Systems and methods for a water resistant active exoskeleton
Inventors
Mooney, Luke • Cummings, Jonathan • DUVAL, Jean-François
Assignees
Publication Number
US-12090069-B2
Publication Date
2024-09-17
Expiration Date
2040-08-25
Interested in licensing this patent?
MTEC can help explore whether this patent might be available for licensing for your application.
Abstract
An apparatus for a water resistant active exoskeleton boot includes a shin pad and one or more housings. The one or more housings enclose electronic circuitry and an electric motor that generate torque about an axis of rotation of an ankle joint of the user. A sealant is placed in contact with the one or more housings to close the one or more housings and prevent an ingress of water into the one or more housings. The apparatus includes an output shaft coupled to the electric motor and extending through a bore in a housing of the one or more housings enclosing the electric motor. The apparatus includes a seal to prevent an ingress of the water into the one or more housings. The apparatus includes a rotary encoder enclosed within the one or more housings to measure an angle of the electric motor.
Core Innovation
The invention provides a water resistant active exoskeleton boot designed to augment user motion, particularly focusing on environments where water and debris could inhibit performance or damage components. The apparatus comprises a shin pad for coupling to a user's shin, one or more housings enclosing electronic circuitry and an electric motor, and an output shaft that extends through a bore in a housing enclosing the electric motor. To protect sensitive internal components, a sealant is applied to close the housings and prevent ingress of water. Additionally, a collar and a seal are in place to further block water entry at the output shaft interface, allowing the exoskeleton to operate effectively in wet or dirty environments.
A rotary encoder is enclosed within the housings to measure the angle of the electric motor, providing critical feedback to the electronic circuitry, which then controls motor operation based on the measured angle to generate torque about the user’s ankle joint. The apparatus may also include a second rotary encoder for measuring the ankle joint angle using a sensor enclosed in the housing and a magnetic component located outside, offering improved accuracy and structural integrity. Adhesive sealant or epoxy may be used for permanent sealing, and a battery pack can be incorporated below the knee, further reducing exposure to cables and external elements.
The exoskeleton is designed with rugged and water resistant or waterproof housings, potentially with an IP68 or NEMA 4× rating, and the system integrates seals and gaskets to reduce possible entry points for water and debris. By minimizing the number of individual parts and enclosing moving components with precision-manufactured, greased elastomeric seals, the invention seeks to increase reliability and longevity, simplifying assembly and usage even in harsh, unpredictable environments.
Claims Coverage
The independent claims define three main inventive features for the water resistant active exoskeleton boot and method of augmenting user motion.
Water resistant housing with integrated sealant and sealing system
The exoskeleton boot includes one or more housings that enclose electronic circuitry and an electric motor, with a sealant in contact with the housings to close them and prevent ingress of water. A collar is statically coupled to the output shaft and configured to rotate separately from the seal, which is fixed to the housing and in contact with the collar to prevent water entry through the bore where the output shaft extends from the motor housing.
Integrated rotary encoder and control feedback system
A rotary encoder is enclosed within the housings to measure the angle of the electric motor. The encoder provides angle feedback to the electronic circuitry, which controls the electric motor to generate torque about the axis of rotation of the user's ankle joint based on this feedback. In some embodiments, the rotary encoder includes a magnet disposed on one side of the seal and an encoding sensor on the opposite side.
Method for augmenting user motion using a water resistant exoskeleton boot
A method is disclosed that involves providing a user with a water resistant active exoskeleton boot, which includes the features of sealed housings, an output shaft coupled to an electric motor and extending through a sealed bore, a rotary encoder for angle measurement, and electronic circuitry for motor control based on encoder feedback. The method may further include providing a battery pack coupled below the knee and a second rotary encoder with a first component enclosed in the housing and a second component outside, configured to interact for ankle joint angle measurement.
These inventive features collectively cover the specialized housing and sealing system to prevent water ingress, an integrated encoder-based feedback and control system for the motor-actuated joint, and a method for providing and operating a water resistant exoskeleton boot to augment user motion.
Stated Advantages
The water resistant active exoskeleton can perform in environments containing water, mud, sand or other fluids or debris with increased reliability and longevity without damage to components.
The design reduces possible entry points for water or debris into the exoskeleton, increasing durability and protective performance.
Simplicity of assembly can reduce donning and doffing time and improve wearability, making it suitable for users with a wider range of physical and intellectual abilities.
Elimination of exposed cables reduces snagging hazards, enhancing user safety.
Documented Applications
Use in environments containing water, mud, sand, or other fluids or debris, such as outdoors, industrial environments, or fields.
Augmenting user motion, such as assisting with walking, running, reaching, or jumping, by providing torque to the ankle joint.
Protecting internal exoskeleton components during operation when the apparatus is wetted or submerged in water.
Interested in licensing this patent?