EXOSKELETON AND GOVERNOR

Description

[0001] The present invention relates to the improvement of exoskeletons and governors and their use in teleoperative applications in virtual worlds or the real world.

[0002] Exoskeletons form a robotic suit that can be anthropomorphic or non-anthropomorphic. An anthropomorphic mechanism closely resembles the geometry and kinematics of a wearer in its design. Ideally, it forms a kind of "second skin," so that every point of the mechanism has a constant relative transformation to a fixed reference point of the user's body. The insect exoskeleton comes very close to this ideal. Anthropomorphic exoskeletons can be firmly connected to the human body at many points or over large areas without significantly restricting the user's freedom of movement or causing forces and tensions to arise between the exoskeleton and the user. This allows, for example, the attachment of body armor or haptic and tactile input and output units to the user's body, the exoskeleton, or both simultaneously.Non-anthropomorphic exoskeletons are typically attached to only a few points on the user's body, e.g., the hips and feet, or the back and hands. The mechanism is designed to follow the movements of the hands or feet and, within its working space, never touches the user's body with its leg or arm mechanism at any point other than the attachment points. However, the non-anthropomorphic mechanism can perform very different movements than the user and can have more or fewer degrees of freedom than the sum of the degrees of freedom of the user's moving body parts connected to the mechanism.

[0003] Non-actuated exoskeletons can be used to transfer loads on the user, such as those caused by heavy luggage, tools, or even the user's body weight, to the ground, thus relieving stress on the user's joint and muscular system. This can increase the user's endurance and effective strength.

[0004] Motorized, actuated exoskeletons find application in a variety of fields. They can be worn as a freely moving, robotic suit with a built-in power supply and electronic control. They can then be used to improve a user's strength and endurance while moving freely within an environment. Applications include supporting heavy physical labor such as shipbuilding, increasing the physical performance and protection (armor) of soldiers, rehabilitating the sick, or assisting people with walking disabilities.

[0005] Force and torque sensors on the exoskeleton's joints, at contact points between the user and the exoskeleton, or sensors for detecting myoelectric signals on the skin or implanted in the user can be used to control the exoskeleton's movement. Particularly in applications such as a "walking wheelchair," control signals can also be input via a joystick, facial and gaze recognition, or similar manual, acoustic, or visual input devices. Stationary exoskeletons are used, among other things, for rehabilitation. They allow the user to be guided through a precisely defined movement sequence and, if necessary, to exert force. This can stimulate both muscles and nerves, sustainably improving the user's mobility.

[0006] Another application for stationary exoskeletons is in the area of interaction with virtual worlds or in the control of real robots. Here, an exoskeleton can be used to establish a teleoperative connection between the user and the proxies (virtual avatar or real robot). The user uses the exoskeleton to transmit direct control commands to the proxies. The user's and the proxies' limbs then perform virtually the same movements synchronously. Force feedback can also be provided, allowing the user to experience the forces acting on the proxies and allowing the user to experience the forces exerted on their exoskeleton.Anthropomorphic exoskeletons have the advantage over non-anthropomorphic ones that virtually any part of the user's body can be used for haptic interaction (i.e. not just a hand, but also the forearm and upper arm) and at the same time units for transmitting tactile and thermal stimuli can be attached to both the user and the exoskeleton.

[0007] In particular, if the user's legs are to be used to directly control the legs of a runner, possibly with force feedback (also called force feedback), and the user can or must thus directly regulate the runner's balance, the user is connected to a motion platform in the exoskeleton (DE 10 2010 023 914 A1, "Method and device for controlling a runner"). The user is then no longer standing on a solid floor; instead, the feet of the exoskeleton represent the condition of the virtual or remote real floor to the user while walking and running, while the user in the exoskeleton is lifted above the actual floor by the motion platform. Constant and time-dependent linear and rotational accelerations are then presented to the user in the exoskeleton by the motion platform.Since the user typically uses stereoscopic glasses or other suitable means to experience a realistic visual impression of the governor's virtual or real environment, and these impressions are supplemented by the corresponding haptic and, if applicable, tactile impressions, the user has the impression of acting in the governor's place in a virtual or remote real environment. If the user controls the governor so that it does not walk or run, but instead climbs, crawls, creeps, or walks on its hands, etc., the ground will naturally be represented not only by the feet, but also by other body parts or areas of the exoskeleton. These could include, but are not limited to, the lower legs, knees, thighs, hands, forearms, upper arms, head, or back.

[0008] In such an application, the load-bearing capacity of the exoskeleton is of paramount importance. It must support the user's weight without significantly deforming or significantly changing its joint and actuator states. Furthermore, it must also accurately represent large dynamic forces, such as those that can occur during running or jumping, with minimal reaction times and delays, as well as minimal vibrations and actuator deviations. It is also desirable for the exoskeleton's actuators to be able to yield if the forces exerted by the user are so strong that the mechanism or control system is not fast or strong enough to provide adequate resistance. This back-drivability ensures that neither the user nor the exoskeleton suffers damage, and that control of the system is not lost when excessive or rapidly occurring forces are applied.In order for mechanical systems such as gears, transmissions, reductions, etc., to be reversible, they must have a high mechanical efficiency, i.e. low internal friction and low internal energy losses.

[0009] High efficiency is, of course, generally beneficial, as it reduces the demands placed on actuators, motors, gears, and power supplies to achieve a specific performance requirement, such as power, force, or speed. It also facilitates the modeling and therefore control of robotic systems, especially systems with force feedback, as internal losses and acting forces are easier to quantify. Especially for mobile exoskeletons, which are worn by the user and have their own power supply and control units, efficiency also affects the service life, weight, and volume of the exoskeleton, as well as the required power supply and energy storage.

[0010] In general, it is advantageous if the actuators of exoskeletons take up as little space as possible and make optimal use of the available space. With mobile exoskeletons, there is an interest in being able to carry as much payload as possible. Larger actuators reduce the volume available for this purpose. Of particular interest for teleoperation applications are exoskeletons that provide maximum mobility (in terms of possible body postures) for the user and actuate all or most of the body's degrees of freedom, especially those of the hip. Mobile exoskeletons that have to carry large loads have similar requirements, as they also have to actuate degrees of freedom that can still be operated solely by the user's body forces when the load is low. Such exoskeletons with many actuated degrees of freedom require more space, as more and larger actuators are needed.Even in physical rehabilitation, exoskeletons used as assistive devices or "walking wheelchairs," which do not necessarily have to bear large forces, ideally actuate all degrees of freedom, as this achieves greater and more natural mobility. In all of these applications, a multitude of possibly large actuators, motors, and gears can restrict the user's freedom of movement, as they can come into spatial conflict with other elements of the exoskeleton, the payload, operating components, the environment, or the user themselves during extreme movements such as lunges, straddling steps, crossing the legs, sitting, or internal or external rotation of the foot or hip joint.

[0011] High actuator efficiency is helpful in meeting the exoskeleton's requirements and saving space. This is particularly difficult when gears must be used to generate the necessary high forces. Multi-stage reductions are generally not reversible, and reductions with few stages are subject to large or excessive forces, or must be very large and heavy. Brushless electric motors can be extremely efficient, boasting high power output despite their small volume and external dimensions. However, they can only generate relatively small torques. Brushless torque motors are also very efficient, but require a relatively large amount of space due to their large diameters. They also have increased power supply requirements in order to generate high torques without a reduction gear.

[0012] Serial elastic actuators (“Series Elastic Actuators for Legged Robots” J. Pratt, Krupp, 2004; “Stiffness Isn't Everything,” G. Pratt et al., 1995; US 5,650,704, “ELASTIC ACTUATOR FOR PRECISE FORCE CONTROL,” G. Pratt, M. Williamson) are well known. They are used in humanoid robots and exoskeletons to directly actuate joints or drive cables (possibly in Bowden cables), which then actuate axes via pulleys.

[0013] Actuators of this type are used as linear actuators to drive hinge joints, such as those of the ankle or knee, via levers (M2 robot, MIT). There are also known applications in which the linear actuator forms a triangle with the joint to be actuated and actuates the angle of the joint by changing its length (RoboKnee, Yobotics). In general, the problem with such mechanisms is that the gear ratio varies with the angle. Therefore, compromises often have to be made in the design, such as accepting gear ratios that are too large or too small in some adjustment ranges in order to achieve the required values in others. This also leads to the use of actuators and motors that are too large and unnecessarily fast.Likewise, it is difficult to cover large angular ranges of the actuation, as larger ranges result in dead points where no torque can be generated and the direction of rotation is uncertain when the length changes. Likewise, attaching the actuator to the limbs of the robot or exoskeleton is not trivial, as this directly influences the overall properties of the system.

