Patent Application
20240075612
The present disclosure relates generally to wearable devices and systems for assisting with user motion. More specifically, aspects of this disclosure relate to passive and active exoskeleton systems for assisting human motion and reducing energy expenditure during motion.
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. In an example, electromyography (EMG) and electroencephalograph (EEG) sensors may be employed to control the exoskeleton systems (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 hands and feet, EMG sensors, and EEG sensors. However, many commercially available biometric sensors are costly, cumbersome, and/or contain many 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. 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 biped 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 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 jointed to a lower limb assistance section with motorized hip, shoulder, and elbow joints to aid someone while performing tasks. However, the exoskeleton drive motors are permanent fixtures and, thus, are not readily attachable and removable by the end user. In addition, Sankai's sensors are not wireless and the exoskeleton system is not modular.
None of the above-described exoskeleton examples 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, modular motor units for exoskeletons, wireless biometric controls systems for exoskeletons, and methods for making and methods for operating disclosed exoskeletons, transmissions, motor units, 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 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 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. A knee region of the exoskeleton frame structure may be spring loaded, e.g., via a torsion spring and/or a gas spring. 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 the motorized 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 that is designed to add one or more motor unit modules to enable an active robotic exoskeleton 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 knee modules that are each 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, the user will 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 the 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 including attendant energy consumption and wear; in so doing, the user can activate the exoskeleton systems assisted walking and lifting features when desired.
Attendant advantages for at least some of the disclosed concepts include modular motor unit designs that are structurally configured to be easily attached to an exoskeleton suit, providing an active exoskeleton architecture that enables enhanced strength via robotic actuation. At the same time, disclosed modular motor units are structurally configured to be easily detached from an exoskeleton suit, providing a passive exoskeleton architecture that enables the user to rely on their own strength and stamina, e.g., 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 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 modular motor units for exoskeleton systems, including a full-body or partial-body exoskeleton (“exo”) frame with one or more joint assemblies that each attaches to an appendage of a user. In an example, a motor unit is composed of a motor support structure that is defined, at least in part, by a first motor plate that is fastened, welded, integrally formed, jointed, or otherwise rigidly attached to/with a second motor plate. The first motor plate removably mounts to a joint assembly of an exoskeleton frame. An electric motor is mounted to the second motor plate and selectively produces a motor output torque at a motor output speed, e.g., to boost or automate articulating movement of the joint assembly. Drivingly connected to the electric motor is a harmonic drive unit that selectively modifies the motor output speed and the motor output torque of the electric motor. A motor attachment device, which is drivingly connected to the harmonic drive unit, drivingly connects the motor and drive unit to the joint assembly and thereby transmits to the joint assembly the modified motor torque at the modified motor speed output from the harmonic drive unit. Unlike most traditional gear-reduction boxes, which employ rigid, circular gears, a harmonic drive unit uses a flexible “spline” gear that is driven by an elliptical, toothless “plug” cam that receives torque output from the motor.
Additional aspects of this disclosure are directed to hybrid active-passive exoskeleton systems for assisting the movement of a user. 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 at least one joint assembly that attaches to an appendage of a user.
Continuing with the preceding discussion, the exoskeleton system also includes one or more motor units that removably attach to the exoskeleton system's joint assembly/assemblies. Each motor unit includes a motor support structure with a first motor plate that is rigidly attached, either directly or indirectly, to a second motor plate. The first motor plate is removably mounted to a joint assembly of the exoskeleton frame. At least one electric motor is mounted to the second motor plate and operable to produce a motor output torque at a motor output speed. Drivingly connected to each electric motor is a harmonic drive unit that is operable to modify the motor output speed and the motor output torque of the electric motor. A motor attachment plate is drivingly connected to the harmonic drive unit, i.e., to rotate in unison with an output member thereof, and removably drivingly connected to the joint assembly. The motor attachment plate transmits the modified motor torque at the modified motor speed output from the harmonic drive unit to the joint assembly.
