Patent Application
20240075638
The present disclosure relates generally to wearable devices and systems for assisting with motion of a user. More specifically, aspects of this disclosure relate to wearable exoskeleton systems for assisting human motion and reducing energy expenditure attendant thereto.
Many exoskeletons on the market are used in medical rehabilitation and industrial applications that require heavy lifting or other atypical dynamic movements. The exoskeletons in both of these applications typically do not incorporate features that allow the wearers to use their own natural strength while healing or to quickly escape from danger while on the job. Even though a reason for using exoskeletons in this manner is to assist the wearer, the user may eventually wish to rely on their own strength without supplemental assistance, e.g., via an exoskeletal electric motor. Many applications may be directed to rehabilitation of minor injuries and for uninjured individuals that are using the exoskeleton system to conserve energy while doing tasks. In such applications, having the ability to walk or lift with assistance via a motor and, when desired, run or move freely without motor-assistance may be crucial in the engineering of an exoskeleton suit.
Exoskeletons may be controlled using a variety of different methods. For instance, an exoskeleton may be controlled autonomously via computer programmed software (e.g., in instances where the user is paralyzed from the waist down). Another method includes using walking sticks that have force sensors or motion sensors that work in cadence with the exoskeleton robot. Electromyograph (EMG) and electroencephalograph (EEG) sensors may also be employed to control an exoskeleton system (e.g., for users that are partially or completely paralyzed from the waist down). Additionally, motion sensors may be employed to measure joint angles to aid in providing direction for the exoskeleton. Available types of biometric sensors that may be utilized in exoskeleton systems include, for example, motion joint angle sensors worn on the user's body, force sensors worn on the user's hands and feet, EMG sensors, and EEG sensors. However, many commercially available biometric sensors are costly, cumbersome, and/or contain numerous wires that complicate system assembly and can be inconvenient for the end user.
Exoskeleton technology has been in use experimentally since the mid-20th century and has since gained much traction. An example of a “Reconfigurable Exoskeleton” is presented in U.S. Patent App. Pub. No. 2015/0351995 A1, to Adam Zoss et al., which utilizes a modular joint system to enable reconfigurable exoskeleton limbs. The Zoss exoskeleton is a powered exoskeleton system that allows for limb actuation at the joints for assistance during walking. Even though this device is less bulky than many other available exoskeletons, it moves slowly and is only meant for rehabilitation purposes for individuals with lower extremity paralysis. Users are not able to run with the Zoss exoskeleton nor are they able to move with the system power off.
An example of a “Motorized Exoskeleton Unit” is shown in U.S. Patent App. Pub. No. 2013/0253385 A1, to Amit Goffer et al., which is designed for a lower body extremity. In this example, the exoskeleton's joints are motorized to allow for actuation of the limbs. Goffer's device is designed to assist someone while walking and for related bipedal locomotion. In addition, this device contains a motor that is only connected to a lower limb and does not contain a clutching mechanism to allow the individual the freedom to move on their own.
An example of a robotic “Wearing-Type Movement Assistance Device” is shown in U.S. Patent App. Pub. No. 2017/0144309 A1, to Yoshiyuki Sankai, which uses drive units to provision lift assistance using angle joint sensors to control the exoskeleton. Sankai's exoskeleton includes an upper limb assistance section joined to a lower limb assistance section with motorized hip, shoulder, and elbow joints to aid someone while performing tasks. However, the exoskeleton drive motors in this design are permanent fixtures and, thus, are not readily attachable and removable by the end user. In general, Sankai uses hardwired (non-wireless) sensors and a fixed (non-modular) exoskeleton system architecture.
None of the above-described examples of wearable exoskeletons are hybrid passive-and-active robotic exoskeletons in which the end user can readily add and remove motor units or selectively engage and disengage the motor units when desired. Additionally, none of the above motorized exoskeleton examples utilize a clutch device for the selective transmission of power from the motor to actuate a limb to enhance the user's strength, nor are they being controlled via wireless sensor technology. All of the above discussed U.S. Patents and Patent Application Publications are incorporated herein by reference in their respective entireties and for all purposes.
