Wearable joint augmentation system
Inventors
Mooney, Luke • Duval, Jean-Francois • Herr, Hugh
Assignees
Publication Number
US-11234888-B2
Publication Date
2022-02-01
Expiration Date
2039-07-09
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Abstract
The present disclosure is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The control system includes an exoskeleton member configured and arranged on a limb of a user; a control device, a control device connected to the at least one exoskeleton member; an actuator mechanically connected to the limb of the user; and a sensor configured and arranged to sense a global angle of the exoskeleton device relative to the ground. The control device is configured and arranged to use the global angle to control the exoskeleton member.
Core Innovation
The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, controllers, sensors, and unidirectional transmissions. The control system utilizes an exoskeleton member arranged on a user's limb, an actuator mechanically connected to the limb, and sensors configured to sense the global angle of the device relative to the ground. The control device uses this global angle information to actively control the exoskeleton member's function.
This invention addresses challenges found in previous exoskeleton designs, such as the need to balance low device mass with the ability to generate high force, torque, and power, while ensuring comfort and efficiency in energy transfer. The described exoskeleton introduces features like mechanical joints in parallel with biological joints, sensor-driven control mechanisms, and both active and passive operation modes for the motor, to achieve better controllability and adaptability for the user's movements.
The invention further incorporates novel attachment and connection mechanisms between the user's footwear and exoskeleton components, modular construction that allows for bilateral use and communication, and real-time feedback from various embedded sensors. The device uses sensed parameters such as limb angles and angular velocity, applying algorithms in the controller to determine phases of gait and dynamically adjust actuator output, thereby augmenting motion in harmony with the user’s natural biomechanics.
Claims Coverage
There is one independent claim identifying the main inventive features of the exoskeleton control system, focused on sensor-driven, state-dependent control of wearable exoskeleton members.
Sensor-driven control of exoskeleton member based on limb angle relative to ground
The system includes at least one exoskeleton member arranged on a limb, a first control device connected to the exoskeleton member, a first actuator mechanically connected to the limb, and at least one sensor arranged to sense an angle of the limb relative to the ground. The control device uses this angle information to control the exoskeleton member.
State-dependent control algorithm for swing phase detection and actuation
The control device determines if the exoskeleton member was in the swing state during the previous cycle. If not, it sets a swing timer and angle, increments the timer, integrates angular velocity to increase swing angle, and upon certain conditions (angular velocity and swing timer or angle thresholds), saves the swing angle and timer and ensures that the swing state is not re-entered in the next cycle. If in the swing state, the device re-enters the swing state in the next cycle.
The inventive features cover a wearable exoskeleton control system that utilizes sensor-acquired limb angles to inform actuator output, using a specific algorithm to assess and regulate the swing phase during gait for improved biomechanical augmentation.
Stated Advantages
Provides a compact, lightweight, and inexpensive exoskeleton device that is powerful and easy to control.
Enhances energy efficiency by optimizing conversion from energy sources to mechanical force, torque, or power.
Improves user comfort and range of motion by minimizing device bulk and interference with natural movement.
Offers better controllability and adaptability by using sensor feedback and algorithms responsive to user biomechanics.
Documented Applications
Biomechanical augmentation of joints, such as the ankle, via wearable exoskeletons configured to assist with motion.
Modular exoskeleton systems for bilateral use on both limbs, with wireless or wired communication between devices.
Integration of exoskeleton components into shoes or directly onto limbs for augmenting gait during activities such as walking, running, jumping, lifting, and climbing stairs.
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