Hip exoskeleton structure for lifting and pushing

Abstract

To provide improved wearable robots and / or auxiliaries.SOLUTION: A wearable robotic device includes: a hip-mounted; powered exoskeleton; an adjustable vest coupled to the exoskeleton; a power source for powering the exoskeleton; and a computing device for controlling the robotic device and determining when to activate the powered exoskeleton. The exoskeleton includes: a pair of motor units configurable between a first powered mode in which the exoskeleton assists in extending a hip of a user and a second free mode in which the user is able to freely extend or contract the hip.SELECTED DRAWING: Figure 2A

Description

Technical Field

[0001] Cross - Reference to Related Applications

[0001] This application claims priority and the benefit thereof to U.S. Provisional Patent Application No. 63 / 122,022, entitled "HIP EXOSKELETON STRUCTURE FOR LIFTING AND PUSHING", filed on December 7, 2020, the entire disclosure of which is hereby incorporated by reference herein for all purposes (except for any disclaimer of subject matter, including but not limited to the parts that specifically appear hereinafter in this specification, and except to the extent that the incorporated material is inconsistent with the clear disclosure herein, in which case the language of this disclosure shall govern).

[0002]

[0002] This disclosure relates to robotic systems, and in particular, to exoskeletons for use related to enhancing human capabilities. Research and Development Funded by the Federal Government

[0003] This invention was made with government support under FA8606 - 19 - C - 0018 awarded by the Air Force Office of Scientific Research. The government has certain rights in this invention.

Background Art

[0003]

[0004] In various situations, ordinary people often consume a fair amount of energy when walking and carrying loads. Research on wearable robots for various applications, such as strengthening muscle strength to assist the walking of disabled or elderly people, rehabilitation treatment for sick people, and lifting and carrying heavy loads for soldiers or factory workers, is being actively conducted. Therefore, improved wearable robots and / or assistive devices are still desired.

Summary of the Invention

[0004]

[0005] In an exemplary embodiment, the robotic device includes a hip-mounted powered exoskeleton, an adjustable vest coupled to the powered exoskeleton, a power source for powering the powered exoskeleton, and a computing device for controlling the robotic device and determining when to activate the powered exoskeleton.

[0005]

[0006] In various embodiments, the powered exoskeleton is configured to provide a unidirectional thrust to assist in hip extension. In various embodiments, the powered exoskeleton provides a unidirectional thrust for a portion of the user's hip extension movement. In various embodiments, the powered exoskeleton includes first and second lateral pelvic plates. In various embodiments, the adjustable vest includes one or more straps configured to reduce rotation of each lateral pelvic plate during operation of the powered exoskeleton. In various embodiments, the adjustable vest includes a first strap extending horizontally between a first upper end of the first lateral pelvic plate and a second upper end of the second lateral pelvic plate. In various embodiments, the adjustable vest further includes a second strap extending horizontally between a first lower end of the first lateral pelvic plate and a second lower end of the second lateral pelvic plate. In various embodiments, the adjustable vest further includes a pair of adjustable shoulder straps.

[0006]

[0007] In another exemplary embodiment, the back support device includes first and second lateral pelvic plates and at least one strap configured to reduce rotation of each lateral pelvic plate and thus support the user's lower back of the back support device.

[0007]

[0008] In various embodiments, the back support device further comprises an adjustable vest coupled to at least one strap. In various embodiments, the back support device further comprises a plurality of straps forming an adjustable vest. In various embodiments, the first and second lateral pelvic plates are configured to support the use of a motor to assist a user of the back support device in lifting an object. In various embodiments, each lateral pelvic plate is configured to support the use of a motor to assist a user of the back support device in pressing an object. In various embodiments, each lateral pelvic plate is configured to be coupled to a passive exoskeleton. In various embodiments, the back support device further comprises a semi-passive exoskeleton coupled to the first and second lateral pelvic plates, the semi-passive exoskeleton comprising a power source that can be activated or deactivated.

[0008]

[0009] In various embodiments, the back support device further comprises a powered exoskeleton coupled to the first and second lateral pelvic plates, the powered exoskeleton comprising a power source and an electric actuator. In various embodiments, the back support device further comprises a pair of motor devices respectively coupled to the first and second lateral pelvic plates. Each motor device comprises a frame, a motor mounted on the frame, a screw rotatably mounted on the frame, a translation block threadedly coupled to the screw, and a lever arm pivotally coupled to the frame. The translation block is configured to contact the lever arm to rotate the lever arm about a pivot axis. In various embodiments, the translation block is configured to move from a first mode in which the translation block engages the lever arm to a second mode in which the lever arm can freely rotate about the pivot axis. In various embodiments, the back support device further comprises a lower limb device coupled to the lever arm, the lower limb device being configured to rotate with the lever arm about the pivot axis.