Presented herein are exoskeleton systems with attendant control logic for assisting users with movement, power clutch transmissions for exoskeletons, articulating joint and appendage units for exoskeletons, modular motor units for exoskeletons, wireless biometric controls systems for exoskeletons, and methods for making and methods for operating disclosed exoskeletons, transmissions, motor units, appendage-joint assemblies, and/or biometric systems. In an example, there is presented a modular exoskeleton adaptable with modular motor unit attachments that increase a user's strength when electrically powered. When not powered, the exoskeleton is in a passive operating mode that allows the user to freely move without assistance. The user can detach the motor units and customize the passive exoskeleton to multiple different architectures. Disclosed exoskeleton systems may employ Internet of Things (IoT) technology, e.g., that uses BLUETOOTH® Low Energy technology (BLE), to connect biometric sensors to a central processing unit (CPU) of the exoskeleton and, if desired, to other resident system devices.
Aspects of this disclosure are also directed to hybrid power clutch transmission devices, e.g., for an elbow/knee motor unit, a hip/shoulder motor unit, and/or other motorized limb units of an exoskeleton system. The hybrid transmission and attendant control scheme is enabled via one or more electromagnetic clutches that engage and take up torque capacity when powered to thereby initiate a strength-enhancing active operating mode of the exoskeleton system. When not powered, the electromagnetic clutch or clutches disengage and slip to enable a passive operating mode of the exoskeleton system. An optional hybrid operating mode may default to a passive-type operating mode and automatically trigger an active-type operating mode when wireless biometric sensors activate clutch engagement when increased muscle activity is predicted or sensed.
The weight-bearing structure of the exoskeleton system may include an exoskeleton frame, which may contain an upper body mechanical structure and/or a lower body mechanical structure. The exoskeleton frame may use high-strength magnetic ball-and-socket joints for the hip and shoulder joint regions, e.g., to increase range of motion via mimicking the same regions of the human body. Knee and elbow joint regions of the exoskeleton frame structure may be spring loaded, e.g., via a torsion and/or gas spring joint. A leg region of the exoskeleton frame structure may contain a magnetic sliding lock mechanism that can be used to lock a gas spring when disengaged; when engaged, the sliding lock mechanism may unlock the gas spring such that the user can bend their knee. The sliding lock mechanism may allow the wearer to hold a desired position without the associated motor(s) being powered.
The exoskeleton frame structure may be made active, at least in part, via the attachment of one or more computer-controlled motor units. When powered on, these motor units supplement user strength for the wearer of the exoskeleton system. Output of these motor units may be governed by a system central processing unit (CPU) based on feedback from a distributed network of wireless biometric sensors. Biometric sensors that are used to control the exoskeleton system may include motion sensors for detecting angle positioning and EMG sensors for detecting muscle activity. A modular exoskeleton architecture may be designed to add one or more motor units in order to enable an active robotic exoskeleton that provides multiple uses for the wearer as well as various economic benefits. When set in a passive operating mode, the exoskeleton frame structure may provide the user with the ability to stand or hold a squatting position, e.g., via mechanically locking parts of the exoskeleton. When set in an active operating mode, a user can add one or more motor units to aid in augmenting the wearer's strength capabilities. This enables a user to purchase/integrate only what is needed, and to modify the exoskeletal functionality at any time, rather than being limited to buying/using either a passive exoskeleton or a robotic exoskeleton.
Disclosed motorized exoskeleton systems may contain one or more articulating joint assemblies, such as a knee module, each of which may be equipped with an electromagnetic clutch, e.g., for safety, increased freedom of movement, and decreased battery power consumption. Safety is a top priority for many applications when designing exoskeletons. For instance, a user may be protected from injury if a CPU error occurs because the system is able to decouple the motor from the limb. Also, the motor and transmission gears will be protected from damage if an error occurs. Increased freedom of movement may enable improved safety since disengaging the electromagnetic clutch or clutches enables the user to move without hinderance at their own speed and under their own control, e.g., to escape danger or to work faster. Unlike many commercially available motorized exoskeletons, in which the user can only move as fast as the exoskeleton motor allows them to move, disclosed exoskeleton systems help to enable both active and passive operation for unencumbered movement. Moreover, the ability to drivingly decouple the motor units reduces motor use with a concomitant reduction in energy consumption and wear; in so doing, the user can activate the exoskeleton system's assisted walking and lifting features when desired.