[0014] Particularly in the two robots M2 and M2V2, a mechanism was used in which a serial elastic actuator (also called SEA) drives a closed cable, or an equivalent structure, which is guided over two pulleys. One serves as a deflection pulley, while the other drives an axis and thus actuates a joint (M2: http: / / www.ai.mit.edu / projects / labtours / LeggedRobots / LeggedRobots.ppt , page 17; M2 http: / / www.jontse.com / portfolio / m2.html, Fig. 1 ; M2V2 http: / / robots.ihmc.us / humanoid-robots / ). This design has only a small linear travel range compared to its overall length. This limits the maximum angular range covered for a given roller diameter of the driven axis (difference between maximum and minimum travel angle of the roller, axis or joint). Likewise, the maximum torque on the driven axis is limited for a given maximum angular range and thus given roller diameter. Larger rollers generate a greater torque for a given force of the SEA, but then require larger linear travel distances of the SEA for the same maximum angular range. In robots and exoskeletons, the available space is limited. It is therefore advantageous to be able to use as large a proportion of the available length as possible, e.g. the length of the thigh, as a linear travel range.

[0015] Other designs address this problem by placing the linear actuators not on the joint, but, for example, on the back of the robot or exoskeleton (Walkagain Project, https: / / www.youtube.com / watch?v=TcAvtgIo9Jg) and use Bowden cables to drive joints. Several actuators are also connected in parallel to exert greater forces, or actuators are operated in opposition to each other, so that one exerts tension and the other pressure, but the joint is actuated jointly with greater force. Systems are also known in which several motors jointly drive a ball screw of an actuator via gears or toothed belts.

[0016] In a perfectly anthropomorphic exoskeleton, the individual components are subject to the same transformations as the corresponding human body parts. For example, the knee joint can be described as a good approximation as a hinge joint. When the thigh is fixed and the lower leg is flexed or extended, the lower leg then undergoes pure rotation around a transverse axis that intersects the femoral head of the femur at right angles to the sagittal plane. The biological axis itself moves only slightly (translation and rotation) when the lower leg is flexed. This means that a simple mechanism is suitable for connecting the thigh and lower leg using an exoskeleton, one in which the axis of its hinge joint coincides with the axis of the knee joint, e.g. in their position when the leg is fully extended. In this case, the upper part of this section of the exoskeleton can be firmly attached to the thigh, and the other part to the lower leg.Since the knee joint is not a perfect hinge joint, tension will still arise between the exoskeleton and body parts if the joint is moved significantly beyond its initial position. This effect can easily be compensated for with suitable padding, so that the user is not subjected to significant hindrance or discomfort when moving their knee. The knee also has a limited range in which it can rotate around the vertical axis. This movement is suppressed in such a mechanism, but this only restricts the function of the knee to a limited extent. Therefore, for almost all applications, it is sufficient to consider the human knee joint as a mechanism with only one degree of freedom and to design an exoskeleton accordingly. However, a polycentric joint can also be actuated, as with the "SERKA knee actuator."Especially if the knee joint of the exoskeleton is to be actuated, it is usually sufficient to consider only the main degree of freedom (flexion and extension), as it covers the largest part of the range of motion and performs by far the largest part of the work during the movement.

[0017] If the same assumption is made for the ankle joint, so that only flexion and extension of the exoskeleton are possible, this limitation is more serious. While the ankle joint can perform flexion and extension practically as pure rotation around an axis, it also has the pronounced degree of freedom of pronation and supination (as well as slight translations and rotations of the axes). This second degree of freedom is important for controlling balance when standing and in all gaits, as well as so that the sole of the foot, and if necessary that of any shoe worn, can always rest flat on an inclined surface, regardless of the gradient of the terrain and the user's posture. If pronation and supination are suppressed, such as when wearing stiff shoes for downhill skiing (which at least partially allow flexion and extension), the ability to walk is considerably limited.Therefore, exoskeletons usually have more than one degree of freedom for the ankle joint, or they may even forgo an exoskeleton for this joint altogether, supporting only the upper leg. In this case, the exoskeleton ends at the lower leg, and the user's foot and lower leg muscles must provide all forces and movements without support (e.g., AirLegs, . https: / / www.youtube.com / watch?v=U2e4tGokqe0). In actuated exoskeletons for the ankle joint, usually only the degree of freedom of flexion and extension of the foot is actuated (e.g., BLEEX, "On the Mechanical Design of the Berkeley Lower Extremity Exoskeleton (BLEEX)", Adam Zoss, H. Kazerooni, Andrew Chu). This is particularly sufficient for freely movable exoskeletons designed to increase user performance, as this is where the greatest forces and power occur during locomotion. Therefore, the user can be greatly supported by just one actuated joint of the foot, while controlling the other degree of freedom through their own muscle activity. Actuating the second degree of freedom is difficult, as the actuators take up space and can therefore impede the user's mobility in the exoskeleton.

[0018] The human hip joint is a good approximation of a ball-and-socket joint. It therefore has three independent degrees of freedom of rotation around the center of the femoral head and no significant translational degrees of freedom. All of these degrees of freedom are important for enabling natural locomotion, performing work, maintaining balance, and controlling the orientation of the feet relative to the ground. In freely movable exoskeletons designed to support the user's performance, usually only the flexion and extension of the thigh are actuated, as this is where most of the work is done. In exoskeletons used as assistive devices, sometimes only this degree of freedom of the hip is actuated (Argo ReWalk exoskeleton, Indego exoskeleton, NASA X1). A paralyzed user must then also use crutches or similar devices to control balance or influence direction.In exoskeletons used as "walking wheelchairs" and without crutches, at least the abduction and adduction movements are still actuated (REX exoskeleton). Here, control is achieved using a joystick, for example. However, in existing exoskeletons of this type, the movements are noticeably slow, which is likely due to the motors and gears used, and the fact that the user must not be subjected to excessive forces, allowing their body to follow the exoskeleton's predefined movement sequence.

[0019] Currently, the hip joint is not actuated according to its inherent degrees of freedom. Instead, non-anthropomorphic mechanisms are used, which exhibit significantly different transformation properties than the three independent rotational degrees of freedom of the hip joint. For example, only two axes are used, one of which is usually parallel to the transverse axis and is designed to run at least near or through the center of the femoral head (BLEEX). Since most of the work during walking and running, during flexion and extension, is performed along this axis, this is also the axis that is preferably actuated in mobile, actuated exoskeletons.

[0020] The other preferred axis is parallel to the sagittal axis. Here, it is not necessarily ensured that it actually passes through the center of the femoral head (POWERLOADER PLL-01, https: / / www.youtube.com / watch?v=vdhUpR-dzgk FORTIS by Lockheed Martin http: / / robrady.com / design-project / lockheed-martin-fortis-human-powered-exoskeleton; "Design of a Walking Assistance Lower Limb Exoskeleton for Paraplegic Patients and Hardware Validation Using Cop", Jung-Hoon Kim et al., http: / / cdn.intechopen.com / pdfs-wm / 42836.pdf), although this would be an ideal choice for an anthropomorphic mechanism. Since a third hip axis is often omitted (XOS 2 by Raytheon Sarcos), and instead the "thigh" or "lower leg" of the exoskeleton is designed to also allow rotation around the vertical axis, thus enabling the foot to rotate accordingly, this is essentially a non-anthropomorphic mechanism. Therefore, significant displacements occur between the user's body and the main parts of the exoskeleton when the leg is moved. These displacements are compensated for by appropriate compliant mechanisms, additional non-actuated joints, padding, etc., at the connection points between the exoskeleton and the user ("Exoskeleton for Walking Assistance", Qingcong Wu et al.). In this case of an essentially non-anthropomorphic exoskeleton, it may therefore be useful to design the joints for movements around the sagittal axis in such a way (not through the ball head) that stresses and displacements are kept within limits, but anthropomorphicity is further reduced ("Exoskeleton for Walking Assistance", Qingcong Wu et al.). Thus, such mechanisms cannot cover the entire working space of a person and concentrate on essential movements such as walking, running, and sitting. Here, only a small part of the possible working space of a person is required, and thus the possible range of motion of the individual joints is only used to a limited extent.

[0021] Yang Wei et al, "Design of an anthropomorphic lower extremity exoskeleton with compatible joints" discloses a near-anthropomorphic lower extremity exoskeleton with compatible hip and knee joints that helps paralyzed patients to realize rehabilitation on the floor.

[0022] WO 2015 / 002850 A1 discloses an exoskeleton comprising a plurality of structural elements interconnected by at least one joint configured to exert a force on a body segment of a user. To achieve the most unrestricted movement possible in the hip joint, WO 2015 / 002850 A1 proposes using pairs of coupled revolving joints. However, this solution is very complex.

[0023] Beil, Jonas and Asfour, Tamir, "New mechanism for a 3 DOF exoskeleton hip joint with five revolute and two prismatic joints" show an exoskeleton hip joint with five axes, where not all axes of rotation pass through a common point of the hip joint.

[0024] WO 2013 / 186705 A2 also proposes a complex and elaborate solution of joint combinations in order to achieve the freest and most nearly anthropomorphic movement possible with the exoskeleton.

[0025] WO 2013 / 189693 relates to an articulated drive comprising a joint unit and a curved guide drive. The joint unit comprises a first and a second transmission gear arranged opposite one another. The first and second transmission gears can be driven independently of one another by a corresponding first and second actuator, respectively.

