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An exoskeleton and torso technology, applied in the field of exoskeleton, can solve the problems of not being able to sit comfortably, not distinguishing between walking and bending, and not being able to walk comfortably
Active Publication Date: 2018-08-31
RGT UNIV OF CALIFORNIA
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The device provides resistance once the angle between the torso and legs reaches a predetermined angle during bending, squatting, or walking; however, none of these devices differentiate between walking and bending, or sitting and bending
This means that the user cannot walk comfortably with these passive devices because the user's legs have to push against the passive devices during walking
Similarly, users cannot sit comfortably with these passive devices because the user's legs must push against the devices while sitting
Method used
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[0050] figure 1 An embodiment in which the torso supports the exoskeleton 100 is shown. It is configured to be worn by the person 200 to reduce the muscle strength of the person's back during forward bending. figure 2 A person 200 is shown during forward bending. The torso supporting exoskeleton 100 includes a supporting torso 102 that is configured to be coupled to a torso 202 of a person. The human torso 202 is defined as the central part of the person from which the neck and limbs extend. The torso includes the chest and abdomen.
[0051] The torso supporting exoskeleton 100 also includes a first thigh connector 104 and a second thigh connector 106 that are configured to be coupled to the corresponding thighs 204 and 206 of the person 200. Such as figure 1 As shown, the first thigh connecting piece 104 and the second thigh connecting piece 106 are configured to move in unison with the human thighs 204 and 206, respectively, so as to cause the corresponding first thigh conne...
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Abstract
A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
Description
Technical field [0001] The present invention relates generally to exoskeleton, and more specifically to a trunk supporting exoskeleton for reducing the muscle strength of the user's back. Background technique [0002] Generally speaking, back support devices configured to assist a person in bending, lifting, and / or standing upright are known in the art. U.S. Patent No. 6,436,065, U.S. Patent No. 5,951,591, U.S. Patent No. 5,176,622, U.S. Patent No. 7,744,552, U.S. Patent No. 1,409,326, and U.S. Patent No. 4,829,989 describe the generation of torque during bending to offset the weight of the human torso The torque device. These systems use passive spring resistance to generate torque between the wearer's torso and legs. By generating a restoring moment in the hip, the possibility of injury to the L5 / S1 area of the spine is greatly reduced. Once the angle between the torso and the legs reaches a predetermined angle during bending, squatting, or walking, the device provides res...
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Application Information
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