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Publication Number
US-11110025-B2
Publication Date
2021-09-07
Expiration Date
Abstract
A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.
Core Innovation
The invention relates to a powered lower-limb wearable robotic device that includes a removable, self-contained actuator cassette and a thigh assembly with a receptacle for receiving and retaining the actuator cassette. The removable, self-contained actuator cassette is removable from the receptacle as a unit, and the cassette includes a motor, a drivetrain operatively coupled to and driven by the motor, and a housing supporting the motor and drivetrain. A connector protrudes from and is rotatable with respect to the housing and is driven by the drivetrain, while the motor and drivetrain are fixed to the housing to form the removable, self-contained actuator cassette.
The actuator cassette has a housing comprising a top plate and a bottom plate, with the motor mounted outside the top and bottom plates. A drive shaft of the motor protrudes through an offset portion of the top plate. The drivetrain is sandwiched between the top plate and the bottom plate so that the motor and drivetrain are fixed to the housing, and the connector is protruding and rotatable with respect to the housing while being driven by the drivetrain. This structure supports a removable module configuration relative to the receptacle of the thigh assembly.
The wearable robotic device further includes a connector having a coupler structure with a first portion connectable to a complementary second portion. Additional cassette geometry is defined such that a maximum depth is less than a maximum width and maximum length measured orthogonal to the depth. Alignment relationships are defined such that the rotational axis of the drivetrain is parallel to the rotational axis of the motor’s drive shaft, and the housing includes straight, parallel long sides ending at curved end surfaces.
Claims Coverage
The independent claim covers the wearable robotic device architecture featuring a removable, self-contained actuator cassette module removably received by a thigh assembly receptacle. The claim set includes additional refinements through dependent claims that add coupler structure, dimensional constraints, rotational-axis alignment, and housing geometry, yielding several distinct inventive features in the overall coverage.
Removable self-contained actuator cassette removably received by thigh assembly receptacle
A wearable robotic device comprising a removable, self-contained actuator cassette and a thigh assembly including a receptacle for receiving and retaining the removable, self-contained actuator cassette, wherein the removable, self-contained actuator cassette is removable from the receptacle as a unit.
Cassette motor-driven drivetrain with rotatable connector fixed to housing
The removable, self-contained actuator cassette comprises a motor, a drivetrain operatively coupled to and driven by the motor, a housing supporting the motor and drivetrain, and a connector protruding from and rotatable with respect to the housing and driven by the drivetrain, wherein the motor and the drivetrain are fixed to the housing to form the removable, self-contained actuator cassette.
Offset motor drive shaft through top plate with sandwiched drivetrain and motor outside plates
The housing comprises a top plate on which the motor is mounted and a bottom plate coupled to the top plate, and a drive shaft of the motor protrudes through an offset portion of the top plate, wherein the drivetrain is sandwiched between the top plate and the bottom plate and the motor is mounted outside the top and bottom plates.
Connector coupler with complementary first and second portions
A connector whose coupler has a first portion connectable to a complementary second portion of the device’s coupler.
Actuator cassette dimensional constraint of maximum depth relative to width and length
The removable, self-contained actuator cassette wherein a maximum depth is less than its maximum width and maximum length measured orthogonal to the depth.
Parallel rotational axes of drivetrain and motor drive shaft
The rotational axis of the drivetrain is parallel to the rotational axis of the motor’s drive shaft.
Housing exterior shape defined by straight parallel long sides ending at curved end surfaces
The housing has straight, parallel long sides that end at curved end surfaces.
Overall, the claim coverage centers on a removable actuator cassette module removably received by a thigh assembly receptacle, where the cassette integrates a motor, a motor-driven drivetrain, and a housing with an offset motor drive shaft and a sandwiched drivetrain, and includes a rotatable connector driven by the drivetrain. Dependent refinements further cover complementary coupler portions, comparative cassette depth/width/length geometry, parallel rotational-axis alignment, and defined housing exterior side geometry.
Stated Advantages
Documented Applications
No documented applications found
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