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 disclosed exoskeleton systems, modular motor unit assemblies, biometric sensor arrays, and/or other disclosed hardware and componentry. In an example, a method is presented for assembling a motor unit for an exoskeleton system. The exoskeleton system includes an exoskeleton frame with a joint assembly configured to attach to an appendage of a user. This representative method includes, in any order and in any combination with any of the above and below disclosed options and features: assembling a motor support structure including rigidly attaching a first motor plate to a second motor plate, the first motor plate being configured to mount to the joint assembly; mounting an electric motor to the second motor plate, the electric motor being operable to produce a motor output torque at a motor output speed; drivingly connecting a harmonic drive unit to the electric motor, the harmonic drive unit being operable to modify the motor output speed and the motor output torque of the electric motor; and drivingly connecting a motor attachment device to the harmonic drive unit, the motor attachment device being configured to drivingly connect to the joint assembly and thereby transmit thereto the modified motor output torque at the modified motor output speed from the harmonic drive unit.
For any of the disclosed systems, methods, and devices, the motor unit may also include a first gear that is drivingly connected to the harmonic drive unit, a second gear that is rotatably attached to the first motor plate and mated in tooth-to-tooth “meshing” engagement with the first gear, and a rotational position encoder that is operatively connected to the second gear and operable to determine therefrom a rotational position of the electric motor. As another option, the first gear may be interposed between and coaxial with the harmonic drive unit and the motor attachment device. The harmonic drive unit may be interposed between and coaxial with the first gear and the electric motor. As yet another option, the first gear may be a first spur gear or a first bevel gear, whereas the second gear may be a second spur gear or a second bevel gear. In yet another option, the first gear rotates on a first axis, whereas the second gear rotates on a second axis that is spaced from and either substantially orthogonal or substantially parallel to the first axis.
For any of the disclosed systems, methods, and devices, one or more motor plate reinforcement rails (also referred to herein as “ligaments”) may be rigidly attached to the motor support structure; these reinforcement rail(s) structurally join the first motor plate to the second motor plate. The motor unit may employ first and second L-shaped reinforcement rails, each of which has a respective first end that is rigidly attached to and abuts the first motor plate and a respective second end that is rigidly attached to and abuts the second motor plate. As another option, the motor unit may employ first and second zigzag-shaped reinforcement rails, each of which has a respective first end that is rigidly attached to and abuts the first motor plate and a respective second end that is rigidly attached to the second motor plate.
For any of the disclosed systems, methods, and devices, the electric motor, the harmonic drive unit, the first gear, and the motor attachment device are coaxial with one another on a first axis of rotation. In this regard, the second gear and the encoder may be coaxial with one another on a second axis or rotation that is spaced from the first axis. As yet another option, the motor support structure may include a third motor plate that is interposed between and rigidly attached to the first and second motor plates. In this instance, the first motor plate may be substantially parallel or substantially orthogonal to the second motor plate, whereas the third motor plate may be substantially orthogonal to the first motor plate and/or the second motor plate.
For any of the disclosed systems, methods, and devices, a motor unit housing may be rigidly attached to the motor support structure; the motor unit housing contains therein the electric motor and, if desired, the CPU and motor driver that cooperatively govern operation of the electric motor. As another option, the motor attachment device may include or, if desired, may consist essentially of a substantially flat plate that drivingly attaches to the harmonic drive unit via a first gear to rotate in unison with an output member of the harmonic drive unit. The substantially flat plate may contain a circular array of holes that receive threaded fasteners for operatively attaching the motor attachment plate and, thus, the electric motor and harmonic drive unit to the joint assembly of the exoskeleton.
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, Introduction, 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
A lower outer side region of the hip assembly 14 of
Continuing with the discussion of the exoskeleton's lower extremity section 10B, 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. Inner side regions of the ankle outer shells 33 are provided with an ankle strap 95 that wrap around and to releasably attach 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 with respect to the tibial bracket connectors 31, the connectors 31 may articulate with respect to the thigh assemblies 26, and the assemblies 26 may articulate with respect to the hip assembles 14.
