton system with leg actuator unit featuring joint alignment and fluidic actuation with constraint ribs
A wearable exoskeleton system comprises: - A leg actuator unit to be worn on a user's leg, including a joint aligned with the user's knee. - Upper and lower arms extending along the upper and lower leg, with a lower arm coupled to a ski boot. - First and second plates extending from the joint, and an inflatable bellows actuator extending between them, the actuator configured to extend in length with fluid inflation. - One or more constraint ribs extending from the joint and surrounding or guiding the bellows actuator along its length for controlled actuation.
Fluidic actuator unit for joint-aligned wearable actuation with guided bellows constraint
A fluidic actuator unit includes: - A joint configured for alignment with a user’s knee, a first and a second arm connected to the joint, and a distal end adapted for ski boot connection in a skiing assembly. - An inflatable bellows actuator disposed between two plates associated with the joint, defining a cavity for fluid-based actuation and extending along its length upon inflation. - One or more constraint ribs extending from the joint, surrounding and guiding portions of the bellows actuator to maintain its directional actuation and prevent undesired deformation.
The inventive features collectively cover a wearable exoskeleton system incorporating joint-aligned fluidic actuation using inflatable bellows actuators constrained by ribs, along with sensor-guided pneumatic control for efficient and reliable assistive movement.
Stated Advantages
Constraint ribs provide consistent and controllable axis of bellows expansion, ensuring suitable and controllable actuation force.
The design directs actuator force reliably about joint axes, enabling effective augmentation or assistance of user joint motion.
The system's modularity and adjustability allow it to be configured for various body joints and different user needs.
The use of a computing device and sensors enables the exoskeleton to react automatically or via various user/programmatic controls.
Documented Applications
Augmenting or assisting human movement for activities such as walking, running, jumping, climbing, lifting, throwing, squatting, skiing, and similar motions.
Providing powered assist to reduce exertion during load carrying or movement for the user wearing the exoskeleton system.
Use with skiing assemblies, including direct coupling to ski boots and skis for enhanced skiing motion and force transmission.
Application to other joints of the body including elbow, hip, finger, spine, or neck, as well as in non-human applications such as robotics, prosthetics, body implants, and machinery.
Interested in licensing this patent?