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-11752061-B2
Publication Date
2023-09-12
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 is directed to an apparatus, system, and method for a battery-powered active exoskeleton boot that incorporates a local battery held below the knee and above electronics and actuator housing on the lower limb. The exoskeleton includes a shin pad for coupling to a user’s shin below the knee, a battery holder mechanically affixed to the shin pad, and a battery module that is removably attached to this holder. The battery module provides electric power via a connector system to electronic circuitry and an electric motor that generates torque about the axis of rotation of the user's ankle joint.
The electronic circuitry is enclosed within one or more housings positioned below the knee, and is responsible for controlling the delivery of power from the battery module to the electric motor. This power enables the exoskeleton to assist with ankle joint motion during user activities. The device addresses previous issues seen in exoskeletons, such as the need for long, exposed wires from batteries worn at the waist or back, which can cause snag hazards, increase system mass, and pose electrical inefficiencies.
The battery module is characterized by features such as a friction-fit or alternate affixation without mechanical latches, a dedicated connector interface which can include a serial data port, and a battery management system enabling safety functions. The invention further includes functionality such as monitoring battery parameters and using safety policies to modulate motor output, as well as options for integrated or removable battery modules. The overall apparatus is designed to provide exoskeleton power locally to the lower limb, improve user safety, and facilitate easy module replacement or charging.
Claims Coverage
The independent claims cover three core inventive features relating to the exoskeleton with a local battery, its method of use, and the system incorporating these elements.
Exoskeleton with local battery holder and actuator
An exoskeleton wearable on a lower limb includes: - A battery holder mechanically coupled to the exoskeleton and located at the lower limb, configured to hold a battery in contact with a power connector. - An actuator, mechanically coupled to the exoskeleton, that receives power from the battery and controls an output shaft to generate torque about an axis of rotation of the lower limb.
Method for providing power to a lower limb exoskeleton through a local battery holder
A method comprising: - Providing an exoskeleton wearable on a lower limb of a user with a battery holder mechanically coupled to the exoskeleton and located at the lower limb, configured to hold a battery in contact with a power connector. - Providing an actuator, mechanically coupled to the exoskeleton, to receive power from the battery and control an output shaft to generate torque about an axis of rotation of the lower limb.
System comprising exoskeleton with battery holder and actuator for the lower limb
A system, including: - An exoskeleton wearable on a lower limb of a user. - A battery holder, mechanically coupled and configured to hold a battery in contact with a power connector at the lower limb. - An actuator, mechanically coupled to the exoskeleton, to receive power from the battery and control an output shaft to generate torque about an axis of rotation of the lower limb.
The inventive features focus on integrating a local battery holder into a lower limb exoskeleton, enabling direct power delivery to an actuator for generating motion assistance. The claims also encompass the specific method of providing and operating the exoskeleton with this configuration, as well as the overall system incorporating these core elements.
Stated Advantages
Placing the battery module locally on the lower limb eliminates the need for long power cables, thereby reducing snag hazards and making the device less cumbersome.
Local battery placement reduces system mass and perceived weight by positioning the battery closer to the knee rather than the foot, enhancing user comfort.
Minimization of power losses and radio interference compared to systems with longer cables and remote batteries.
Enables modular replacement or charging by allowing the battery module to be removably affixed to the holder.
Integrated safety and battery management features optimize energy density, battery longevity, and user protection.
Documented Applications
Wearable exoskeletons for augmenting ankle joint motion and assisting user movement in activities such as walking, running, reaching, or jumping.
Battery-powered active exoskeleton boots designed for the lower limb, including use as an ankle exoskeleton, lower limb exoskeleton, or exoskeleton boot (exoboot).
Rugged exoskeleton systems intended for field testing and operation in challenging environments, including water resistance and dust, dirt, or debris protection.
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