[0009]

[0010] In another exemplary embodiment, a method for using a wearable robotic device includes positioning a first lateral pelvic plate on a first side of a user's hip, positioning a second lateral pelvic plate on a second side of the user's hip, positioning a first strap to extend horizontally between a first upper end of the first lateral pelvic plate and a second upper end of the second lateral pelvic plate, the first strap extending across the user's waist, adjusting the length of the first strap, positioning a second strap to extend horizontally between a first lower end of the first lateral pelvic plate and a second lower end of the second lateral pelvic plate, the second strap extending across the user's hip, adjusting the length of the second strap, contracting the user's hip, and extending the user's hip under the support of the wearable robotic device.

[0010]

[0011] The foregoing features and elements can be combined in various combinations without exclusivity, unless otherwise expressly indicated herein. These features and elements, as well as the operations of the disclosed embodiments, will become more apparent in light of the following description and the accompanying drawings.

[0011]

[0012] The subject matter of the present disclosure is specifically pointed out and distinctly claimed in the concluding portion of this specification. However, a more complete understanding of the present disclosure may best be obtained by reference to the following description and the accompanying drawings in conjunction with the forms of implementing the invention and the claims, where like numerals refer to like elements.

Brief Description of the Drawings

[0012]

Figure 1A

[0013] A diagram illustrating components of an exemplary hip exoskeleton according to various exemplary embodiments.

Figure 1B

Figure 1C

Figure 2A

[0014] A front view of an exemplary hip exoskeleton system on a user according to various exemplary embodiments.

Figure 2B

[0015] A side view of an exemplary hip exoskeleton system on a user according to various exemplary embodiments.

Figure 2C

[0016] A rear view of an exemplary hip exoskeleton system on a user according to various exemplary embodiments.

Figure 2D

[0017] A side view of a motor device of an exemplary hip exoskeleton system according to various exemplary embodiments.

Figure 3

[0018] A diagram illustrating components of an exemplary hip exoskeleton structure for lifting and pressing according to various exemplary embodiments.

Figure 4

[0019] Figure 4A is a diagram showing a side pelvic plate in an exemplary hip exoskeleton system according to various embodiments. Figure 4B is a diagram showing a side pelvic plate in an exemplary hip exoskeleton system according to various embodiments. Figure 4C is a diagram showing a side pelvic plate in an exemplary hip exoskeleton system according to various embodiments. Figure 4D is a diagram showing a side pelvic plate in an exemplary hip exoskeleton system according to various embodiments.

DETAILED DESCRIPTION

[0013]

[0020] The following description is merely of various exemplary embodiments and is not intended to limit the scope, applicability, or configuration of the present disclosure in any way. Rather, the following description is intended to provide a convenient illustration for implementing various embodiments, including the best mode. As will become apparent hereinafter, various changes can be made in the functions and arrangements of the elements described in these embodiments without departing from the principles of the present disclosure.

[0014]

[0021] For simplicity, conventional technologies and components for wearable robotic systems may not be described in detail herein. Further, the connecting lines shown in the various figures included in this specification are intended to represent exemplary functional relationships and / or physical couplings between the various elements. Note that many alternative or additional functional relationships or physical connections may exist in the exemplary hip exoskeleton systems and / or their components.

[0015]

[0022] The principles of the present disclosure may be compatible with and complement PCT Application No. PCT / US2021 / 017406, filed on February 10, 2021, and currently published as WO2021163153, entitled "Hip Exoskeleton for Lifting and Pushing", the contents of which are incorporated herein by reference (except for any disclaimer of subject matter or any scope of conflict with the disclosure of this application, in which case the language in the present disclosure shall govern).

[0016]

[0023] Wearable robotic systems assist workers in pressing and lifting heavy objects, palletizing, and performing tasks with less fatigue. Unfortunately, the pool of available young workers is limited, and the existing workforce is aging and elderly. Therefore, it is desirable to improve worker ergonomics, prevent injuries to reduce healthcare costs, and improve the health of workers. For example, more US healthcare costs are spent on treating back and neck pain than most other diseases.

[0017]

[0024] Prior art approaches to wearable robotic systems have provided limited performance improvements and have been overly large, difficult to handle, or heavy. Further, most exoskeleton de The vice does not allow free movement and hinders walking and running. When wearing a conventional exoskeleton device, it feels like walking in a swimming pool. In contrast, according to the principles of the present disclosure, an exemplary hip exoskeleton can assist human movement, for example, by assisting hip extension when lifting an object in a squatting position or when pressing an object, in either case. By providing a system configured to assist hip extension only during lifting and pressing, the exemplary system allows free movement in other tasks and improves the user experience.

[0018]

[0025] Referring now to FIGS. 1A-4D, in various exemplary embodiments, an exemplary system 100 (also referred to herein as a wearable robotic device and / or a back support device) comprises a hip exoskeleton structure for a lumbar back system that uses rigid and flexible components for a unique, lightweight, and comfortable design. As used herein, "exoskeleton" means a wearable device consisting of a structure that enhances, enables, or strengthens movement or physical activity, "passive exoskeleton" means a wearable device consisting of a passive structure that enhances, enables, or strengthens movement or physical activity, "semi-passive exoskeleton" means a wearable device consisting of a passive structure that enhances, enables, or strengthens movement or physical activity and is adjusted (captured, locked, etc.) to store and release energy based on movement relative to gravity, "semi-active exoskeleton" means a wearable device consisting of a passive structure that enhances, enables, or strengthens movement or physical activity and is adjusted (pulled, powered, etc.) to store additional energy and release energy, and "active exoskeleton" means a wearable device consisting of an active structure that enhances, enables, or strengthens movement or physical activity and is adjusted (pulled, powered, etc.) to store, transmit, and release energy.