[0026] US 2011 / 167945 A1 discloses a robot joint drive device which represents a possible variant of a drive for joints in exoskeletons.

[0027] DE 102010023914 A1 discloses a user-controlled exoskeleton. The invention is characterized in that the sensors detect postures, positions, movements, forces, and / or torques of at least one body part of the user, and parts of the exoskeleton can be moved accordingly. The invention can be used, for example, in teleoperations. This document does not disclose a concrete teaching of what a particularly suitable exoskeleton might look like.

[0028] It is the object of the present invention to improve exoskeletons and proxies, such as robots and virtual avatars, as well as associated control units, in such a way that they enable extensive movements, thus providing a realistic impression and can also be operated quickly and effectively.

[0029] This object is achieved by the device according to main claim 1. The subclaims claim further improvements according to the invention.

[0030] The device described in claim 1 relates to exoskeletons, as well as proxies, such as robots or virtual avatars. Devices of this type are intended to detect and / or implement a wide variety of movements and movement sequences. Therefore, it should be noted that although the present invention is primarily described with reference to an exoskeleton, it is by no means limited to this but encompasses all of the aforementioned devices.

[0031] The device according to claim 1 contains, among other means, four elements, with adjacent elements each being rotatably mounted about corresponding axes. For this purpose, pivot joints are provided between adjacent elements, which can be designed in a variety of ways, such as as a shaft or the like. It is essential that the three axes mentioned essentially pass through a common point. This point is preferably located at the center of the corresponding—i.e., the right or left—hip joint.

[0032] The first axis of rotation forms a first angle φ 1 with the second axis of rotation and the second axis of rotation forms a second angle φ 2 with the third axis of rotation.

[0033] This invention has the advantage that it enables exoskeletons with complex degrees of freedom, such as the hip joint, to be designed as anthropomorphically as possible and to allow all degrees of freedom to be actuated over the entire range of motion of the user with greater forces, increased efficiency, low space requirements and weight, higher actuation speeds, higher performance, with back-drivability, low backlash and short reaction times.

[0034] In particular, this makes it possible for an exoskeleton for the legs to be able to bear the user's body weight while wearing it like a robotic suit, and for the exoskeleton itself to be supported and moved by a motion platform. The mechanism can now be so rigid that it can realistically represent a hard floor and rapid movements to the user without the user actually standing on a floor in the exoskeleton. Likewise, the performance of mobile exoskeletons and humanoid robots is increased, as degrees of freedom can now be actuated that could not previously be actuated or were not actuated for various reasons. The energy supply requirements are reduced and / or the ranges and application times are extended.In stationary exoskeletons for physical rehabilitation, the trainable range of motion can be increased, increasing the effectiveness of a treatment or enabling different treatments than previously possible. The new geometry of the exoskeletal hip joint, as well as its new drive type, achieves improved mobility in actuated exoskeletons of the legs. The ability to locate the motors close to the joints saves on the means of force and power transmission and simplifies the mechanism compared to, for example, hydraulic, cable, or Bowden cable transmission. The hip mechanism can be designed to be comparatively space-saving and places little restriction on the available payload in mobile exoskeletons. The largely anthropomorphic behavior of the exoskeleton allows stable attachment to the user over large parts of their body, thus facilitating the generation of haptic feedback and the use of tactile input and output units.Likewise, the use of a housing, armor, or tactile and thermal input and output units is facilitated, even with simultaneous actuation of all joints that enclose the user's body and can also enclose the exoskeleton or be part of the exoskeleton.

[0035] The first element, also called the exo-back plate or (exo-)hip plate, is preferably a plate-shaped element. For normal operation, a user is firmly connected to it relative to their hip bone. Although parts of the exo-back plate or exo-hip plate may be angled or curved, it has a main plane. In one embodiment of the device according to the invention, the first of said axes is perpendicular or substantially perpendicular to said main plane and thus runs substantially parallel to the user's sagittal axis.

[0036] It is also possible for the first axis not to be perpendicular to the main plane of the first element (exo-back plate), but to deviate from it, although it still essentially runs through the aforementioned common point. This deviation can be described as follows. In the normal position, the main plane of the exo-back plate runs vertically or essentially vertically from top to bottom (or vice versa). Based on this, a vertical axis can be defined which, on the one hand, is essentially vertical and parallel to this main plane and, on the other hand, runs through the common point. In this embodiment of the device according to the invention, the first axis is rotated by a third angle α about the aforementioned vertical axis, whereby this angle thus runs virtually in the horizontal plane. This enables a greater rotation of the feet inwards or outwards (with a negative angle α).

[0037] According to the invention, the first axis is rotated about a horizontal axis by a fourth angle β. This horizontal axis runs substantially perpendicular to the aforementioned vertical axis, parallel to the main plane of the exo-back plate, and also through the common point. The associated advantages will be mentioned in the description of preferred embodiments.

[0038] In a preferred embodiment of the invention, the first angle φ 1 has a value in the range of 25 to 45 degrees. A value of approximately 35 degrees has proven particularly suitable.

[0039] It has also proven useful for the second angle φ 2 to have a value in the range of 60 - 80 degrees. A value of approximately 70 degrees has proven particularly effective.

[0040] Devices with the combination of angles φ 1 and φ 2 in the ranges described in the previous two paragraphs result in exoskeletons with a large working envelope, generally allowing long stride lengths, a wide external rotation of the foot, and generally high mobility. These exoskeletons are particularly suitable for controlling humanoid robots and virtual avatars via teleoperation.

[0041] If special attention is also paid to simple sitting in the real world, exoskeletons are suitable in which the sum of the first angle (φ 1 ) and the second angle (φ 2 ) is between 85-120 degrees and the first angle (φ1) has a value in the range of 15-45 degrees.

[0042] For the third angle α and / or for the fourth angle β, values between 10 and 30 degrees and preferably about 20 degrees have proven to be suitable.

[0043] Further claims relate to a fifth element, which in connection with an exoskeleton, a governor, or the like can also be referred to as a foot. This foot is characterized in that its standing surface on which the user stands (also referred to as the sole) has a specific profile. This profile is characterized by two circular segments with different radii. These preferably have their centers near the user's ankle joint. It is also preferred that these circles lie parallel to the user's frontal plane. This enables agile movements even though it only has one axis. It should be noted that the term circle here and in connection with the description of preferred embodiments also includes circle-like geometries, such as ellipses or the like.

[0044] The foot according to the invention can be used together with the previously described device according to the invention or independently. This also applies to all embodiments explained further below in the description of preferred embodiments.

[0045] Exoskeletons or limbers, such as humanoid robots, require two degrees of freedom of movement in the foot to approximate human mobility. Actuating both degrees of freedom requires suitable means, which require space and weight. The stronger and more powerful the exoskeleton is intended to be, the heavier these actuators generally become and the more space they require.

[0046] By choosing a special sole shape for the feet of mobile exoskeletons, the demands on the actuation of the exoskeleton's foot joints are reduced, allowing only one axis to be actuated, suppressing other movements, while still ensuring high mobility for the user with the exoskeleton. Since no degrees of freedom of the foot are used to directly drive the exoskeleton's foot with human power, the user's load capacity in the exoskeleton is increased, allowing greater forces and performance to be transmitted without the user running the risk of injury from excessive forces or of being unable to generate the necessary forces and thus losing control over the movement sequence.

[0047] Further embodiments that can be used as a further development of the invention relate to the field of gravity compensation. In teleoperative applications, the leg exoskeleton, which is connected to a motion simulator at a hip or back element, must be able to support the user's weight. When standing, for example, the user then feels as if their entire body weight is acting on the soles of their feet.

[0048] However, it is desirable for the user to also have the impression that their body weight is reduced. This would be the case, for example, when controlling a real humanoid robot operating in an environment with reduced gravity, such as free fall, weightlessness, a stable orbit around a planet, in accelerated inertial frames, or underwater, i.e., under the influence of buoyancy.

[0049] Similar situations of reduced gravity also occur in virtual worlds, and a user may wish to control an avatar accordingly. In extreme cases, the user should be able to experience weightlessness so that they can control the floating deputy without exerting any forces on their legs. It can also be intended that the user can exert disproportionate forces on a deputy (real robot or virtual avatar) using little of their own physical strength. With this amplification of forces, the user in the exoskeleton should feel as if they no longer have to bear their entire body weight. It is also desirable for the user to be able to experience continuous forces greater than their own body weight. It may therefore be necessary for these strong forces to act entirely on the soles of their feet for an extended period of time, e.g. to impart increased gravity.However, the user is usually actually located in the Earth's gravitational field and must be prevented from actually changing his position due to the forces exerted by the exo-legs.

[0050] Teleoperative methods can generally also scale forces and torques. To reduce the demands on the exoskeleton, it may be desirable to always transmit reduced forces, especially those on the legs, to the user, and the exoskeleton does not have to be able to support the user's entire weight. This allows for the use of lighter, less stiff, weaker, and smaller exoskeletons and faster movements.

[0051] Until now, the total or partial elimination of gravity was achieved by immersing the user in the exoskeleton in a liquid. Alternatively, the user wears a liquid-filled suit, which is attached to the exoskeleton or which is part of the exoskeleton.

