Patent Application
20180071129
Powered exoskeletons are used to aid a user in performing various movements such as walking or standing. The power exoskeleton generates torque at respective joints to either assist or resist the user in performing such movements. The powered exoskeleton interacts with the user's body and the generated torque is mechanically grounded to a user's body part. The mechanical grounding to a user's body part or parts may be inefficient.
According to an embodiment of the present disclosure, a lumbar support apparatus for a powered exoskeleton is provided. The lumbar support apparatus includes a support member and a lumbar support member. The support member includes a back portion, a first arm, and a second arm. The back portion has a first surface and a second surface that extends between a back portion first end and a back portion second end. The first arm extends from the back portion first end. The first arm defines a first attachment point for a first leg support. The second arm extends from the back portion second end. The second arm defines a second attachment point for a second leg support. The lumbar support member is disposed on the first surface of the back portion.
According to another embodiment of the present disclosure, a lumbar support apparatus is provided. The lumbar support apparatus includes a lumbar support member. The lumbar support member is disposed on a back portion of a support member that is operatively connected to a powered exoskeleton. The lumbar support member has a base member and a contoured support surface. The base member is disposed on the back portion of the support member. The contoured support surface extends from the base member. The contoured support surface has a first ridge, a second ridge, and a trough disposed between the first ridge and the second ridge.
According to yet another embodiment of the present disclosure, a method of manufacturing a lumbar support member is shown. The method includes positioning a support member having a cavity and a cavity and a membrane disposed over the cavity relative to a lumbosacral region of a user of a power exoskeleton. The method further includes applying a hardenable foam to the cavity.
These and other advantages and features will become more apparent from the following description taken in conjunction with the drawings.
The subject matter which is regarded as the invention is particularly pointed out and distinctly claimed in the claims at the conclusion of the specification. The foregoing and other features, and advantages of the invention are apparent from the following detailed description taken in conjunction with the accompanying drawings in which:
Referring now to the Figures, where the present disclosure will be described with reference to specific embodiments, without limiting same, it is to be understood that the disclosed embodiments are merely illustrative and may be embodied in various and alternative forms. The Figures are not necessarily to scale; some features may be exaggerated or minimized to show details of particular components. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a representative basis for teaching one skilled in the art to variously employ the present disclosure.
Referring to
The lumbar support apparatus 20 is configured as a torso brace that interfaces with the user 12. The lumbar support apparatus 20 is disposed about a user's waist proximate a user's hip region. The lumbar support apparatus 20 is configured to adjust overall human-exoskeleton interface stiffness through the use of various lumbar support types. The various lumbar support types permit the user 12 to adjust for comfort and load or torque transfer efficiency from the powered exoskeleton 10 to the user 12.
Referring to
The support member 30 includes a back portion 40, a first arm 42, and a second arm 44. The back portion 40 is disposed proximate a lumbosacral region of a back of the user 12. The back portion 40 has a first surface 50 and a second surface 52 disposed opposite the first surface 50. The first surface 50 and the second surface 52 extend between a back portion first end 54 and a back portion second end 56.
The support member 30 may be operatively connected to the powered exoskeleton 10 by at least one reinforcement member 60 that is disposed on the back portion 40. The at least one reinforcement member 60 is disposed on the second surface 52 of the back portion 40. The at least one reinforcement member 60 is configured to function as a reinforcement or stiffening member of the back portion 40 to aid in load or torque transfer of the powered exoskeleton 10 to the user 12.
The at least one reinforcement member 60 includes a first reinforcement 62 disposed on the second surface 52 of the back portion 40 and a second reinforcement 64 extending from the first reinforcement 62. The first reinforcement 62 is securely attached to the second surface 52 of the back portion 40. The second reinforcement 64 is disposed substantially perpendicular to the first reinforcement 62. The second reinforcement 64 extends away from the second surface 52 of the back portion 40.
The first arm 42 extends from the back portion first end 54. The first arm 42 extends at least partially about the waist of the user 12. The first arm 42 includes a first arm first surface 70 and a first arm second surface 72 disposed opposite the first arm first surface 70. The first arm first surface 70 and the first arm second surface 72 extends between the back portion first end and a first arm end 74. The first arm first surface 70 faces towards the user 12. The first arm second surface 72 faces away from the user 12.
