Non-anthropomorphic hip joint locations for exoskeletons
Inventors
Garrett, Scott • Moore, Robert • Swift, Tim • Amundson, Kurt • Angold, Russdon
Assignees
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Publication Number
US-9884421-B2
Publication Date
2018-02-06
Expiration Date
Abstract
An exoskeleton device provides for selectively adjusting an exoskeleton hip pivot/pivot position in the sagittal plane relative to the position of the hip pivot of a wearer of the exoskeleton. The exoskeleton hip pivots/pivot positions can be shifted forward or rearward relative to the hip pivots of the wearer and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer. The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.
Core Innovation
The invention relates to an exoskeleton configured to be coupled to a user in which the exoskeleton torso is interconnected to first and second leg supports at respective exoskeleton hip pivots. The interconnection allows flexion and extension between the first and second leg supports and the exoskeleton torso about respective exoskeleton hip axes, and the exoskeleton hip axes are not aligned with the hip pivots of the user and can be selectively positioned relative to those user hip pivots.
The described geometry shifts the exoskeleton hip pivot position in the sagittal plane by positioning the exoskeleton hip axes forward or rearward relative to the wearer. A forward-shifted hip pivot position reduces forward hip torque for tool-holding tasks by decreasing required counterweight torque, while a rearward-shifted hip pivot position reduces actuator/counter-torque for backpack or rearward/propulsive torque conditions.
An adjustable embodiment varies the position of the exoskeleton hip pivots to compensate for changing load or actuation conditions, with the variation performed automatically or manually. The adjustment improves mobility while reducing counterweight mass and actuator power, and the document further describes optional polycentric hip pivot concepts and example implementations for tool-holding and backpack loads.
Claims Coverage
The partial set provides three independent claims: one exoskeleton apparatus claim, one method claim, and one exoskeleton apparatus claim with forward-only non-alignment. Across these independent claims, three main inventive features are present.
Exoskeleton with selectively positioned non-aligned hip axes
An exoskeleton in which the exoskeleton torso is interconnected to each leg support at respective exoskeleton hip pivots to allow flexion and extension about respective exoskeleton hip axes, wherein the exoskeleton hip axes are not aligned with and can be selectively positioned relative to hip pivots of the user.
Varying hip pivot position to reduce load torque during stance
A method of controlling hip geometry for an exoskeleton carrying a load, comprising varying a position of each exoskeleton hip pivot relative to the exoskeleton torso to reduce a torque generated by the load about the exoskeleton hip pivots when the leg supports are resting on a support surface.
Forward exoskeleton hip axes not aligned with user hip pivots
An exoskeleton in which the exoskeleton torso is interconnected to each leg support at respective exoskeleton hip pivots to allow flexion and extension about respective exoskeleton hip axes, wherein the exoskeleton hip axes are forward of and not aligned with the hip pivots of the user.
Taken together, the independent claims cover an exoskeleton whose hip axes/pivots are intentionally non-aligned with the user’s hip pivots and can be selectively positioned, including forward placement, and a control method that varies hip pivot position relative to the torso to reduce torque generated by a load about the exoskeleton hip pivots during stance.
Stated Advantages
Reduces forward hip torque for tool-holding tasks by decreasing required counterweight torque.
Reduces actuator/counter-torque for backpack or rearward/propulsive torque conditions.
Improves mobility.
Reduces counterweight mass and actuator power.
Documented Applications
Tool-holding tasks using a forward load configured to reduce forward hip torque.
Backpack loads and rearward/propulsive torque conditions using rearward-shifted hip pivot positioning.
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