[0052] The aim of this inventive design is therefore to enable the user to experience the impression of completely or partially suspended weight in the exoskeleton without having to be immersed in a liquid and / or to reduce the demands placed on exoskeletons. Another objective is to allow increased, sustained forces to be exerted on the user.

[0053] This is achieved by using suitable devices such as belts (six- or five-point harnesses, climbing seat harnesses, etc.), straps, shells, or harnesses to firmly connect the user's torso, hips, and / or thighs to the hip plate and / or back plate of the exoskeleton without significantly restricting the freedom of movement of their legs. Belts and shells that engage between the legs and high around the hips are particularly suitable for this purpose. (Alternatively, the user's weight can also be carried on the thighs, although this compromises the overall impression.) This carrying device is preferably designed to support the user's entire weight in any direction of load without the user shifting significantly in relation to the hip plate and / or back plate. In principle, the carrying device can be designed like that of the Exobionics or Indego exoskeletons.

[0054] A standing user in the exoskeleton, which is connected to the motion platform, can then, for example, pull their legs up and lift them off the ground, while their torso, supported by the exoskeleton and the support device, maintains this position. Conversely, it is also possible for the user to fully extend their legs and assume a position similar to standing, yet without having to support their body weight with their legs, and there is little or no strain on the soles of their feet.

[0055] Optionally, the sole of the exoskeleton's foot can be moved and actuated in the direction of its normal. This makes it possible to precisely adjust the length of the exo-leg to the effective length of the user's leg and compensate for any slight errors or changes in the user's position relative to the hip plate and / or back plate. It is advantageous if this actuation can occur quickly, and forces and torques on the plate or distances to the foot can be measured and controlled. It is important to distribute the user's weight as evenly as possible across their torso (or alternatively, their thighs), with little pressure and a large contact area. This prevents them from being too noticeable to the user and improves the impression of (partial) weightlessness.

[0056] It is generally important that the user's weight can be applied in any direction and is fully supported by the carrying device in any direction. For example, the user can be held upside down while still maintaining a fixed position relative to the hip plate and / or back plate. Depending on the application, however, the carrying device can be designed to act only in the essential directions.

[0057] It is possible to combine this new type of gravity reduction with previous methods using buoyancy in liquids.

[0058] If the carrying devices are designed to prevent the user from being pushed upwards out of the hip plate or back plate, continuous forces exceeding the user's body weight can also act on the user's feet. This can simulate increased gravity.

[0059] The carrying device itself can also be designed so that it can be relaxed or moved, thus changing the degree of relief. For this purpose, the carrying device preferably has adjusting elements at its attachment points, such as adjustable spring elements (including air springs or similar) and / or suitable weighing elements.

[0060] The gravity compensation device can be used together with the previously described device according to the invention.

[0061] Further embodiments that can be used as a further development of the invention relate to a device with a motor that, during operation, translates a threaded element via a spindle. This is connected to a rotating element, such as a chain or the like, which then rotates a shaft.

[0062] Further embodiments that can be used as a further development of the invention relate to a motion simulator, particularly its rotation unit. This consists of at least three rotation elements, with adjacent elements being rotatably connected to one another. The first rotation element is rotatably mounted on further devices, such as means of a translation unit. An exoskeleton or the like is rotatably mounted on the last, such as the third, rotation element. This device is based on the following findings.

[0063] Exoskeletons for teleoperation, i.e., for controlling proxies in a virtual (avatars) or real environment (humanoid robots), use motion simulators to exert static or time-varying body acceleration on the user. Gimbals are also used for this purpose.

[0064] This requires systems with four independent axes, in particular, to avoid the effect of "gimbal lock." This condition occurs when degrees of freedom are lost at certain positions of the axes relative to each other, especially in the case of parallel axes or when more than two axes lie in a common plane. Near these conditions, the required adjustment speeds of the axes can be very high or arbitrarily high to transition, even slowly, from one user orientation to another.

[0065] In gimbal mounts with only three axes, this effect can make it technically and practically impossible for the user, controlled by the motion simulator's electronics, to adopt certain ranges of orientation in space in order to experience a suitable spatial position or an impression of acceleration.

[0066] If four axes are used, they can be controlled appropriately so that three degrees of freedom are always available and no extreme speeds or accelerations are necessary. Such a system generally consists of three elements, each of which has two axes and a total of four independent axes. Such a system is generally larger and heavier than one with only three axes. This is especially true if each element describes a full circle or semicircle. These elements are then also particularly sluggish and can withstand rotational and translational accelerations. The same applies to elliptical or other shapes with large angular distances. Furthermore, errors in the setting angles add up, especially if the axes of each element form large angles to one another. These angles are usually chosen as 90°.It is especially important if the innermost element is to resemble a full or semicircle that it is large enough in diameter that the user can never collide with it.

[0067] The motion simulator features a special gimbal suspension. The sum of the element angles (the angles of the two axes of an element to each other) must be greater than 180° to avoid gimbal lock and to allow the user to assume all possible spatial orientations in the exoskeleton.

[0068] The movement platform can be used together with the device according to the invention described above.

[0069] Further details and advantages of the present invention are explained below with reference to preferred embodiments and accompanying drawings. In the drawings: Fig. 1 a perspective view of an exoskeleton 1000 Fig. 2 a top view of the exoskeleton 1000 Fig. 3 - 5 illustration of different angles of the exoskeleton 1000 Fig. 6 - 11 different representations of the exoskeleton 1001 Fig. 12 - 17 Various representations of exoskeleton 1002 Fig. 18 - 23 Various representations of exoskeleton 1003 Fig. 24 - 26 Various representations of the split second element (82a-c) Fig. 27 - 30 Various representations of the motion simulator 3000 Fig. 31 The exoskeleton 203 with back support Fig. 32 - 35 Various representations of the foot 9000

[0070] Fig. 1shows a perspective view of a preferred embodiment of an exoskeleton 1000. This contains a first element 80a, which is also called an exo-back plate and is firmly attached relative to the hip bone of a user during normal operation. This exo-back plate 80a contains, in the lower area, on each side an axle attachment region 80b, which are curved obliquely inwards here and are also referred to as attachment elements 80b. A second element 82 is rotatably attached to each of these attachment elements 80b by means of a shaft 81. Via a further shaft 83 (see Fig. 2) a third element 84, consisting of the two legs 84a, 84b, is rotatably connected to the second element 82. Since the two elements 82, 84 assume the essential functions of a hip joint, they are also referred to as the first exo-hip joint 82 and the second hip joint 84. A fourth element 86, also referred to as the exo-thigh, is rotatably connected to the second exo-hip joint 84 via a further shaft 85. Below this is a fifth element 88, also referred to as the exo-lower leg, which is rotatably connected to the exo-thigh 86 via a shaft 87. Below this is a fifth element 90, also referred to as the exo-foot, which is rotatably connected to the exo-lower leg 88 by means of a hinge joint 89.

[0071] It should be noted that the exoskeleton 1000 is mirror-symmetrical in that it has the aforementioned elements, such as the exo-hip joints 82 and 84, the exo-thigh 86, the exo-lower leg 88, and the exo-foot 90, as well as the corresponding joints 81, 83, 85, 87, and 89, twice each, namely once on the right and once on the left side. Due to the arrangement of the exo-feet 90 (tips pointing downwards to the left), the usual forward walking direction is recognizable. This is the decisive factor for the designations "right" and "left" in this and subsequent illustrations. For clarity, Fig. 1"Right side" and "left side" are indicated accordingly. It should also be noted that in the embodiments described here, the first element 80a, 80b functions both as an exo-back plate and as an exo-hip plate. Therefore, both terms "hip plate" and "back plate" are used interchangeably here. In other embodiments, which will not be discussed in detail here, at least one separate back plate can be provided to actuate the back. The hip can then move relative to the back by changing the joint angle between the hip and spine.

[0072] Fig. 2 shows a top view of the exoskeleton 1000, particularly showing the elements located on its left side. In addition to the described elements, Fig. 1 and 2Some axes are also shown, which result in particular from the arrangement of the shafts 81, 83, 85, 87 and 89. These will be discussed in more detail below.

[0073] As in Fig. 1 and 2 As shown, a first axis 93 extends through the shaft 81, so that the first exo-hip joint 82 is rotatable about the first axis 93 relative to the back plate 80a or the associated right or left fastening element 80b. Fig. 1 The first axis 93 is marked on both the right and left. Other axes are shown in Fig. 1 , 2usually only drawn or marked on the right or left side - depending on where the corresponding axis is best seen. A second axis 94 is defined by the arrangement of the shaft 83. This allows the second exo-hip joint 84 to rotate about this axis 94 with respect to the associated first exo-hip joint 82. A third axis 95 is defined by the arrangement of the shaft 85. This allows the exo-thigh 86 to rotate about the third axis 95 with respect to the associated second exo-hip joint. Accordingly, a fourth axis 96 between the exo-thigh 86 and the exo-lower leg 88 due to the arrangement of the shaft 87 and a fifth axis 97 between the exo-lower leg 88 and the exo-foot 90 due to the shaft 89 set.