The first arm 42 defines a first attachment point 76 for the at least one leg support 22 and/or the actuator 24. The first attachment point 76 extends from the first arm second surface 72 towards the first arm first surface 70.
The second arm 44 extends from the back portion second end 56. The second arm 44 extends at least partially about the waist of the user 12. The second arm 44 includes a second arm first surface 80 and a second arm second surface 82 disposed opposite the second arm first surface 80. The second arm first surface 80 and the second arm second surface 82 extend between the back portion second end 56 and a second arm end 84. The second arm first surface 80 faces towards the user 12. The second arm second surface 82 faces away from the user 12.
The second arm 44 defines a second attachment point 86 for the at least one leg support 22 and/or the actuator 24. The second attachment point 86 extends from the second arm second surface 82 towards the second arm first surface 80.
The lumbar support member 32 is disposed on the first surface 50 of the back portion 40 of the support member 30. The lumbar support member 32 is configured as a contoured lumbar support that improves the load or torque transfer efficiency from the powered exoskeleton 10 to the user 12.
Referring to
The second side 104 is disposed opposite the first side 102. The third side 106 extends between a distal end of the first side 102 and a distal end of the second side 104. The fourth side 108 extends from a proximal end of the first side 102 towards the fifth side 110. The fifth side 110 is disposed opposite the third side 106. The sixth side 112 extends from the fifth side 110 to a proximal end of the second side 104.
The fourth side 108 and the sixth side 112 become progressively closer to each other in a direction that extends from the third side 106 towards the fifth side 110. The fourth side 108, the fifth side 110, and the sixth side 112 may form a tapered region of the base member 94.
The contoured support surface 96 extends from the base member 94. The contoured support surface 96 is configured to engage the lumbar region of the user 12. More specifically, the contoured support surface 96 is configured to engage a region of a user's back that extends between the users L1 and L5 vertebrae.
The contoured support surface 96 is disposed opposite the base surface 100. The contoured support surface 96 includes a first ridge 120, a second ridge 122, and a trough 124. The first ridge 120, the second ridge 122, and the trough 124 are vertically aligned in a direction that extends from the third side 106 towards the fifth side 110.
The first ridge 120 is configured to engage first paraspinal musculatures disposed proximate a first side of the spine of the user 12. The first ridge 120 has a first surface profile. The first surface profile is configured to match the curvature of the back of the user 12 proximate the lumbar region. The first surface profile has a cambered region that engages the first paraspinal musculatures proximate the L2, L3, and L4 vertebrae of the spine of the user 12 to provide vertical support.
The second ridge 122 is configured to engage the second paraspinal musculatures disposed proximate a second side of the spine of the user 12. The second paraspinal musculatures are disposed opposite the first paraspinal musculatures. The second ridge 122 has a second surface profile. The second surface profile is configured to match the curvature of the back of the user 12 proximate the lumbosacral region. The second surface profile has a cambered region that engages the second paraspinal musculatures proximate the L2, L3, and L4 vertebrae of the spine of the user 12 to provide vertical support.
The trough 124 is disposed between the first ridge 120 and the second ridge 122. The trough 124 is proximately aligned with the spine of the user 12 such that the spine of the user 12 is disposed between the first ridge 120 and the second ridge 122.
The base surface 100 defines at least one fastener opening 130. The at least one fastener opening 130 extends from the base surface 100, through the base member 94, towards the contoured support surface 96. The at least one fastener opening 130 is proximately aligned with the trough 124 and is disposed between the first ridge 120 and the second ridge 122. The at least one fastener opening 130 is configured to receive a fastener to couple the lumbar support member 32 to the support member 30.
In at least one embodiment, the lumbar support member 32 defines a cavity 140 that is disposed between the base member 94 and the contoured support surface 96. The cavity 140 is spaced apart from the at least one fastener opening 130. The at least one fastener opening 130 may extend into the cavity 140.
The cavity 140 may be configured to receive power electronics or control devices. The power electronics or control devices may be communication with the actuator 24 and configured to operate the actuator 24 and the at least one leg support 22.
Referring to
Referring to
The actuator 24 is configured to interface with the at least one leg support 22. The actuator 24 may extend between the lumbar support apparatus 20 and the at least one leg support 22. In at least one embodiment, the actuator 24 is directly connected to at least one of the first attachment point 76 or the second attachment point 86. The actuator 24 is configured to receive power from a power unit to create torque or load to aid the user 12 in movement. The actuator 24 may be an electric motor, a stepping motor, a hydraulic actuator, a pneumatic actuator, or the like.