Attendant advantages for at least some of the disclosed concepts may include modular motor unit designs that are structurally configured to be easily attached to an exoskeleton suit, e.g., providing an active exoskeleton architecture that enables assisted movement with enhanced strength via robotic actuation. At the same time, disclosed modular motor units are structurally configured to be easily detached from an exoskeleton suit, e.g., providing a passive exoskeleton architecture that enables the user to rely on their own strength and stamina with the enhanced stability provided by the suit. To simplify motor attachment/detachment while reducing system cost, weight, and complexity, disclosed motor units may communicate wirelessly with on-board controllers and sensors. The modularity and interchangeability of the motor unit modules further reduces system complexity and manufacturing costs while optimizing cross-platform adaptability and improving end-user experience.
Aspects of this disclosure are directed to articulating joint assemblies and articulating joint-and-appendage assemblies for exoskeleton systems, including full-body and partial-body exoskeleton (“exo”) frame configurations. In an example, a joint assembly is presented for an exoskeleton system having an exoskeleton frame with multiple frame segments. The joint assembly includes, for example, a socket outer shell that has an internal socket hole and attaches to a first segment of the exoskeleton frame, and a ball outer shell that has an internal shaft hole and attaches to a second segment of the exoskeleton frame. The joint assembly also includes a ball-and-socket assembly with a magnetic socket having a socket cavity, a magnetic ball movably nested in the socket cavity and magnetically mated with the magnetic socket, and a ball shaft rigidly attached to and projecting from the magnetic ball. The magnetic socket is located inside the internal socket hole and rigidly attached to the socket outer shell, and the ball shaft is located inside the internal shaft hole and rigidly attached to the ball outer shell.
Additional aspects of this disclosure are directed to hybrid active-passive exoskeleton systems for assisting with user movement. As used herein, the terms “exoskeleton” and “exoskeleton system”, including permutations thereof, may be used interchangeably and synonymously to include any relevant exoskeleton platform, such as: medical exoskeletons, industrial exoskeletons, and combat exoskeletons; passive-type, active-type, and hybrid-type exoskeletons; fixed architectures, supported architectures, and mobile architectures; soft-suit and hard-suite designs; and full-body, lower-extremity, and upper-extremity exoskeletons, etc. In an example, an exoskeleton system includes an exoskeleton frame with a first frame segment that securely attaches to a trunk of a user (e.g., the user's waist and/or back) and a second frame segment that attaches to an appendage of the user (e.g., the user's thigh and/or upper arm).
Continuing with the preceding discussion, the exoskeleton system is also equipped with one or more articulating joint assemblies, each of which includes a rotational coupling, a socket outer shell, a connector bracket, a ball outer shell, and a ball-and-socket assembly. The rotational coupling rotatably attaches to the first frame segment of the exoskeleton frame, and the socket outer shell attaches to the rotational coupling. Comparatively, the connector bracket rigidly attaches to the second frame segment of the exoskeleton frame, and the ball outer shell attaches to the connector bracket. The ball-and-socket assembly includes a magnetic socket with a recessed socket cavity, a magnetic ball that is movably nested in the socket cavity and magnetically mated with the magnetic socket, and a ball shaft that is rigidly attached to and projects from the magnetic ball. The magnetic socket is located inside an internal socket hole of the socket outer shell and, once inserted, is rigidly attached to the socket shell. The ball shaft, on the other hand, is located inside an internal shaft hole of the ball outer shell and is rigidly attached to the ball shell.
Aspects of this disclosure are also directed to manufacturing workflow processes, computer-readable media, and control logic for making or for using any of the herein described exoskeleton systems, modular motor unit assemblies, biometric sensor arrays, joint and J&A assemblies, and/or any other disclosed hardware and componentry. In an example, a method is presented for assembling a joint assembly for an exoskeleton system. The exoskeleton system includes an exoskeleton frame with multiple interconnected frame segments. This representative method includes, in any order and in any combination with any of the above and below disclosed options and features: attaching a socket outer shell to a first frame segment of the exoskeleton frame, the socket outer shell defining therein an internal socket hole; attaching a ball outer shell to a second frame segment of the exoskeleton frame, the ball outer shell defining therein an internal shaft hole; receiving a ball-and-socket assembly including a magnetic socket defining a socket cavity, a magnetic ball movably nested in the socket cavity and magnetically mated with the magnetic socket, and a ball shaft rigidly attached to and projecting from the magnetic ball; inserting the magnetic socket into the internal socket hole; attaching the magnetic socket to the socket outer shell; inserting the ball shaft into the internal shaft hole; and attaching the ball shaft to the ball outer shell.