[0074] The fourth axis 96 is in neutral position (straight, upright posture; as in Fig. 1shown) parallel or nearly parallel to the mediolateral axis or axis of the user's knee and passes through the user's knee joint.

[0075] The fifth axis 97 is in neutral position (see Fig. 1 ) parallel or nearly parallel to the mediolateral axis or the axis of the ankle and passes through the human ankle joint.

[0076] As from Fig. 1 and 2 As can be seen, the shafts 81, 83, 85 are arranged in such a way that the corresponding axes 93, 94, 95 pass through a point 91 on the right side and a point 91 on the left side respectively (this is shown in Fig. 2 also outlined by a dashed circle). These points 91 represent the centers of the right and left hip joints. In Fig. 1 , 2A further axis 92 is also shown on both the right and left sides. This axis is defined by running through the center point 91 of the corresponding right or left hip joint, on the one hand, and parallel to the sagittal axis, on the other. The axes 92, 93, 94, 95 and the corresponding joints are also designed and arranged in such a way that an angle φ 1 is defined between the first axis 93 and the second axis 94, and an angle φ 2 is defined between the second axis 94 and the third axis 95. Furthermore, the first axis 93 can form an angle α with the axis 92 under certain conditions (see Fig. 2 ), which will be discussed in more detail below.

[0077] The arrangement of axes 93, 94, and 95, or the corresponding joints, forms the core of the exo-hip joint. These axes are three independent axes of rotation, all of which intersect at the center 91 of the user's hip joint. They thus form a gimbal with the center of the hip joint as its center.

[0078] Axes 93, 94, and 95 of this gimbal mount do not need to be perpendicular to each other. This may not always be possible or desirable, depending on the required working space of the mechanism or the desired type of actuation.

[0079] The first axis 93 can be oriented relative to the user’s hip, or equivalently to the exo-hip, depending on the desired application and need, in space by the angles α and β, or an equivalent transformation, as in Fig. 3-5shown. However, the first axis 93 always runs through the center point 91 of the user's hip joint. For this, the distance of the exo-hip to the user must be adjusted accordingly. For α=β=0, the first axis 93 is parallel to the sagittal axis and runs through the center point of the hip joint 91. For α and / or β not equal to zero, a rotation with the angle α around the vertical axis takes place first, and then a rotation with the angle β around a vector with a reference point at 91, which is perpendicular to the plane that intersects the transverse plane perpendicularly and runs through 92b (corresponding to Fig. 4 ).

[0080] The previous figures primarily serve to explain the principle of the present invention. Several exemplary embodiments are illustrated in the following figures. For reasons of clarity, reference symbols are shown only to the extent necessary for understanding.

[0081] In Fig. 6 - 11A first preferred embodiment is shown. Here, the first axes 93 of the left and right sides are both perpendicular to the first element 80a, are parallel to the sagittal axis, and pass through the centers of the femoral heads. Actuation around these first axes 93 alone thus enables pure abduction and adduction of the thigh. In the first embodiment, the angles have the following values: φ 1 = 35 Grad ; φ 2 = 70 Grad ; α = 0 Grad ; β = 0 Grad .

[0082] Figs. 6 and 7 show different views of an exoskeleton 1001 according to the first embodiment, wherein a neutral posture is shown.

[0083] In the neutral position, the third axes 95 are parallel to the mediolateral axis. They are therefore responsible for pure flexion and extension of the thigh.

[0084] Selecting the third axis 95 in this direction facilitates actuation of the thigh when walking or running. This is where most of the work is done and the largest angle changes occur.

[0085] The fourth axis 96 and the fifth axis 97 are parallel to the mediolateral axis in the neutral position. They are thus responsible for the pure flexion and extension of the lower leg (fourth axis 96) or the foot (fifth axis 96).

[0086] The choice of the position of the second axis 94 is not trivial. For use in walking, standing, and running, it cannot run perpendicularly through the hip joint (in which case, all three axes would be perpendicular to each other in the neutral posture), since a hinge joint would then have to be located either in the upper body or in the thigh.

[0087] In the Figures 6 - 11the second axis 94 was chosen so that its joint was attached below the condyle, behind the user, and outwards. The angle between the first axis 93 and the second axis 94 is φ 1 = 35°. The angle between the second axis 94 and the third axis 95 is φ 2 = 70°. In this arrangement, with axis 93 parallel to the sagittal axis, and with the third axis 95 of the hip, the fourth axis 96 of the knee and the fifth axis 97 of the foot 90 parallel to the transverse axis, the sum of the angles φ 1 + φ 2 = 105° results in the maximum internal rotation of the leg of φ 1 + φ 2 -90° = 105° - 90° = 15°. Then all axes 93-95 lie simultaneously in a plane parallel to the transverse plane. The maximum rotation of the leg around the vertical axis is not so easy to determine and depends essentially on the shape and size of the elements 80, 82, 84. Assuming that the individual parts can penetrate each other, orshould be constructed in such a way that they do not penetrate or collide with each other, then the maximum external rotation of the foot is 90 in the last described case, i.e. . − φ 1 + φ 2 − 90 ° = − 35 ° + 70 ° − 90 ° = − 55 ° .

[0088] The difference between maximum internal and external rotation is 2·φ 1 = 70°.

[0089] Figs. 8 and 9 show different perspectives of the first embodiment with maximum internal rotation of 15 degrees and maximum external rotation of approximately 45 degrees.

[0090] Figs. 10 and 11 also show different perspectives of the first embodiment with a maximum simultaneous external rotation of approximately 32 degrees.

[0091] The first embodiment is the preferred design. It allows for almost any posture and movement, even extreme ones. This includes walking, running, running, jumping, turning on the spot, deep lunges, side steps, cross steps, close combat, sitting on chairs or benches, and more. Configuration 1 allows for a wide range of external rotation of the feet (45° external rotation, 15° internal rotation). Other configurations can be implemented depending on the needs of the application.

[0092] As already mentioned above, the first axis 93 does not necessarily have to be parallel to the sagittal axis. In particular, it may be useful to rotate it around the vertical axis in such a way that the rotation of the feet inward around the vertical axis is possible over a larger range. This is the subject of the second embodiment, which is implemented using the Figures 12 - 17 and which has the following angles: φ 1 = 35 Grad ; φ 2 = 70 Grad ; α = 20 Grad ; β = 0 Grad .

[0093] Figs. 12 and 13show an exoskeleton 1002 according to the second embodiment in a neutral position.

[0094] Figs. 14 and 15 show the exoskeleton 1002 with maximum internal rotation of 35 degrees and maximum external rotation of 35 degrees.

[0095] Figs. 16 and 17 show the exoskeleton 1002 with maximum simultaneous external rotation of approximately 28 degrees.

[0096] The second example demonstrates how the maximum internal rotation of the foot can be increased by 90 by selecting an α > 0°. In addition, one can see in Fig. 15that the maximum travel range of the second element 82 is increased, and thus the theoretical maximum outward rotation of the foot 90 can be achieved. In the first embodiment, this rotation was still limited by the fact that the second element 82 could collide with element 1. Thus, instead of the theoretical maximum outward rotation of 55°, only 45° was achieved. The second embodiment therefore makes it possible, for example, to change the walking direction more quickly than the first embodiment, with full ground contact and without sliding.

[0097] However, in the exoskeleton 1002, the maximum rotation of the feet 90 around the vertical axis is automatically reduced outward by the same amount. For the outward rotation, the quantification of the maximum angle is again dependent on the size and nature, particularly of the elements 80a, 82, 84, since they can collide depending on the selected angles and their specific other geometry. However, this is not the case in the second embodiment (see in particular Figure 15 , right leg). The maximum possible inward and outward rotation of the foot is 35° each.

[0098] To allow the greatest possible abduction of the thigh, it is necessary to maintain a lateral distance between the user's thigh or hip and the nearest components on the third axis 95. These components rotate in a circle around the center of the femur head during leg abduction, i.e., a rotation primarily around the first axis 93. These circles also intersect the parts of the upper body (hip and above). The larger the radius of these circles between the center of the hip joint and the innermost part along the third axis 95, the greater the maximum abduction angle of the leg. Likewise, the exo-plate 80a should be kept narrow (in the lateral direction) so that it does not conflict with the third element 84 during further abduction of the leg.

[0099] In the preferred embodiment, the exo-thigh 86 is attached to the outside of the user's leg. The third element 84 is then attached distally to the exo-thigh 86 along the third axis 95. This means that the thigh is attached inside to the gimbal. This makes it easy to attach the user's thigh to it without too great a distance. The exo-thigh 86 then automatically has a stop on the second element 82 or on the third element 84 in the backward swing direction, so that over-rotation can be prevented. However, if a particularly large distance between the user and the exoskeleton is necessary in the area of the third axis 95, for example to enable particularly great abduction of the leg, the thigh can also be attached externally to the third element 84.

