Wearable robotic device

Inventors

Farris, Ryan • Clausen, Mike • Wilson, Edgar

Assignees

Ekso Bionics Holdings Inc

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 in which a lower leg assembly includes a rigid plantar element and a rigid leg element extending upwardly from the plantar element, with the lower portion of the leg element and the plantar element adjustably coupled to a lower leg housing by a cam lock device. A manually operated lever is coupled to the cam lock device, and operation of the lever moves the cam lock device to lock the distance between the knee joint and the plantar element at selectable positions between minimum and maximum distances.

The disclosed system further provides an integrated ankle-foot orthotic system with rigid thin-sheeted plantar and leg elements and an infinitely adjustable cam-lock quick-adjust mechanism. The document also describes an improved one-handed attachment arrangement using a tensioning retention system with a cable reel or spool, a ratchet, and an adjustable strap, together with improved couplings and adjustability associated with the lower limb orthotic structure.

In addition, the invention describes a hip assembly with removable hip wings using a manually operable quick-release/hinge mechanism and safety features designed to prevent inadvertent disengagement. Battery access interlock and an alternative fixed-battery hinge/wiring-free design are described as part of the removable hip wing approach, and the disclosure also includes a self-aligning, self-drawing coupler and a removable, self-contained ovular actuator cassette with an integrated motive device and drivetrain.

Claims Coverage

The independent claims are grounded in a wearable robotic device with a thigh assembly and a lower leg assembly in which a manually operated lever operates a cam lock device to lock an adjustable distance between a knee joint and a plantar element, and with rigid plantar and leg elements adjustably coupled to a lower leg housing. The dependent claims further specify thin-sheeted plantar and leg elements and add coupling via a quick-connect coupler with distance adjustability constraints.

Across the independent claim and its dependent refinements, the core coverage is directed to adjustably coupling a rigid plantar element and rigid leg element to a lower leg housing via a cam lock device operated by a manually operated lever, enabling locking of the knee-to-plantar distance at selectable minimum-to-maximum positions, with optional thin-sheeted element configurations and quick-connect coupling features supporting continuous distance adjustability.

Stated Advantages

Documented Applications