The lumbar support apparatus 20 is configured to improve the load or torque transfer efficiency from the actuator 24 to the at least one leg support 22 by more securely positioning the lumbar support apparatus 20 relative to the lumbosacral region of the user 12. The geometric contouring or shape matching of the lumbar support member 32 with the overall shape of the spine lumbar section proximate the lumbosacral region of the back of the user 12 minimizes or inhibits relative motion of at least one of the support member 30 and the lumbar support member 32 relative to the user 12. The inhibition or minimization of relative motion of at least one of the support member 30 and the lumbar support member 32 relative to the user 12 improves the load or torque transfer efficiency of the powered exoskeleton 10.
Referring to
Hardenable foam 174 may be applied to or sprayed into the cavity 170. The hardenable foam 174 may be sprayed into a region that is disposed between the cavity 170 and the membrane 172.
Referring to
Referring to
The powered exoskeleton 10 may be provided with an adjustment assembly 180 and/or a strap assembly 182. The adjustment assembly 180 extends between the first arm end 74 of the first arm 42 and the second arm end 84 of the second arm 44. The adjustment assembly 180 is configured to adjustably secure the support member 30 and the lumbar support member 32 to the user 12. The adjustment assembly 180 includes at least one strap provided with a strap keeper that permits the user 12 to adjust the effective length of the at least one strap of the adjustment assembly 180 to provide a desired tension about the waist of the user 12, as shown in
Referring to
The anchor strap 200 having the first connector 202 extends from the back portion 40 of the support member 30 that is disposed proximate the lumbosacral region towards the thoracic (mid-thoracic) region of the user's back. In at least one embodiment, a shoulder pad is provided that extends from an end of the anchor strap 200 over the user's shoulders. The first shoulder strap 204 having the second connector 206 and the second shoulder strap 208 having the third connector 210 each extend from the anchor strap 200 having the first connector 202 and extend over the user's shoulders or extend from the shoulder pad.
The first shoulder strap 204 having the second connector 206 extends towards the first arm 42 of the support member 30 of the lumbar support apparatus 20. The second connector 206 of the first shoulder strap 204 is connected to a second mating connector 214 that is operatively connected to or extends from the first arm 42 of the support member 30 proximate the anterior-superior iliac spinal region of the user 12. The second connector 206 may be configured as clamp, hook, or the like and the second mating connector 214 may be configured as a ring, hoop, or the like that is configured to receive the first connector 202.
The second shoulder strap 208 having the third connector 210 extends towards the second arm 44 of the support member 30 of the lumbar support apparatus 20. The third connector 210 of the second shoulder strap 208 is connected to a third mating connector 216 that is operatively connected to or extends from the second arm 44 of the support member 30 proximate the anterior-superior iliac spinal region of the user 12. The third connector 210 may be configured as clamp, hook, or the like and the third mating connector 216 may be configured as a ring, hoop, or the like that is configured to receive the first connector 202.
The thorax strap 192 is operatively connected to the anchor strap 200 and extends about the torso of the user 12 proximate the thoracic region of the user 12. The thorax strap 192 is configured to adjustably secure the support member 30 of the lumbar support apparatus 20 to the user 12. The thorax strap 192 may be an elastic strap, a leather strap, or fabric strap. Ends of the thorax strap 192 may be secured to each other by a securing mechanism 220 such as clips, fasteners, buckles, or the like.
Throughout this specification, the term “attach,” “attachment,” “connected”, “coupled,” “coupling,” “mount,” or “mounting” shall be interpreted to mean that one structural component or element is in some manner connected to or contacts another element—either directly or indirectly through at least one intervening structural element—or is integrally formed with the other structural element.
While the invention has been described in detail in connection with only a limited number of embodiments, it should be readily understood that the invention is not limited to such disclosed embodiments. Rather, the invention can be modified to incorporate any number of variations, alterations, substitutions or equivalent arrangements not heretofore described, but which are commensurate with the scope of the invention. Additionally, while various embodiments of the invention have been described, it is to be understood that aspects of the invention may include only some of the described embodiments. Accordingly, the invention is not to be seen as limited by the foregoing description.