[0100] Elements 82 and 84, which are the clamps of the gimbal, are preferably designed such that the inner element is smaller than the outer element, so that the inner element does not collide with the outer element at extreme angles and outward rotation of the base 90, thus limiting the range of motion. Elements 82, 84 are preferably designed as "clamps," but can also be designed in a circular arc shape, so that they more closely resemble the elements of a typical gimbal.

[0101] In the Figures 18 - 23 Another exoskeleton 1003 according to a third embodiment is shown. This has the following angles: φ 1 = 35 ° , φ 2 = 70 ° , α = 20 ° , β = 20 ° .

[0102] Show Figs. 18 and 19 the exoskeleton 1003 in a neutral position.

[0103] Figs. 20 and 21show the exoskeleton 1003 with a maximum internal rotation of 33 degrees and a maximum external rotation of approximately 37 degrees. Please note that the exo-back plate 82 may be shorter at the bottom than shown here. Figs. 22 and 23 show the exoskeleton 1003 with maximum simultaneous external rotation of approximately 26 degrees.

[0104] Due to the raised second element 82, the exoskeleton 1003 of this embodiment essentially enables further steps than in the previous embodiments. However, these further steps are usually no longer covered by the natural working space of most people. The space created at the back of the user's legs also allows for additional devices, such as tactile elements or armor plating, to be attached to the user's thighs. This design is interesting for mobile applications, as it makes sitting even easier and reduces the risk of colliding with the environment. The design also allows, for example, deeper kneeling without the feet 90 of the exoskeleton colliding with the hip elements.

[0105] The embodiments described so far are preferred. Nevertheless, there are numerous further developments that relate to all of the embodiments described so far. Some such developments will be briefly discussed below.

[0106] In the previous embodiments, the elements 82 and 84 are designed such that only one further axis is provided between the first axis 93 and the third axis 95, namely the second axis 94, which results from the joint 83 between the elements 82 and 84. It is also possible to use not only a second axis 94 between the retained axes 93 and 95, but also to introduce additional axes (e.g. axes 94a, 94b, etc.) using more than two brackets or arches. Particularly if all or some of these elements can be folded completely into one another, this has the advantage that the difference between the maximum inward rotation and maximum outward rotation of the associated foot 90 can be increased. This makes it possible to cover larger angular ranges of the inward and outward rotation of the foot 90.

[0107] The Figs. 24 - 26show different perspectives of such an example, in which the element 82 is divided into three parts, designated here as 82a, 82b, and 82c. Each of these parts is rotatably connected to its neighboring part, resulting in the axes 94a, 94b, and 94c. Preferably, each axis is actuated. This can also be achieved by actuators on the elements 80 or 86 (not shown). In the example, the smaller elements cover an angle of 30° each, and the larger one an angle of 60°. With this structure, a foot could be rotated 60° inwards or outwards (for a hip plate with α=β=0°) by either external or internal rotation of the hip joint. It is possible to attach the elements 81, 82a, 82b, 82c, etc., 84, 86 to one another in any order, internally or externally. Furthermore, the angles φ i of the elements can be different from one another. Elements 82-84, which as in the example according to the Figs. 24 - 26are arranged from the inside outwards can never intersect, regardless of the angles φ i used. However, if at least some of the elements are arranged from the outside inwards, intersecting can be prevented if the next element (e.g. element 82c is the next element from 82b) covers a significantly smaller angle than the previous element. It is also possible for element 82a to be located outside of the following elements 82b, etc., but to be attached first to element 80. By using individual measures or by combining them, it is possible to prevent the diameter of the entire hip joint from growing too much with an increasing number of elements.

[0108] Due to the use of more than three axes for the hip joint, there is generally no longer a clear assignment for the selection of the driven axis angles (joint angles). However, it is preferable to correlate the angle between axis 93 and axis 95 in a tabular or functionally unique manner with a vector of the angles to be activated (joint angles) of axes 94a, 94b, etc. This achieves a safe and predictable behavior of the mechanism. In general, it is necessary that element 84 does not deviate too far from the horizontal. This would impede the free swinging of the leg. Fig. 26You can see how the internal rotation of the hip joint is increased by an accordion-like unfolding of elements 82a, 82b, and 82c. This type of actuation can also be operated in the other direction to increase external rotation of the hip. However, this may cause the hip elements of the left and right legs to slightly conflict with each other.

[0109] It is generally important that the last element (here 84), to which the exo-thigh 86 is attached, allows the exo-thigh 86 to swing during gait in all states of the hip joint mechanism. Since in the preferred embodiments the exo-thigh 86 is attached internally to the third element 84, the area of the third axis 95 of the element 84 is preferably flat on the inside. This corresponds to the representations used here. Nevertheless, element 84 can be round, especially if the exo-thigh 86 is to be attached externally, or if the distance between the exo-thigh 86 and element 84 along the third axis 95 is to be large enough that free swing of the exo-thigh 86 is not significantly restricted.

[0110] By choosing a particularly wide range of hip elements, preferably segments of ball shells, the hip mechanism can be made even more like a foldable part of a ball shell. This can be used, for example, as protection or armor.

[0111] In the illustrated embodiments of the exoskeleton 1000, 1001, 1002, 1003, the third element 84 is designed such that the two legs 84, 84b are arranged almost perpendicular to one another. This results in the third element 84 projecting quite far laterally during the various movements. To ensure that the third element 84 takes up less lateral space, it is possible to shorten the first leg 84a, preferably such that the second leg 84b runs parallel to the sagittal axis in the neutral position. This facilitates swinging the arms while walking and saves weight. For this purpose, the angle between the legs 84a and 84b is adjusted accordingly.

[0112] For reasons of clarity, the necessary bearings, axle attachments, and actuators are not explicitly specified in the described examples. Actuators can be mounted in or on each element. Accordingly, fixed axle connections or, for example, ball-bearing connections are then necessary. However, as the first embodiment is illustrated, it is preferred that an actuator in an exo-lower leg 88 actuates the fifth axis 97 to the exo-foot 90. A first actuator in the exo-thigh element 86 actuates the fourth axis 96 of the knee joint, a second actuator in the exo-thigh 86 actuates the third axis 95 of the exo-hip joint, an actuator in element 84 actuates the second axis 94 of the hip joint, and an actuator on, in, or on the exo-hip or exo-back plate 80a actuates the first axis 93.

[0113] The exoskeleton mechanism can be driven by a variety of actuators. These include conventional geared motors, linear actuators, hydraulic or pneumatic cylinders, direct drive via gearless torque motors, drive via cables and Bowden cables, and pulleys, among others. Drive via motors with recirculating ball-bearing worm gears (ball worm gear, recirculating ball worm drive according to US 3468179 A), global roller screws, or harmonic drive gears is particularly advantageous.

[0114] The Exo-Foot 90, in particular, can generally be equipped with an additional axis and the necessary components for actuating pronation and supination. A particularly advantageous further development of the Exo-Foot is described below and is referred to there as the Exo-Foot 9000.

[0115] It may be advantageous if the two axes of the exo-thigh 86 do not run parallel to each other. However, the fourth axis 96 must always run parallel or nearly parallel to the axis of the knee joint. However, the third axis 95 can generally be oriented in any direction. This allows the extent of external and internal rotation of the leg to be influenced, depending on the effect of the angle α.

[0116] The described hip mechanism, with at least three axes that intersect at the center of the hip joint, is practically quite tolerant of deviations in the axial direction. The user may also be taller, shorter, too far forward or too far back, too far left or too far right of the ideal position. This can be used to adapt an exoskeleton of one size to more than one user. It also makes it easier to adjust the axis distances and angles to suit a specific user. However, the principle of the mechanism is not lost due to these deviations. The design is to make the attachment points and bearings of the axes movable and adjustable. It is advantageous to be able to adjust the distance from the user's back to the hip plate, as well as their vertical position, in order to align the center of their hip joint with the intersection point of the axes.

[0117] Due to the largely anthropomorphic nature of the exoskeleton, it is possible to design most of the described elements in such a way that they encompass the user and not just stand sideways to him, as in the illustrations.

[0118] It should be noted that, surprisingly, in the preferred simple hip mechanism (e.g. Fig.1-25), also in connection with the exoskeleton described, generally only extremely small torques are required to actuate the second axis 94. This is also true when the exoskeleton, as in teleoperative applications, has to bear the entire weight of the user, while it is itself supported at the hip or back by a motion simulator. If, for example, the user's weight rests only on one outstretched leg and is transferred entirely to an exo-leg via their foot on the foot element of the exoskeleton, the center of gravity of the leg and the user is always located vertically below or above their loaded hip joint (point 91). If β=0°, and the weight of elements 82 and 94 can be neglected compared to the other weights, changes in the joint angles of axes 93 and 94 alone can change the potential energy by raising the center of gravity. This requires considerable torques.However, the actuation of axis 94 is also possible without changing the potential energy if axes 93 and 95 are moved in such a way that only external rotation or internal rotation (external or internal rotation of the hip joint) of the foot is achieved. The center of gravity remains at the same height and thus no work is performed and no axial torques occur. However, since the changed joint angle of axis 93 generally changes the position of elements 82 and 84 in a gravitational field, a small axial torque must be applied or absorbed by the actuator. However, the transverse torques on this axis are generally very large as soon as a leg is loaded with a significant portion of the body weight. The joints must be designed accordingly. Frictional forces in the bearings must also be overcome, which are small.The external or internal rotation of the leg is weak in humans. Therefore, the torques to be actuated on axis 94, which primarily serves this degree of freedom, are small compared to other torques occurring in exo-legs. Accordingly, actuators there can be smaller and weaker.