For any of the disclosed joint assemblies, exo systems, and methods, the joint assembly may also include a socket capsule that is located inside the internal socket hole of the socket outer shell and surrounds the magnetic socket. In this example, the socket capsule may be rigidly attached to the socket outer shell and interposed between the magnetic socket and the socket outer shell. It may be desirable that the socket capsule be fabricated, e.g., molded from a rigid polymeric material, as a hollow and cylindrical one-piece structure with open terminal ends and a flange projecting radially outward from one terminal end of the socket capsule. As another option, the magnetic socket may be cylindrical, the magnetic ball may be spherical, and the ball shaft may be cylindrical. In this instance, the magnetic socket may be fabricated, e.g., cast from a magnetic material as a discrete (first) one-piece structure, and the magnetic ball and the ball shaft may be fabricated, e.g., cast and welded from a magnetic material, as another (second) one-piece structure.
For any of the disclosed joint assemblies, exo systems, and methods, the socket outer shell may be fabricated, e.g., molded from a rigid polymeric material, as a hollow, truncated polyhedral one-piece structure. In the same vein, the ball outer shell may be fabricated, e.g., molded from a rigid polymeric material, as a hollow, polyhedral one-piece structure. As another option, the first frame segment may include a waist assembly, which attaches to a waist of a user, or a back plate assembly, which attaches to a back of the user, and the second frame segment may include a thigh assembly, which attaches to a thigh of the user, or an arm assembly, which attaches to an arm of the user. In this instance, the joint assembly may be a hip joint assembly, which movably attaches the thigh assembly to the waist assembly, or a shoulder joint assembly, which movably attaches the arm assembly to the back plate assembly.
For any of the disclosed joint assemblies, exo systems, and methods, a connector bracket plate may rigidly attach to both the ball outer shell and the second frame segment to thereby attach the ball outer shell to the second frame segment. Comparatively, a rotational coupling may rigidly attach to the socket outer shell and rotatably attach to the first frame segment to thereby attach the socket outer shell to the first frame segment. As another option, a connector bracket may extend between and rigidly attach the socket outer shell to the rotational coupling such that the ball outer shell and ball shaft are pivotable with respect to the rotational coupling. A motor adaptor mounting bracket may rigidly attach to the ball outer shell; this mounting bracket removably mounts thereon a motor unit.
The above Summary does not represent every embodiment or every aspect of the present disclosure. Rather, the foregoing summary merely provides a synopsis of some of the novel concepts and features set forth herein. The above features and advantages, and other features and attendant advantages of this disclosure, will be readily apparent from the following Detailed Description of illustrated examples and representative modes for carrying out the disclosure when taken in connection with the accompanying drawings and appended claims. Moreover, this disclosure expressly includes any and all combinations and subcombinations of the elements and features presented above and below.
The present disclosure is amenable to various modifications and alternative forms, and some representative embodiments are shown by way of example in the drawings and will be described in detail herein. It should be understood, however, that the novel aspects of this disclosure are not limited to the particular forms illustrated in the above-enumerated drawings. Rather, this disclosure covers all modifications, equivalents, combinations, permutations, groupings, and alternatives falling within the scope of this disclosure as encompassed, for example, by the appended claims.
This disclosure is susceptible of embodiment in many different forms. Representative embodiments of the disclosure are shown in the drawings and will herein be described in detail with the understanding that these embodiments are provided as exemplifications of the disclosed principles, not limitations of the broad aspects of the disclosure. To that extent, elements and limitations that are described, for example, in the Abstract, Technical Field, Background, Summary, and Detailed Description sections, but not explicitly set forth in the claims, should not be incorporated into the claims, singly or collectively, by implication, inference, or otherwise.
For purposes of the present detailed description, unless specifically disclaimed: the singular includes the plural and vice versa; the words “and” and “or” shall be both conjunctive and disjunctive; the words “any” and “all” shall both mean “any and all”; and the words “including,” “containing,” “comprising,” “having,” and the like, shall each mean “including without limitation.” Moreover, words of approximation, such as “about,” “almost,” “substantially,” “generally,” “approximately,” and the like, may each be used herein in the sense of “at, near, or nearly at,” or “within 0-5% of,” or “within acceptable manufacturing tolerances,” or any logical combination thereof, for example.
