The present invention relates to fall-protection harnesses and exoskeletons, e.g., to fall-protection harnesses that include integrated and/or removable exoskeletons, e.g., including arm support systems that support one or both of a user's arms, while allowing substantially free motion, e.g., to allow the user to perform one or more tasks for extended periods of time with one or both arms extended.
Many industrial, construction, maintenance, and material handling workers are required to perform their duties at dangerous heights, often on scaffolding, roofs, beams, cliffs, and/or other raised structures. On these jobs, they are often required to wear fall-protection/arrest harnesses. These harnesses are attached to structural connection points via one or more lanyards. If the worker falls during the performance of their task, the harness and lanyard serve to arrest their descent, saving them from severe injury or death.
Harnesses and lanyards are used in preventing a fall (fall-protection) and/or arresting a fall once the worker has fallen (fall-arrest). For brevity, both are herein referred to as fall-protection harnesses.
Exoskeletons are an emerging technology intended to reduce the chronic effects of strain on the arms, shoulders, necks, and backs of workers. The Levitate Airframe® is an example of a passive upper body exoskeleton that is beneficial in reducing such strain. Workers who perform their duties at dangerous heights would also benefit from such an exoskeleton.
It is possible to use exoskeletons in conjunction with fall-protection harnesses, for example, by donning the harness, then donning the exoskeleton on top of the harness. While this combination is functional, it is often not optimal. There can be much duplication of the straps and pads, for example waist belts and shoulder straps. This can add to complication, heat, discomfort, and unnecessary weight. Also, the exoskeleton may interfere with features of the harness.
Thus, there is a need for an integrated fall-protection harness and exoskeleton, which are configured to work seamlessly together.
The present invention is directed to fall-protection harnesses and exoskeletons, and, more particularly, to fall-protection harnesses that include integrated and/or removable exoskeletons, e.g., including adaptive arm support systems that support one or both of a user's arms, while allowing substantially free motion, e.g., to allow the user to perform one or more tasks for extended periods of time with one or both arms extended.
In one example, the systems include an integrated fall-protection harness and exoskeleton, in which attachment elements are used to join the exoskeleton to the harness. The harness thus provides the function that the soft parts of a stand-alone exoskeleton otherwise provide, e.g., serving to hold the exoskeleton on the worker, to transfer the load of the worker's arms and tools to their core body (especially the hips), and padding the worker from hard surfaces. Alternatively, padding elements (not shown) can be attached to the exoskeleton, so they are present only when the worker has attached the exoskeleton to the harness.
The harness will generally be made of flexible and softer materials, such as webbing, padding, and the like. The exoskeleton will generally be made of stiffer and harder materials, e.g., metals, such as aluminum, plastic, and/or composite materials, in order to perform its support function. Thus, the connection elements may be capable of joining the soft harness structure to the hard exoskeleton structure, and transmitting the required loads.
In one example, the exoskeleton may be essentially permanently attached to the harness, and thus the two are always worn by the worker. In this embodiment, the exoskeleton and harness may be joined by connection elements that are expected to be used infrequently, if ever, to detach the exoskeleton. In this case, the connection elements may not need to be detachable by the worker in the course of performing their duties, and may be relatively permanent, or at least not rapidly connected or disconnected. Examples of such connection elements are screws and rivets.
In another example, the exoskeleton may be easily attached to, or detached from, the harness by the worker. If the worker prefers to perform part of the task without the exoskeleton, they may leave it unattached, while still safely wearing the harness. If after some time, the nature of the job changes, and an exoskeleton is recommended, the worker may easily don the exoskeleton, e.g., at height, without removing the harness and endangering themselves. This involves attaching the exoskeleton to the harness at various points, using various optional attachment elements.
Many easily used attachment elements are contemplated. In one example, a proprietary connection element includes a secure and easily used “snap” in feature, with guide surfaces to help the user locate and use the feature. Many other connection types are contemplated, including snaps, rivets, screws, buttons, buckles, straps, zippers, cotter pins, detent connectors, dovetails, keyhole connectors, carabiners, hooks, shackles, twist latches, hook and loop fasteners, magnets, magnetic buckles, overall buckle loops, laces, sewing, adhesives, pockets, elastic, or many other connection elements.
In accordance with another example, a fall-protection harness is provided for removably carrying an exoskeleton when worn by a user that includes a pair of leg loops configured to be received around respective thighs of the user; a back panel configured to be positioned against the user's back when the harness is worn; one or more attachment rings for connecting to a lanyard or other structure; a plurality of front straps extending from the back panel and attached to the leg loops, the front straps having a length such that the front straps extend over shoulders of the user to the leg loops when the harness is worn; a plurality of back straps extending from the back panel and attached to the leg loops such that the back straps extend along the user's back when the harness is worn; and one or more connectors for engaging one or more respective connectors on an exoskeleton to couple the exoskeleton to the harness.