[0119] Analogously, the axial torques of a structure with several elements 82, 82b, etc. ( Fig. 24-26 ) is only slight. The relatively small actuators can therefore be easily located on or in these elements for all structures, but also remotely (Bowden cables). This also applies when only one element 82 is used. Even if β is not equal to 0°, these axial torques are small, as long as β remains small.

[0120] All described structures and combinations of properties can be applied not only to exoskeletons but also to humanoid robots, virtual avatars, and virtual machines. In virtual cases, real components must be replaced by corresponding virtual ones.

[0121] As already mentioned, the previous description of the preferred exoskeletons 1001, 1002, 1003 has omitted the illustration and description of the associated actuators.

[0122] Exoskeletons for teleoperation, i.e., for controlling proxies in a virtual (avatars) or real environment (humanoid robots), use motion simulators to exert static or time-varying body accelerations on the user. Gimbals are also used for this purpose.

[0123] The following figures describe preferred motion simulators that can be used in conjunction with an exoskeleton.

[0124] Fig. 27 shows a perspective view of a motion simulator 3000 to which an exoskeleton 203 with a backrest is attached. The motion simulator 3000 essentially consists of two main parts, namely a translation unit 210 with the actuators 250, 252, 254 and suitable drive means, such as motors, shafts, cables, etc., which are not shown here. This enables translational movements along the arrows P1, P2, and P3. a rotation unit 211 with a first rotation element 200, a second rotation element 201, and a third rotation element 202. These are each rotatably mounted relative to adjacent elements.

[0125] The following mainly describes the rotation unit 211. Fig. 28 is also a perspective view of the Motion Simulator 3000 and is used below to describe various rotation axes.

[0126] The first rotation element 200 is mounted at its first end on the linear actuator 254 for rotation about a first rotation axis 205, which runs essentially vertically during normal operation and corresponds to the vertical axis of the linear actuator 254. At the second end of the first rotation element 200, the second rotation element 201 is mounted for rotation about a second rotation axis 206. At the other end of this second rotation element 201, the third rotation element 202 is mounted for rotation about a third rotation axis 207. At the other end of the third rotation element 202, the exoskeleton 203 is mounted for rotation about a fourth rotation axis 208. It should be noted that a corresponding bearing must be provided and arranged to implement each of the aforementioned rotation axes. This is generally known to those skilled in the art, so it will not be discussed further.

[0127] Out of Fig. 29It can be seen that the rotation axes 205, 206, 207, 208 intersect at a point 220 and which angles are formed between the individual elements or axes, namely: the rotation axes 205 and 206 form an element angle 212 the rotation axes 206 and 207 form an element angle 213 the rotation axes 207 and 208 form an element angle 214.

[0128] The sum of the element angles must be greater than 180° to avoid gimbal lock and to allow the user to adopt all possible spatial orientations in the exoskeleton.

[0129] The third rotation element 202 is designed as a simple, short, and small arch or bracket, thus having only two attachment points for the axes and axle bearings. To achieve the smoothest possible movement behavior in areas where the rotation unit 211 with only three axes would experience gimbal lock, the angle of the third rotation element 202 is selected to be as large as possible.

[0130] In general, the exoskeleton 203 can then no longer rotate 360° around the axis 208 without colliding with the third rotation element 202 or colliding when the user assumes certain postures. However, these collisions must and can be prevented. It is generally not necessary for the axis 208 to be actuated 360°. (However, with smaller element angles 213, actuation 360° is possible. However, the aforementioned problems with high speeds and accelerations then increasingly arise again.)

[0131] As in Fig. 30 As can be seen, the third rotation element 202 is preferably attached to the exoskeleton 203 such that it sits quite high overall, and the part which is attached to the second rotation element 201 sits at the bottom relative to the attachment point on the exoskeleton (in the neutral position of the rotation unit, as shown in the figures). However, other attachment methods are possible. The figures also show that the third rotation element 202 is preferably attached at an angle to the exoskeleton 203. This is achieved by a back mount 204, which is completely analogous to the axis 93 of the second element 82 of the hip ( Fig. 2), can be described by two angles. It is important that the element axis 208 runs through the common intersection point of all element axes 205, 206, 207, 208. This is preferably located in the user's body, e.g., in their head or in their torso. Preferably, a starting angle is selected for the third rotation element 202 in the basic posture, and then a suitable back mount 204 is designed. This mount 204 then forms a rigid unit with the back plate (or hip plate, etc.) of the exoskeleton 203. In the example setup, element 202 is inclined by 30° from the vertical. This angle can also be different, provided that element 202 does not collide with the back plate or other parts of the exoskeleton 203. The actuated angle of the axis 208 must then be restricted to a range that is so small or smaller that the third rotation element 202 can never collide with the back plate.It is usually sufficient to select this range significantly smaller than the maximum, provided the effectively remaining sum of the joint angles exceeds 180°. All other axes 205, 206, and 207 can be actuated over a full 360°.

[0132] The exoskeletons described so far can be further improved by a special design of the feet. Exoskeletons—and humanoid robots, too—typically require two degrees of freedom in the foot to approximate human mobility. This requires corresponding effort in actuation, which in turn requires corresponding space and weight.

[0133] Fig. 32shows a preferred embodiment of an exo-foot 9000 according to the invention. This foot 9000 has an axis 910, which is approximately parallel to the transverse axis of the user's ankle. A shaft 902 preferably runs parallel to this axis to attach the foot to an actuator. Alternatively, this shaft 902 is part of the actuator. Therefore, supination and pronation of the foot cannot be actuated. To enable movement of a similar nature, albeit not actuated, the sole 904 of the foot 9000 is laterally rounded, as shown in Fig. 33 shown.

[0134] This is preferably done starting from a profile of two circle segments with different radii of circles or circle-like shapes, which have their centers near the ankle of the user and are parallel to the frontal plane of the user ( Fig. 35). Smaller circle diameters facilitate rolling, larger ones allow for a more secure stance. It is preferable to facilitate pronation, so choose smaller radii on the inside of the foot. The profile is drawn forward along the length of the foot, parallel to the sagittal axis, to define the surface of the sole in the middle area of the foot. Figs. 34, 35 To define the heel area of the Exo-Foot 9000, the profile is rotated backward around the axis of the ankle.

[0135] In the middle part of the foot 9000, approximately from the ankle joint forward to the first toe joint, the surface of the sole 904 forms the surface segment of a cylinder or a cylinder-like geometry on the left and right. In the rear part of the foot 9000, approximately from the ankle joint backward, the sole surface on the left and right each resembles a surface segment of a sphere or a torus or the like.

[0136] The front part of the Exo-Foot 9000 has the same cross-section at the transition from the middle part of the foot as the middle part. The front part can be flat but is preferably angled upwards to allow for a smooth rolling motion. The transition from the middle to the front part can also be achieved in the same way as the transition from the middle to the rear part, by rotating / sweeping the surface profile around a transverse axis. The distance of the transverse axis to the sole 904 is preferably significantly greater for the front part than the distance from the sole 904 to the ankle joint. This axis is preferably located close to the lower leg to achieve easy rolling motion.

[0137] The advantage of the given foot 9000 is that the foot 9000 of the exoskeleton (also known as the robot, virtual avatar, or virtual machine) now acts like a rolling bearing. When a step is taken and the rounded heel of the foot 9000 touches the ground, the foot 9000 rolls on the heel surface until the middle of the foot touches the ground. Until this point, the distance from the ankle to the ground remains virtually constant, unless the foot 9000 rolls sharply from left to right at the same time. Even then, the change in distance would be slow and gradual.This virtually constant distance during the rolling motion also means that the rolling motion of the 9000 foot creates a solid base, the ankle joint, which does not change its height and therefore does not exert any work on the upper part of the body when the user walks at a constant speed (otherwise, braking or acceleration forces would act in or against the direction of movement). The rolling motion is therefore perceived as very fluid and smooth, even if the sole 904 of the 9000 foot is actually made of hard material.

[0138] If the front part of the foot is shaped in the same way as the back, but with a larger radius for the forward roll than the heel, the same effect occurs, and the foot doesn't exert work on large parts of the body. However, the natural movement of the knee and ankle requires a larger radius here. A fixed position of the ankle can also be chosen so that the center of this radius is at the knee joint. This allows for extremely smooth rolling, even without a flexible ankle.

[0139] The tangential transition of the profile radii allows rolling to the left and right at any time.