Referring now to the drawings, wherein like reference numbers refer to the same or similar features throughout the several views, there is shown in
The exoskeleton system 10 of
Lower outer side regions of the hip assembly 14 of
Continuing with the discussion of the exoskeleton's lower extremity section 10, the two (left and right) tibial bracket connectors 31 are each connected to a respective ankle outer shell 33 via a respective lower leg bracket 35. The two (left and right) lower leg brackets 35 are attached to the (left and right) ankle outer shells 33 via respective shin size adjusters 34, e.g., that may enable the selective lengthening and shortening of the lower extremity section 10B. Inner side regions of the ankle outer shells 33 are each provided with an ankle strap 95 that wraps around and releasably attaches the ankle outer shells 33 and, thus, the lower extremity section 10B to the user's ankles/lower legs. A bottom outer side region of each ankle outer shell 33 is attached to a respective exoskeleton foot outer shell 36, which seats thereon and operatively attaches to a user's foot/shoe/boot. The two (left and right) ankle outer shells 33 may articulate (e.g., rotate to enable dorsiflexion and plantarflexion of foot shell 36) with respect to the tibial bracket connectors 31, the connectors 31 may articulate with respect to the thigh assemblies 26 (e.g., rotate about the joint assembly 430 to enable tibial extension and flexion), and the thigh assemblies 26 may articulate with respect to the waist bracket 20 (e.g., rotate about the hip assembly 14 to enable femoral extension and flexion).
To securely attach and selectively detach the lower extremity section 10B to/from the upper extremity section 10A, e.g., for a “full body” exoskeleton architecture, the hip assembly 14 releasably attaches to a bottom end of the spine unit assembly 58 via a socket assembly 23 and a tailbone outer shell 16. This spine unit assembly 58 connects at an upper end thereof to a flexible back plate assembly 38, which may abut a wearer's thoracic region. Left and right flanks of the back plate assembly 38 of
To transform the unassisted, passive-type exoskeleton architecture of
A pair of (right and left) knee motor unit modules 103 each mounts on a respective thigh assembly 26 via one of the knee motor adaptors 27 and drivingly connects to a respective joint assembly 430 via one of the knee motor unit brackets 106. Each mated modular knee motor unit 103 and corresponding bracket 106 securely attaching to their respective joint assembly 430 via a knee bracket alignment adaptor 107. In so doing, the motor unit modules 103 of
With continuing reference to
A pair of (left and right) elbow motor unit modules 105 each mounts on a respective one of the shoulder assemblies 37 and drivingly connects to a complementary forearm attachment assembly 108. Each forearm attachment assembly 108 may removably attach to a user's forearm via straps (as shown). In this regard, each of the herein-described joint and appendage assemblies may employ straps, cables, harnesses, cuffs, or any other suitable means of attachment to operatively mount onto a user. Each of the modular elbow motor units 105 securely attaches to a respective upper arm bracket assembly 57 on one of the exoskeleton shoulder assemblies 37. In so doing, the motor unit modules 105 of
To govern individual and synchronized operation of the motor unit modules 102, 103, 104, 105, the exoskeleton system 10 may employ a distributed array of sensing devices for actively monitoring real-time or near real-time user variables and system characteristics. The sensing devices may include: (1) a waist biometric sensor assembly 65; (2) a pair of thigh biometric sensor assemblies 68; (3) a pair of lower leg biometric sensor assemblies 71; (4) a pair of upper arm biometric sensor assemblies 75; and (5) a pair of forearm biometric sensor assemblies 79. A rechargeable battery pack 100 is attached to the back of the back plate assembly 38 and operable to power the exoskeleton's various electronic components. A lower body subsystem CPU 24 provisions input/output (I/O) logic-controlled operation of the sensors, motors, etc., of the lower extremity section 10B, whereas an upper body subsystem CPU 46 provisions I/O logic-controlled operation of the sensors, motors, etc., of the upper extremity section 10A. As noted above, detachment of the upper and lower extremity sections 10A, 10B of the active-passive exoskeleton 10 from each other creates a stand-alone lower body active/passive exoskeleton unit and a stand-alone upper body active/passive exoskeleton unit that may be operated independently from each other. This allows the user to further customize use of the exoskeleton 10 to a myriad of distinct upper and lower body applications. Additional information about the contents, arrangement, and functionality of the exoskeleton system 10 may be found in commonly owned U.S. Provisional Patent App. Nos. 63/403,425 (hereinafter “'425 Application”) and 63/418,135 (hereinafter “'135 Application”), and U.S. Non-Provisional patent application Ser. No. 18/160,356 (hereinafter “'356 Application”), Ser. No. 18/181,637 (hereinafter “'637 Application”), Ser. No. 18/298,687 (hereinafter “'687 Application”), and Ser. No. 18/347,132 (hereinafter “'132 Application”), all of which are incorporated herein by reference in their respective entireties and for all purposes.
