Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton
Inventors
Amundson, Kurt • Angold, Russdon • Harding, Nathan • Kazerooni, Homayoon
Assignees
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Publication Number
US-8894592-B2
Publication Date
2014-11-25
Expiration Date
Abstract
A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
Core Innovation
The invention relates to a load-carrying lower-limb exoskeleton device for walking, including an exoskeleton trunk, first and second leg supports rotatably connected to the trunk, and first and second hip actuators configured to create torques between the trunk and the leg supports. The hip actuators are controlled to coordinate motion with a walking cycle, including stance phase and swing phase events, as well as a double stance condition during walking when both leg supports are in stance.
During operation, the invention creates a first unidirectional torque using a hip actuator when a leg support enters a stance phase, moving the leg support in the stance phase backward relative to the exoskeleton trunk. This backward motion pushes the exoskeleton trunk in a forward direction until the other leg support in swing phase enters a stance phase such that the exoskeleton device is in the double stance condition.
The invention also creates a second unidirectional torque using the hip actuator when a second leg support enters the stance phase, moving the first leg support forward while still in the stance phase until the first leg support leaves a support surface and moves into a swing phase. In an embodiment associated with reducing both oxygen consumption and heart rate, the sequence includes pushing the person’s upper body in a forward direction and then transitioning to swing after the double stance condition.
Claims Coverage
The provided partial content includes two independent claims. Each independent claim defines a gait-phase coordinated hip-actuator torque strategy using unidirectional torques to affect oxygen consumption, and in one claim also heart rate.
Unidirectional hip torque for stance-swing coordination to reduce oxygen consumption
Creating a first unidirectional torque using a hip actuator when the first leg support enters a stance phase to move the first leg support backward relative to the exoskeleton trunk thereby pushing the exoskeleton trunk in a forward direction until the second leg support in a swing phase enters a stance phase so the exoskeleton device is in the double stance condition; and creating a second unidirectional torque using the hip actuator when the second leg support enters the stance phase to move the first leg support forward while still in the stance phase until the first leg support leaves a support surface and moves into a swing phase.
Unidirectional hip torque for stance-swing coordination to reduce oxygen consumption and heart rate
Creating a first unidirectional torque using a hip actuator when the first leg support strikes the support surface and enters a stance phase to move the first leg support backward relative to the exoskeleton trunk thereby pushing the person’s upper body in a forward direction until the second leg support in a swing phase strikes the support surface such that the exoskeleton device is in the double stance condition; and creating a second unidirectional torque using the hip actuator when the second leg support strikes the support surface and enters a stance phase to move the first leg support forward while still in the stance phase until the first leg support leaves the support surface and then moving the first leg support into a swing phase.
Across the independent claims, the main coverage is the coordinated creation of first and second unidirectional torques by hip actuators timed to stance and swing phase transitions, including establishing a double stance condition and then transitioning a leg support from stance to swing, with the objective of reducing oxygen consumption and, in one claim, heart rate.
Stated Advantages
Reduces a person’s oxygen consumption during a walking cycle.
Reduces a person’s heart rate during a walking cycle.
Documented Applications
Reducing oxygen consumption during a walking cycle utilizing an exoskeleton device adapted to be coupled to a person.
Reducing oxygen consumption and heart rate during a walking cycle utilizing an exoskeleton device adapted to be coupled to a person.
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