To securely attach and selectively detach the lower extremity section 10B to 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
With continuing reference to
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 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 U.S. Provisional Patent Application No. 63/403,425 (hereinafter “'425 application”).
Turning next to
An electric hip/shoulder motor 145, which may be in the nature of a brushless direct-current (DC) motor, is mounted onto a motor plate adaptor 146, e.g., via a series of circumferentially spaced machine screws; both the hip/shoulder motor 145 and motor plate adaptor 146 are secured to the second right-angle motor plate B 149. In this view, an electronic printed circuit board (PCB) package with heat sink and motor driver 159 controls a power feed to and a resultant variable speed of the hip/shoulder motor 145. The PCB package and motor driver 159 is mounted onto the first right-angle motor plate A 148, e.g., via threaded fasteners, and operatively connected to the motor 145, e.g., via electrical wires. A hip/shoulder motor unit CPU 165 is mounted via a CPU adaptor bracket 164 onto a microcontroller plate 163, which rigidly secures to the first right-angle motor plate A 148, e.g., via machine screws. The motor 145 and PCB/motor driver 159 are wired or wirelessly connected to and controlled by the hip/shoulder motor unit CPU 165 (e.g., to govern motor speed, torque, direction, fault protection, etc.). As shown, the hip/shoulder motor unit CPU 165 may be an integrated circuit PCB with at least a microcontroller and a wireless communications module (e.g., a BLUETOOTH® Low Energy (BLE) transceiver). Like the first and second right-angle motor plates 148, 149, the motor plate adaptor 146, microcontroller plate 163, and CPU adaptor 164 may be formed, in whole or in part, from a fiber reinforced polymer (FRP) material.
The motor unit's foundational support structure, namely the three interconnected motor plates 148, 149, and 150, may be structurally stabilized and reinforced via first and/or second (top and bottom) L-shaped motor plate rails (or “ligaments”) 160 and 161, which may rigidly attach to the first and second motor plates 149, 148 via threaded fasteners. Electrical wires that connect the hip/shoulder motor 145 to the PCB package and motor driver 159 may be concealed via a C-shaped motor wire channel cover 157. This motor wire channel cover 157 is shown circumscribing the motor 145 and rigidly attaching to the motor plate adaptor 146. Motor output and positional feedback for the hip/shoulder motor 145 is provided by a motor-driven position (first) bevel gear 151 and a gear-driven idle position (second) bevel gear 152. In the illustrated example, the first bevel gear 151 is coaxial with and drivingly connected to the motor 145, whereas the second bevel gear 152 is substantially orthogonal to and intermeshed with the first bevel gear 151. A direct splined coupling between an externally toothed motor shaft (
With reference next to
Operating as a gear-reduction device to selectively increase motor torque, a metal hip/shoulder harmonic drive unit 147 is mounted to the hip/shoulder right angle plate B 149 and both physically and drivingly interposed between the motor unit 145 and the bevel gear 151. As best seen in
The herein-described harmonic drive units may function to provide a gear-ratio reduction of an electric motor to thereby increase a motor torque output of the electric motor. A harmonic drive unit may include a circular spline with internal teeth that mesh with external teeth on a flexspline. The flexspline may have fewer teeth and, consequently, a smaller effective diameter than the circular spline. A wave generator, which may be elliptical in shape, acts as a link that rotates within the flexspline, causing it to mesh with the circular spline progressively at diametrically opposite points. Receiving motor torque from the motor, the wave generator acts as the harmonic drive unit's mechanical input that rotates (e.g., in a clockwise direction) with the motor shaft while the circular spline is fixed in place. The flexspline, which may operate as the harmonic drive unit's mechanical output, will rotate inside the circular spline at a slower rate (e.g., in a counterclockwise direction). Additional, non-limiting information about harmonic drive units may be found, for example, in U.S. Pat. Nos. 7,178,427 B2 and 9,353,804 B2, both of which are incorporated herein by reference in their entireties and for all purposes.