Turning next to
The cylindrical and hollow rotational coupling 206 may be rigidly mounted, e.g., via machine screws, to an upper terminal end of the elongated and substantially planar connector bracket 205. The rotational coupling 206 rotatably attaches the joint assembly 214 to the upper frame section 10A of the exoskeleton system 10, e.g., such that the joint assembly 214 is swivelable about a vertical axis. Mounted to a lower terminal end of the connector bracket 205 is the hollowed socket outer shell 204 within which is housed the magnetic hip socket 207 and a proximal segment of the socket capsule 210. The sleeve-like socket capsule 210 is shown as a hollow and cylindrical one-piece structure that at least partially encases therein the cylindrical hip socket 207 and the ball portion of the ball shaft assembly 208, e.g., to help prevent dislocation of the joint assembly.
Magnetic ball shaft assembly 208 and socket capsule 210 are physically attached to the socket outer shell 204 by sliding the socket capsule 210 over the ball shaft assembly 208, inserting both the hip socket 207 and socket capsule 210 into a complementary central hole 217 inside the shell 204, and threading one or more machine screws in through complementary fastener slots in the side(s) of the shell 204. In so doing, the ball shaft 209 may pivot with respect to the shell 204 and bracket 205. The magnetic ball shaft assembly 208 attaches to the hip ball outer shell 211 by inserting the solid and cylindrical ball shaft 209 into a complementary central hole 219 inside the polyhedral outer shell 211, and threading one or more machine screws in through complementary fastener slots in the side(s) of the outer shell 211. In so doing, the magnetic hip socket 207 and, thus, the shell 204 and bracket 205 may pivot with respect to the plates 212, 213 and adaptor 225. In accord with the illustrated example, the magnetic hip socket 207 is cylindrical with a terminal end having a recessed spherical-cap-shaped socket cavity. In this instance, the magnetic ball 215 is spherical and nested in the socket cavity, whereas the magnetic ball shaft 209 is cylindrical and welded or otherwise rigidly secure to a side of the magnetic ball 215 opposite that of the hip socket 207. For simplicity of design and ease of assembly, it may be desirable that the magnetic socket 207 be fabricated as a discrete one-piece structure, and the magnetic ball 215 and the ball shaft 209 be fabricated as another discrete one-piece structure.
The hip ball outer shell 211 slides into a complementary central channel that is defined between parallel walls 221 and 223 of the motor adaptor 225; the outer shell 211 fastens to the adapter walls 221, 223, e.g., via machine screws or other suitable means. The bracket attachment plate 212 is shown mounted onto an upward facing recessed landing of the ligament alignment plate 213; both plates 212, 213 are then rigidly secured to an underside surface of the hip ball outer shell 211. The motor adaptor 225 and attachment plate 212 are structurally reinforced by the hip ball outer shell 211 and ligament alignment plate 213. The bracket attachment plate 212 mounts the articulating joint assembly 214 to an upper end of a thigh assembly 26 via a bracket plate (
Presented in
To assemble the J&A assembly 302 of
To enable articulation of the joint assembly 337 portion of the J&A assembly 302, the socket 335 portion of the magnetic ball-and-socket assembly is inserted into the shoulder socket capsule 310; the mated magnetic shoulder socket 335 and capsule 310 are then partially inserted into a complementary central hole (“internal socket hole”) 317 of the shoulder socket shell 334. The socket 335 and capsule 310 are housed inside and rigidly attached to the shell 334, e.g., via machine screws. In so doing, the ball shaft 331 and any structure mounted thereto may pivot with respect to the shell 334, fixture 348, and coupling 333. The shaft 331 end of the magnetic ball shaft assembly 308 is inserted into a complementary central hole (“internal shaft hole”) 319 of the shoulder ball outer shell 338; the shaft 331 is rigidly attached to the outer shell 338, e.g., via machine screws. In so doing, the shoulder socket 335 and any structure mounted thereto may pivot with respect to the motor adaptor 393, outer shell 340 and shoulder shell loop 342, 343 segments.