[0140] The middle section of the 9000 foot is flat when viewed from the side. This allows for stable standing and provides the user with a wide range over which to shift their center of gravity without becoming unstable. This flat area can be made smaller or larger by shifting the profile's rotation axes forward or backward to influence maneuverability. Likewise, the transition to the front section of the 9000 foot can be moved forward or backward.

[0141] The Exo-Foot 9000 shown here does not have such a straight section on the side. However, it can be added. Then the centers of the circle segments lie in Fig. 35 not on top of each other, but would be offset to the left and right. At the bottom, the sole would then have a straight section, which preferably transitions tangentially into the circular segments.

[0142] At the very outer edges of the 9000 foot, rounded edges with small radii are preferred to allow for extreme postures and prevent injuries. The 904 sole is preferably covered with and / or made of rubber, etc. This improves traction and shock absorption while walking. Lateral rolling, in particular, is inhibited by an elastic, cushioning material, which can be helpful in a cross-section without a straight section to reduce the effort required to maintain balance when standing on one foot.

[0143] It is possible to use this type of foot in exoskeletons, humanoid robots, virtual avatars or virtual machines.

[0144] Stewart platforms, also known as hexapods, are also suitable as motion platforms for exoskeletons in teleoperative applications (virtual or real-life). Stewart platforms generally have six linear actuators or similar devices, which are attached to the floor or other base on one side and to a work platform or work plane on the other side.

[0145] The innovations described here can be combined in a variety of ways to achieve advantageous new properties of systems for teleoperation, robotics, motion simulation and actuation.

[0146] Any one of the described devices or methods, any combination of devices or methods, or a combination of all devices or methods may be implemented.

[0147] Some advantageous combinations are listed below.

[0148] The described foot elements ( Fig. 32-35 and description) for humanoid robots, virtual or real machines and exoskeletons unfold their full advantages especially with exoskeletons, robots, or virtual machines, which have a hip joint according to Fig. 1-26 and the above description. This hip joint allows for better control of the legs and thus feet, even in extreme situations, and can thus take maximum advantage of the additional degrees of freedom of the foot elements.

[0149] The described exoskeletons (also in combination with the described feet) can be combined with the described motion platforms and their variations. This makes it possible to perform teleoperations more effectively.

[0150] The described gimbals as motion simulators, their elements, or parts thereof, can be combined with the described exoskeletons with improved hip joints and the Stewart platform. This allows the enhanced mobility and strength of the exoskeleton to be utilized, which would otherwise be limited by limited motion simulators. For example, fast jumping, walking, running, trampoline jumping, etc. are enabled by the described exoskeletons, but a suitable motion simulator is also required to fully utilize the potential represented by the described motion simulators.

[0151] The same applies to methods and devices for reducing or increasing perceived gravity. These benefit from the described hip joints, foot elements, and motion simulators, alone or in any combination. The methods and devices for reducing or increasing perceived gravity allow, for example, the use of lighter exoskeletons when forces are reduced. However, in order to be able to perform the faster movements and changes in position that are then possible, faster and better motion simulators, as described, are required or at least helpful. If forces are increased, it becomes particularly important that every degree of freedom of the foot is actuated.

[0152] Fully actuated hip joints with three effective degrees of freedom and fully actuated feet, as described, allow heavier loads to be carried by freely movable exoskeletons that are directly controlled by a user. If, instead, corresponding robots are operated teleoperatively by a remote user in an exoskeleton on a motion simulator, this user benefits from the weight reduction options described above, while utilizing the described foot. This also applies to virtual applications. The use of the described hips in the exoskeleton and robot further improves applicability.

[0153] It can be designed so that an exoskeleton can be quickly detached from the motion platform on the back. This exoskeleton can then be immediately used as a mobile exoskeleton for force amplification or as a humanoid robot. It is then advantageous to also equip this exoskeleton with the described foot to allow for easy rolling and better control, etc. This exoskeleton or robot, etc., can then also have devices for gravity reduction or amplification.

[0154] When used as a "walking wheelchair," exoskeletons benefit from any combination of a hip joint, the described foot, and gravity compensation or augmentation devices and techniques. They allow people with walking disabilities, weakness, or paralysis to move more naturally without having to bear their full weight with their legs. Likewise, the perceived weight can be gradually increased to achieve muscle development or habituation. For astronauts, a sensation of gravity can also be achieved that would otherwise not be present, but here can serve to mitigate muscle loss. List of reference symbols

[0155] 80aElement 1, first element, exo-hip or exo-back plate 80bAxis attachment region (attachment element) of 80a 81Shaft of axis 1 82Exo-hip joint 1, element 2, second element 82bExo-hip joint 1b, element 2b 82cExo-hip joint 1c, element 2c 83Shaft of axis 2 84Exo-hip joint 2, element 3, third element 84a, bThigh of 84 85Shaft of axis 3 86Element 4, fourth element, exo-thigh 87Shaft of axis 4 88Element 5, fifth element, exo-thigh 89Shaft of axis 5 90Element 5, sixth element, exo-foot 91Center of the hip joint 92Axis parallel to the sagittal axis through Center of the hip joint 93Axis 1, first axis 94Axis 2, second axis 94bAxis 2b 94bAxis 2c 95Axis 3, third axis 96Axis 4, fourth axis 97Axis 5, fifth axis 200Element A, first rotation element 201Element B, second rotation element 202Element C, third rotation element 203Exoskeleton with back support 204Back support 205Axis A, first rotation axis 206Axis B, second rotation axis 207Axis C, third rotation axis 208Axis D, fourth rotation axis 210Translation unit 211Rotation unit 212Element angle A 213Element angle B 214Element angle C 220Intersection of 205-208 250First linear actuator 252Second linear actuator 254Third linear actuator 902Shaft 904Sole 910Axle through 902 1000-1003 Exoskeleton 2000-2009 Actuators 3000 Motion Simulator 9000 Exo-Foot X Driven Component

Claims

1. A device (1000) in the form of an exoskeleton or a proxy, whereby the device (1000) comprises a first member (80a, 80b), a second member (82), a third member (84), and a fourth member (86), wherein - the first member (80a, 80b) is connected to a first rotary joint (81) via which the second member (82) is rotatably supported about a first axis (93), - the second member (82) is connected to a second rotary joint (83) via which the third member (84) is rotatably supported about a second axis (94), - the third member (84) is connected to a third rotary joint (85) via which the fourth member (86) is rotatably supported about a third axis (95) for the purpose of the flexion / extension of a thigh, - the axes (93, 94, 95) pass through a common point (91), and - the first axis (93) with the second axis (94) forms a first angle (φ1) and the second axis (94) with the third axis (95) forms a second angle (φ2), - the first axis (93) may be rotated about a vertical axis passing through the common point (91) by a third angle (α), - the first axis (93) may be rotated about a horizontal axis passing through the common point (91) by a fourth angle (β) with a value unequal to zero.

2. Device according to one of the previous claims, characterized in that the first angle (φ1) has a value in the range of 25 - 45 degrees and preferably 35 degrees.

3. Device according to one of the previous claims, characterized in that the second angle (φ2) has a value in the range of 60-80 degrees and preferably 70 degrees.

4. Device according to one of the previous claims, characterized in that the third angle (α) and / or the fourth angle (β) has a value in the range of 10-30 degrees and preferably 20 degrees.

5. Device according to one of the previous claims, characterized in that the sum of the first angle (φ1) and the second angle (φ2) is in the range of 85 - 120 degrees and the first angle (φ1) is in the range of 15 - 45 degrees.

6. Device according to one of the previous claims, characterized in that at least one of the elements (82, 84, 86) is subdivided into at least two sub-elements (82a, b, c) and adjacent ones of these sub-elements (82a, b, c) are rotatably connected to each other, respectively about an axis (94a, 94b, 94c), whereby these axes are passing through the common point (91).

7. Device according to one of the previous claims, characterized in that a fifth element (90; 9000) is rotatably mounted about a further axis (910) and has a surface (904) which runs parallel to the further axis (910), whereby this surface (904) is having, at least on its side remote from the axis (910), a profile which corresponds to at least two circular segments with different radii.

8. Device according to the previous claim, characterized in that the circles belonging to said circle segments have their centers in the vicinity of the user and / or are parallel to the frontal plane of the user.

9. Device according to one of the previous claims, characterized in that fastening means are provided which are designed and arranged in such a way that a user can preferably be firmly connected with his hip, his torso and / or his thighs to at least one of the elements (80a, 80b; 82; 84; 86; 90) and / or to parts of a back plate.

10. Device according to the previous claim, characterized in that the fastening means comprise straps, shells and / or harness.

11. Device according to one of the two previous claims, characterized in that the position of the fastening means can be changed by adjustment means.

12. Device according to one of the three previous claims, characterized in that the force carried by the fastening means can be varied by adjustment means.

13. Device according to the previous claim, characterized in that the force carried by the fastening means can be measured and influenced by means of the adjustment means and a control loop.

14. Device according to one of the previous claims, characterized in that means are provided suitable to move a foot surface (904) relative to the user.

15. Device according to one of the previous claims, characterized in that the fastening means are designed and controllable in such a way that they can be relaxed or moved and thus the degree of relief can be changed.