In accordance with another example, a fall-protection harness is provided for removably carrying an exoskeleton when worn by a user that includes a pair of leg loops configured to be received around respective thighs of the user; a back panel configured to be positioned against the user's back when the harness is worn; an attachment ring attached to the back panel, e.g., configured for connecting to a lanyard or other structure; a plurality of front straps extending from the back panel and attached to the leg loops, the front straps having a length such that the front straps extend over shoulders of the user to the leg loops when the harness is worn; a plurality of back straps extending from the back panel and attached to the leg loops such that the back straps extend along the user's back when the harness is worn; and one or more connectors for engaging one or more respective connectors on an exoskeleton to couple the exoskeleton to the harness, each connector comprising an open upper end, a relatively narrow lower end defining a recess into which a connector on the exoskeleton may be received, guides extending from the upper end to the lower end to guide the connector from the exoskeleton into a recess, and a lock member that engages the connector on the exoskeleton when the connector is fully seated in the lower end to lock the connectors together.
In accordance with still another example, a fall-protection harness is provided for removably carrying an exoskeleton when worn by a user that includes a pair of leg loops configured to be received around respective thighs of the user; a back panel configured to be positioned against the user's back when the harness is worn; an attachment ring attached to the back panel, e.g., configured for connecting to a lanyard or other structure; a plurality of front straps extending from the back panel and attached to the leg loops, the front straps having a length such that the front straps extend over shoulders of the user to the leg loops when the harness is worn; a plurality of back straps extending from the back panel and attached to the leg loops such that the back straps extend along the user's back when the harness is worn; a waist belt attached to one or both of the front straps and the back straps such that the waist belt extends around the user's waist or hips when the harness is worn; and a plurality of connectors for engaging one or more respective connectors on an exoskeleton to couple the exoskeleton to the harness, the connectors comprising a back connector on the back panel, and a pair of hip connectors at locations corresponding to the user's hips when the harness is worn, each connector comprising an open upper end, a relatively narrow lower end defining a recess into which a connector on the exoskeleton may be received, guides extending from the upper end to the lower end to guide the connector from the exoskeleton into a recess, and a lock member that engages the connector on the exoskeleton when the connector is fully seated in the lower end to lock the connectors together.
In accordance with another example, a system is provided for supporting an arm of a user that includes a harness configured to be worn on a body of a user; an exoskeleton comprising an arm support including an arm rest for receiving the arm of the user and one or more compensation elements configured to apply an offset force to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm; and one or more cooperating connectors on the harness and exoskeleton for removably mounting the exoskeleton to the harness, each cooperating connector comprising an exoskeleton connector on the exoskeleton, and a harness connector on the harness comprising an open upper end, a relatively narrow lower end defining a recess into which the exoskeleton connector may be received, guides extending from the upper end to the lower end to guide the exoskeleton connector into a recess, and a lock member that engages the exoskeleton connector when fully seated in the lower end to lock the cooperating connectors together.
In accordance with still another example, a method is provided for coupling an exoskeleton to a fall-protection harness that includes donning the fall-protection harness; positioning the exoskeleton such that a back connector tab on a spine strut of the exoskeleton is located adjacent a funnel-shaped harness connector on a back panel of the harness; lowering the exoskeleton relative to the harness to direct the back connector tab into the funnel-shaped harness connector; and directing hip connector tabs on a hip strut of the exoskeleton into corresponding funnel-shaped harness connectors at hip locations on the harness.
In accordance with yet another example, an integrated fall-protection harness and exoskeleton is provided that includes a) a harness configured to be worn on a body of a user comprising: a pair of leg loops configured to be received around respective thighs of the user; a back panel configured to be positioned against the user's back when the harness is worn; one or more attachment rings attached to the back panel, e.g., configured for connecting to a lanyard or other structure; a plurality of front straps extending from the back panel and attached to the leg loops, the front straps having a length such that the front straps extend over shoulders of the user to the leg loops when the harness is worn; and a plurality of back straps extending from the back panel and attached to the leg loops such that the back straps extend along the user's back when the harness is worn; and b) an exoskeleton mounted to the harness comprising an arm support including an arm rest for receiving the arm of the user and one or more compensation elements configured to apply an offset force to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm.
Other aspects and features of the present invention will become apparent from consideration of the following description taken in conjunction with the accompanying drawings.
The present invention is best understood from the following detailed description when read in conjunction with the accompanying drawings. It will be appreciated that the exemplary devices shown in the drawings are not necessarily drawn to scale, with emphasis instead being placed on illustrating the various aspects and features of the illustrated examples.
Turning to the drawings,
Optionally, a waist belt 20 may be attached or otherwise coupled to one or both of the front and back straps 16 and/or a chest strap 26 (shown in
The components of the harness 10 may be made from conventional materials, e.g., flexible materials such as webbing, padding, canvas, and the like, optionally reinforced as desired, with the components permanently attached together, e.g., using one or more of stitching, fasteners, such as rivets, clips, buttons, and the like, fusing or bonding, and the like.