The motor adaptor 393 is mounted onto an outboard side of the shoulder ball outer shell 338, e.g., via machine screws, whereas an inboard side of the shoulder ball outer shell 338 receives the ball shaft 331. The humerus connecting bracket 339 of the upper arm assembly 357 securely attaches, e.g., via machine screws, to the inboard side of the shoulder ball outer shell 338 adjacent the ball shaft 331. The plate-like outer shell 340 securely attaches to the outboard face of the humerus shoulder connecting bracket 339 via attachment of the deltoid outer shell cap 341 and the first deltoid outer shell loop 342 to the outer shell 340, e.g., via machine screws. The second deltoid outer shell loop 343 segment is then attached to the bottom of the first shell loop 342 using, for example, high-strength polymer-to-polymer adhesive. The J&A assembly 302 enables an exoskeleton frame structure to have increased range of motion of the shoulders while ensuring joint strength and improved life cycle.
Turning next to
The appendage assembly 426 portion of the J&A assembly 480 includes a torsional appendage (thigh) attachment bracket 415 that is vertically spaced from the joint assembly 430 and mounted (e.g., via press fit) onto a midsection of the appendage bracket 414. Two (outer and inner) upper spring mount attachment plates 416 and 417 are mounted onto opposing (medial and lateral) sides of and project rearward from the thigh attachment bracket 415. Both spring mount attachment plates 416, 417 are partially sandwiched between a magnetic locking device 418 and are rigidly secured in place, e.g., via machine screws. An upper end of a fluid-filled (hydraulic or pneumatic) spring device 497, which may be in the nature of a wrist pin receiver of a piston rod, is fixed, e.g., via a machine screw, to the laterally spaced spring mount attachment plates 416, 417. A lower region of the spring device 497, which may be in the nature of an end fitting of a fluid cylinder, is fixed, e.g., via a machine screw, to laterally spaced (inner and outer) lower spring mount plates 430 and 432. The two lower spring mount attachment plates 430 and 432 are mounted onto opposing (medial and lateral) sides of and project rearward from a lower (tibial) knee joint connector 443 of the knee assembly 430.
With continuing reference to
Presented in
Turning next to
Defining a forward (patella) face and two lateral (ACL/MCL) faces of the knee joint assembly 430 is a mediolateral kneecap cuff 425 within which are sandwiched the upper and lower knee joint connectors 428, 443, the upper and lower torsion power plates 426, 429, 411, 427, and the torsion spring 431. To assemble the joint assembly 430, the upper power plates 426, 429 are fastened to the upper knee joint connector 428, and the lower power plates 411, 427 are fastened to the lower knee joint connector 443. A male pivot shaft 451 integral with and projecting orthogonally from an upper terminal end of the second lower torsion power plate 427 passes axially through the spring 431 and press-fits into a female pin slot 453 that extends through a lower terminal end of the first upper torsion power plate 426. The mediolateral kneecap cuff 425 is then pressed onto outer surfaces of the torsion power plates 426 and 427 and secured thereto, e.g., via multiple machine screws. An optional bottom bracket, cotter pin, clevis pin, or similarly suitable connector (not shown) may then be passed through holes in the kneecap cuff 425 that axially align with a hollow central core of the male pivot shaft 451.
Aspects of the present disclosure have been described in detail with reference to the illustrated embodiments; those skilled in the art will recognize, however, that many modifications may be made thereto without departing from the scope of the present disclosure. The present disclosure is not limited to the precise construction and compositions disclosed herein; any and all modifications, changes, and variations apparent from the foregoing descriptions are within the scope of the disclosure as defined by the appended claims. Moreover, the disclosure expressly includes any and all combinations and subcombinations of the preceding elements and features.
This application claims the benefit of and priority to U.S. Provisional Patent Application No. 63/403,425, which was filed on Sep. 2, 2022, and U.S. Provisional Patent Application No. 63/418,135, which was filed on Oct. 21, 2022, both of which are incorporated herein by reference in their respective entireties and for all purposes.
| Number | Date | Country | |
|---|---|---|---|
| 63418135 | Oct 2022 | US | |
| 63403425 | Sep 2022 | US |
