Systems and methods for an active exoskeleton with local battery
Inventors
Mooney, Luke • DUVAL, Jean-François • Benz, Nicholas • Cummings, Jonathan • Mooney, Matthew
Assignees
Publication Number
US-11173093-B1
Publication Date
2021-11-16
Expiration Date
2040-09-16
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Abstract
An apparatus for a battery-powered active exoskeleton boot includes a shin pad and one or more housings. The one or more housings enclose electronic circuitry and an electric motor. The apparatus includes a battery holder coupled to the shin pad and located below the knee of the user and above the one or more housings enclosing the electronic circuitry. The apparatus includes a battery module removably affixed to the battery holder and comprising a first power connector that electrically couples to a second power connector located in the battery holder while attached to the battery holder to provide electric power to the electronic circuitry and the electric motor. The apparatus includes an output shaft coupled to the electric motor. The electronic circuitry controls delivery of power from the battery module to the electric motor to generate torque about the axis of rotation of the ankle joint of the user.
Core Innovation
The invention provides an apparatus, system, and method for a battery-powered active exoskeleton boot. This exoskeleton includes a shin pad coupled to the user's shin below the knee, with one or more housings enclosing electronic circuitry and an electric motor that generates torque about the axis of rotation of the user’s ankle joint. A battery holder is mechanically coupled to the shin pad, positioned below the knee and above these housings. The battery module is held in the battery holder, and includes a first power connector that electrically couples to a second power connector in the holder, supplying power to the electronics and motor.
The electronic circuitry manages delivery of power from the battery module to the electric motor, enabling the exoskeleton to assist movement by generating torque at the ankle joint. The output shaft of the motor extends through a bore in the housing, directly aiding ankle motion. The system also includes one or more processors which receive data such as temperature, current, voltage, and battery percentage from the module, and based on predefined safety policies, the processors can trigger actions such as adjusting power delivery to the motor to maintain safe operation.
The problem addressed by the invention is that previous exoskeleton battery placements near the user’s waist required exposed cables, presenting snag hazards, additional weight, and increased radio interference and power loss. By integrating a local battery module on the exoskeleton boot below the knee, the present solution eliminates the need for long power cables, reduces external hazards, and optimizes both the safety and performance of the assistive device.
Claims Coverage
There are three independent claims covering the apparatus, the system, and the method, each addressing inventive features for an active exoskeleton boot with local battery integration.
Battery-powered active exoskeleton boot with localized battery module
An apparatus comprising: - A shin pad for coupling to the user’s shin below the knee. - One or more housings enclosing electronic circuitry and an electric motor, generating torque about the ankle joint axis. - A battery holder mechanically coupled to the shin pad, placed below the knee and above the housings with electronics. - A battery module held in the holder, containing a first power connector that couples electrically to a second connector in the holder to provide power to electronics and motor. - An output shaft connected to the motor, extending through a bore in the housing. - Electronic circuitry controls power delivery from the battery module to the motor for torque generation at the ankle.
System for actively controlled exoskeleton boot with processed safety management
A system comprising: - A shin pad for coupling below the knee. - Housings enclosing electronics and an electric motor for ankle torque. - A battery module held locally on the exoskeleton, below the knee and above the electronics. - The battery module has a first power connector to couple electrically to a second connector, supplying power to electronics and motor. - One or more processors that: - Receive battery module performance data (temperature, current, voltage, battery percentage). - Determine, by safety policy, when to trigger a safety action. - Instruct, based on the safety action, the electronic circuitry to adjust power delivery from the battery to the motor to adjust torque at the ankle joint.
Method of augmenting user motion with a removable battery-powered active exoskeleton boot
A method comprising: - Providing a battery-powered active exoskeleton boot with: - A shin pad for below-knee coupling. - One or more housings with electronics and an electric motor to generate ankle torque. - At least one housing coupled below the knee. - A battery holder on the shin pad, positioned below the knee and above the electronics housing. - A battery module held in the holder, with a first power connector that connects to a second power connector in the holder, supplying power. - An output shaft from the motor, extending through a bore in the housing. - Electronic circuitry controlling power delivery from battery to motor for ankle torque.
The inventive features establish an exoskeleton boot apparatus, system, and method with locally-mounted, easily interfaced battery modules, electronic safety and power control, and a design structured to optimize portability, safety, and effectiveness in augmenting ankle movement.
Stated Advantages
The apparatus eliminates the need for external power cables, thus reducing snag hazards and improving portability and ease of use.
Local battery placement reduces the mass felt by the user compared to batteries mounted near the foot, improving comfort and usability.
Integrated design decreases radio interference and minimizes power loss due to shorter electrical paths during high current peaks.
The battery module can be easily removed and replaced or charged, increasing operational flexibility and reducing downtime.
Safety features and real-time monitoring policies allow for adaptive control of power delivery, enhancing user safety.
Water-resistant and ruggedized construction enables use in challenging environments, including operation in water.
Documented Applications
Lower limb exoskeleton, including use as a battery-powered active exoskeleton boot for augmenting ankle motion.
Assistive device worn by a user to facilitate movement of limbs, particularly enhancing walking, running, reaching, or jumping.
Can function as a rugged system for field testing, suitable for outdoor and variable environmental conditions.
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