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-12336953-B2
Publication Date
2025-06-24
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 relates to a battery-powered active exoskeleton boot designed to augment movement of a user's lower limb, particularly the ankle joint. The apparatus includes a shin pad configured to couple to the user's shin below the knee, one or more housings enclosing electronic circuitry and an electric motor, a battery holder mounted between the knee and the housings, as well as a battery module removably affixed to the holder. The battery module is equipped with a power connector that interfaces with a matching connector in the holder, supplying power to the electronics and motor to generate torque about the ankle's axis of rotation.
The apparatus is designed to address problems associated with traditional exoskeleton battery arrangements, such as the inconvenience and safety hazards arising from batteries worn near the waist with exposed power cables. Such configurations can cause snag hazards, cumbersome use, excessive mass, radio emissions, and voltage drops. By integrating the battery locally on the exoskeleton boot, the need for extended cables is eliminated, and the mass experienced by the user is reduced compared to battery locations near the foot.
Control of the exoskeleton is facilitated by electronic circuitry that manages power delivery from the battery module to the motor based on real-time performance data. The system can monitor parameters such as temperature, current, voltage, and battery percentage, and trigger safety actions according to predetermined policies. The apparatus further supports easy removal and replacement of the battery module for swapping or charging, with the battery connection designed for both electrical safety and ergonomic convenience.
Claims Coverage
The independent claims of the patent introduce several inventive features, including the configuration, coupling, and functionality of a battery-powered active exoskeleton wearable on a user's lower limb.
Exoskeleton with lower limb-mounted battery holder and actuator
An exoskeleton device wearable on a user's lower limb includes: - A battery holder that is mechanically coupled to the exoskeleton and located at the lower limb, configured to hold a battery in contact with a power connector. - An actuator, also mechanically coupled to the exoskeleton, configured to receive power from the battery and generate torque about an axis of rotation of the lower limb.
Blade connector and receptacle power interface without exposed cable
The power connector comprises a blade connector, and a second power connector includes a receptacle designed to receive the blade connector without requiring an exposed cable. This arrangement ensures direct connection between the battery and exoskeleton circuitry.
Battery held by friction and gravity without mechanical button
The battery is held in the battery holder using a force due to the coefficient of friction between the battery and the holder and a force due to gravity, eliminating the need for a mechanical button or latch.
Shin pad-based battery holder coupling
A shin pad is provided to contact at least a portion of the lower limb, with the battery holder mechanically coupled to the shin pad for secure attachment and support.
Electronic circuitry for controlled power delivery
Electronic circuitry is included within a housing on the exoskeleton, controlling the delivery of power from the battery to the actuator and enabling system-level adjustment and management.
Serial data communication port for battery information
A serial data communication port is integrated to provide information about the battery to one or more processors, supporting functions such as reporting battery state, smart charging, or firmware updates.
User interface for battery state indication
The exoskeleton includes a user interface for indicating the state of the battery, allowing users to be informed about battery status during operation.
Foot or ankle wearable exoskeleton with foot plate
The exoskeleton is specifically wearable on at least one of the foot or ankle, including a foot plate in contact with the user's foot for direct force transfer.
Method for providing and managing exoskeleton power
A method is disclosed for providing an exoskeleton with the above features, including steps of holding the battery by friction and gravity, coupling via a shin pad, providing status through a user interface, and specifically wearing the device on the foot or ankle.
Collectively, these inventive features define an exoskeleton system that mounts the battery locally on the lower limb, provides direct and secure power delivery to the actuator, integrates safety and communication features, and is adaptable for user comfort and functionality.
Stated Advantages
Locating the battery locally on the exoskeleton removes the need for power cables, reducing snag hazards and excessive power losses.
The integrated battery allows the system to function as a standalone unit mounted to the user's lower limb.
The design reduces mass felt by the user compared to batteries located at the foot.
The arrangement minimizes radio emissions and voltage drops during high current peaks.
The removable battery module allows easy replacement or charging for improved convenience.
Battery and connector are configured for reliability, water resistance, and ergonomic handling.
Documented Applications
Use as a battery-powered active exoskeleton boot to augment the lower limb, particularly at the ankle joint, to assist user movement.
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