Each arm support includes a rigid shoulder bracket member that terminates above the shoulder S, and one or more segments pivotally coupled to the upper end of the shoulder bracket that carry an arm rest 68 and a cassette 64 including one or more compensation elements. For example, as described in the applications incorporated by reference herein, the cassette 64 may contain a spring or other resilient member coupled to one or more cables and/or pulleys to apply an offset force to the upper arm received in the arm rest 68, e.g., to at least partially offset a gravitational force acting on the arm. Optionally, the cassette(s) 64 may be removable and/or may be interchangeable from a set of multiple cassettes providing different offset force profiles.
The exoskeleton 50 may be attached to a harness 10 essentially permanently or by easily detachable/attachable connection elements. It will be appreciated that other exoskeletons may also be integrated with fall-protection harnesses in this way. The exoskeleton 50 may include several elements used to counterbalance the weight of the worker's arms, and the tools they are holding, and distribute it into the worker's core. These include the spine strut 54, belt struts 56, shoulder assemblies 58, cassettes 64, and armrests 68. The purpose and function of these elements are described in the references identified above.
Examples of generic connection points are shown in
In addition or alternatively, as shown in
Optionally, the connectors 110 and 120 (and/or any other connection devices that may be attached to a fall-protection harness 10 to enable attachment of an exoskeleton 50 to the harness 10) may be position-adjustable on the harness 10 or exoskeleton 50, allowing the user to move the connection device to an optimal location, e.g., to accommodate different size users and/or increase comfort. For example, the connector 110 may be movable vertically on the back panel of the harness 10 to adjust the location relative to the user's back and/or the connector 120 may be movable around the waist belt 20 to a desired location relative to the user's hips.
In another option, the connectors 110 and 120 (and/or any other connection devices that may be attached to a fall-protection harness 10 to enable attachment of an exoskeleton 50 to the harness 10) may be either permanently installed on the harness 10 or may be configured to allow the worker to attach the connection device to an existing harness themselves.
Any connection element may be stiff in multiple axes, stiff in only one axis, allow the joint to pivot, be flexible, be rigid, be semi-rigid, or allow translation and/or twisting of the joint.
Optionally, the user Wo may have the ability to attach or detach the exoskeleton themselves while safely continuing to wear the harness. Various connection devices may be employed to achieve this. For example,
As will be described in greater detail below, the harness connection elements 310, 330 may be shaped to facilitate positioning, engaging, and/or disengaging the cooperating connectors 414, 424 on the exoskeleton 400, e.g., through funnel-like openings, and may include snap-like detent elements and/or other locking elements to retain the exoskeleton 400 in position on the harness 300.
The connection element 330, shown in
To detach the exoskeleton 400 from the harness 300, while continuing to safely wear the harness 300, the worker Wo may simply reverse the process shown in
Where the harness 300 and exoskeleton 400 include multiple cooperating connectors, the connectors may be secured separately or simultaneously. For example, the user may position the exoskeleton 400 such that the back tab 414 is located over the back connector 310 on the harness 300, and then lower the exoskeleton 400 to direct the tab 414 into the harness connector 310. With the exoskeleton 400 now stabilized, the user may manipulate the ends of the hip strut 420 individually to engage the hip tabs 424 with the harness hip connectors 330, thereby securing the exoskeleton 400 to the harness 300 and, therefore, relative to the user's body. The arm support(s) on the exoskeleton 400 may then be used to support the user's arm(s), e.g., to provide an offset force that at least partially offsets gravitational force acting on the arms(s) as the user moves about and performs various activities, e.g., with the arm(s) extended, which may reduce fatigue and/or strain, as described in the references identified elsewhere herein.
Turning to
The positioning of the exoskeleton contact surface intended for the hips underneath the straps of the fall-protection harness described above can also be used in the case of exoskeletons and fall-protection harnesses that are not attached, but are simply used together. In such cases, the hip pads would be attached to the exoskeleton, and the belt struts and hip pads would be configured to easily fit underneath existing fall-protection harness straps.
It will be appreciated that elements or components shown with any example herein are exemplary for the specific embodiment and may be used on or in combination with other examples disclosed herein.
While the invention is susceptible to various modifications, and alternative forms, specific examples thereof have been shown in the drawings and are herein described in detail. It should be understood, however, that the invention is not to be limited to the particular forms or methods disclosed, but to the contrary, the invention is to cover all modifications, equivalents and alternatives falling within the scope of the appended claims.
The present application is a continuation-in-part of co-pending International Application No. PCT/US2020/40769, filed Jul. 2, 2020, which claims benefit of U.S. provisional application Ser. No. 62/869,977, filed Jul. 2, 2019, the entire disclosures of which are expressly incorporated by reference herein.
Number | Date | Country | |
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62869977 | Jul 2019 | US |
Number | Date | Country | |
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Parent | PCT/US2020/040769 | Jul 2020 | US |
Child | 17500841 | US |