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Reconfigurable exoskeleton

An exoskeleton and support technology, which can be applied in the direction of tools to help people walk, passive exercise equipment, program-controlled manipulators, etc., can solve problems such as inability to use exoskeleton devices.

Active Publication Date: 2015-08-26
EKSO BIONICS
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This is determined to be one of the major factors limiting the intended user population of an exoskeleton device; for example, if the joint is fixed and the user requires the joint to rotate freely, then the user cannot use the exoskeleton device

Method used

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Embodiment Construction

[0025] Extensive testing performed on stroke patients according to a human subject protocol has shown that stroke patients with chronic injuries could benefit from an exoskeleton in which the legs are exchangeable such that only one side of the exoskeleton is actuated. This knowledge leads to a first class of modular systems incorporating torque modifiers according to the invention as will now be described. In general, the first embodiment enables a single exoskeleton to enable paraplegics to walk and assist in gait training for stroke patients. These two groups are best served by different configurations of exoskeleton devices. A complete paraplegic may lack any muscle control below a certain height; in this case, each degree of freedom of the person must be controlled—using motors, passive elements (such as springs or dampers), or by simply moving the degrees of freedom locked. Conversely, a stroke patient may have less affected muscles controlling an almost normal side of...

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Abstract

An exoskeleton (100; 200) can be reconfigured, adjusted and / or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints (230; 231; 232; 233; 249) or limbs (112L; 112R) can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated.

Description

[0001] Cross References to Related Applications [0002] This application claims the benefit of US Provisional Patent Application No. 61 / 735,816, filed December 11, 2012, entitled "Reconfigurable Exoskeleton." Background technique [0003] In the field of powered lower extremity exoskeletons (especially if at least two degrees of freedom of the exoskeleton legs are actuated), the main application is to assist walking of persons with complete paralysis of the lower extremities. Several devices have been or are being commercialized for this application. However, these devices generally ignore the larger population with impaired lower extremity function (especially those who have experienced a stroke). Stroke survivors typically exhibit mild hemiplegic impairment, with one limb more severely damaged than the other. While some devices have been designed to provide one powered degree of freedom (eg, powered knee braces), these devices can only assist people with more minor injur...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61H1/02
CPCA61H2201/0107A61H2201/5084A61H1/0266B25J9/0006A61H1/0244A61H3/00A61H2201/165A61H2201/5069A61H2201/5064A61H2201/5007A61H2201/5002A61H2201/5061A61H1/024A61H2201/50
Inventor 亚当·佐斯强纳生·伊凡斯鲁宾·山德勒纳森·哈汀艾伦·朱林詹姆斯·卢宾泰勒·西纽迪兰·菲尔班克斯詹姆斯·斯特莱克
Owner EKSO BIONICS
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