The motor-driven position bevel gear 151, which rotates on a first axis A1 (horizontal in
To transmit motor torque from the modular hip/shoulder motor unit 102′ to one of the hip/shoulder adaptors 25, 93 of the exoskeleton 10, each motor unit 102′ includes a motor attachment plate (or “motor shaft hub”) 144 that is drivingly connected to the electric motor 145 via both the driven position bevel gear 151 and the harmonic drive 147. The motor attachment plate 144 serves as the interface site at which the motor unit 102′ drivingly connects to the hip assembly 14 or shoulder assembly 37, e.g., provisioning robotic actuation for a hip or shoulder joint on a hybrid exoskeleton containing a matching attachment site. With the motor 145 drivingly connected to the adaptors 25, 93 to selectively rotate the corresponding joint thereof, the motor's foundational support structure may immovably mount by way of right-angle motor plate A 148 and bracket 99 to the corresponding hip/shoulder assembly 14, 37.
The hip/shoulder motor unit 102′ of
Turning next to
To stabilize and reinforce the staggered motor plates 169, 170, 171, the motor unit 103′ of
Also located at the distal longitudinal end of the motor unit 103′ is an electronic PCB package with heat sink and motor driver 222 that controls a power feed to and a resultant variable speed of the elbow/knee motor 167. The PCB package and motor driver 222 may be mounted onto the first staggered motor plate A 169, located between the two stabilizing ligaments 178, 179 and above an electronic PCB absolute position encoder 172. The absolute position encoder 172 may be mounted to an elbow encoder hub 173, e.g., using machine screws, such that the encoder 172, encoder hub 173, and encoder flanged bearing 174 are located between the motor driver 222 and the motor plate 169. In accord with the illustrated example, the elbow/knee motor 167 is communicatively connected to, e.g., via electrical wires, and controlled by the elbow motor driver 222; this wired connection may be concealed by the motor wire channel cover 180.
Located at a proximal (second) longitudinal end of the motor unit 103′, opposite that of the motor 167, is an elbow/knee motor unit CPU 182 that is mounted via a CPU adaptor bracket 181 to the motor plate 169, e.g., using machine screws. The elbow/knee motor unit CPU 182 receives and processes position data signals output from the absolute position encoder 172; using these signals, the motor unit CPU 182 controls the PCB package and motor driver 222 and thereby governs operation of the motor 167. Mounted onto a second (rearward or back) side of the foundational support structure, opposite that of the motor unit CPU 182, is an idle gear outer shell 177 that substantially covers an idle gear 176. In this example, the idle gear outer shell 177 functions as a modular attachment site or interface at which the motor unit 103′ detachably mounts with the knee attachment assembly 30, forearm attachment assembly 108, or other joint that needs assistance or robotic actuation. While machine screws are repeatedly discussed herein as an option for structurally joining various components, it is envisioned that other suitable fasteners, adhesives, connectors, and joining techniques may be employed to attach constituent parts of the motor units.
Turning next to
The elbow/knee motor unit 103′ of
Omega=|alpha−beta|
After the calculation of omega, the motor unit CPUs 165, 182 use the limb joint angle as an input for motor control. An absolute position encoder 154, 172 determines a current position of an electric motor 145, 167; the motor unit CPU 165, 182 transmits command signals to the motor driver 159, 222 to move the motor 145, 167 in a direction corresponding to where is the omega set point. This process may systematically repeat until a position convergence is achieved. A result may include real-time movement of an exoskeleton limb to assist the user's action. An output movement signal may be sent via wireless transmission to a central CPU (e.g., lower body subsystem CPU 24 or upper body subsystem CPU 46) for processing. Commensurate data may be concurrently sent via wireless transmission from the central CPU to an IoT device, such as a phone, tablet, computer app, etc., (collectively 205 in
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 | |
|---|---|---|---|
| 63403425 | Sep 2022 | US | |
| 63418135 | Oct 2022 | US |