[0019]

[0026] Prior art exoskeleton structures were generally either too soft to resist hip motor torque or too large, stiff, and heavy. Multiple designs have been developed and in some, a system consisting of lateral pelvic plates has been used to comfortably resist hip torque. This system restrains the sides of the torso that stabilize the human center. When a person makes a squatting movement, the lumbar and dorsal regions are stabilized and good form is achieved.

[0020]

[0027] In various exemplary embodiments, an exemplary unique design removed the rigid harness at the hip and replaced it with a more comfortable and intuitive back - type strap (see, e.g., FIGS. 2A - 2C). The side view shows a rigid, lateral, vertical strut 110 (also referred to herein as a "lateral pelvic plate") that holds the motor device 150 (also referred to herein as an electric actuator) in place. The vertical strut 110 includes a plurality of attachment points to which a plurality of soft straps 120 are connected to secure the vertical strut 110 to the user. These plates 110 can be planar, concave, convex, curved, saddle - shaped (i.e., having multiple curves), and / or the like. In various exemplary embodiments, the lateral pelvic plate 110 can be configured as seen in FIGS. 4A, 4B, 4C, and 4D. By replacing the hard plastic harness from prior art devices, a more customized fit can be achieved. The straps 120 also reduce the overall weight of the device, which is an important design component. Additionally, vertical struts 112 are integrated within the lateral pelvic plate. The large hip harness was replaced with the lateral pelvic plate 110 and straps 120. The struts around the lower limbs were replaced with straps 120. Shoulder - hanging backpack straps 120 were also added to prevent vertical movement. Vertical movement was originally achieved by more tightly fastened horizontal straps, which caused discomfort over long - term use. Desirably, the lateral pelvic plate 110 keeps the lumbar and dorsal regions straight as the user squats and lifts with good form. Other designs are rigid along the spine to require good form An attempt was made to use a plastic plate. However, when bending forward, the back rounds up and touches the vertical structure along the spine, causing discomfort. Therefore, the unique design and configuration of the system 100 restrain the lumbar and dorsal regions in a comfortable design.

[0021]

[0028] The first and second lateral pelvic plates 110 can be provided configured to support the use of a dedicated motor to assist the user of the back support device in lifting an object with each lateral pelvic plate 110. In the system 100, it should be understood that the lateral pelvic plates 110 restrain and hold the torso and stabilize the center of the body. Prior art approaches use a rigid structure along the spine that is not comfortable. In addition, compared to prior art approaches, the system 100 is lightweight, comfortable, does not involve a lumbar and dorsal covering that can cause the user to sweat or overheat, and is designed to ensure that the user has a good posture when lifting and pressing and is easily adjustable.

[0022]

[0029] The system 100 further includes a rigid lower limb appliance 130 configured to surround at least a portion of the user's lower limbs. In this illustrated embodiment, the lower limb appliance 130 wraps around the front half of the user's thighs. The lower limb appliance 130 includes a vertical arm 132. The vertical arm 132 can be integrated into the lower limb appliance 130 as a single member. The vertical arm 132 can be configured to rotate about the same axis (sagittal plane) as the user's buttocks.

[0023]

[0030] The system 100 further includes a power source 102, such as a battery, for powering the motor device 150. The power source 102 can be supported on the user's back by the strap 120. The power source 102 can be activated or deactivated by the user.

[0024]

[0031] Referring now to FIG. 2D, an exploded view of a motor device 150 according to various embodiments is illustrated. The motor device 150 may include an electric motor 152 and a translation block 154. The translation block 154 may be threadedly coupled to a screw 156 that is configured to rotate about its longitudinal axis. The motor 152 may rotate (rotate or spin) the screw 156, and rotation of the screw 156 may translate the translation block 154 along the longitudinal axis of the screw 156. The direction in which the translation block 154 translates depends on the direction of rotation of the screw 156. For example, rotation of the screw 156 in a first direction may translate the translation block 154 in the first direction (e.g., left in FIG. 2D), while rotation of the screw 156 in a second, opposite direction may translate the translation block 154 in the second direction (e.g., right in FIG. 2D). The screw 156 may be pivotally mounted to a frame 158. The motor 152 may be mounted to the frame 158. The motor 152 may be controlled by a computing device 104.

[0025]

[0032] The motor device 150 may further include a lever arm 160 pivotally coupled to the frame 158. The lever arm 160 may include a first arm 161 that extends from a pivot axis 163 and is configured to be attached to a vertical arm 132 (see FIG. 2B). In various embodiments, the vertical arm 132 and the first arm 161 are manufactured as separate pieces and are removably or non-removably coupled to each other. In various embodiments, the vertical arm 132 and the first arm 161 are integrally formed as a single piece. The lever arm 160 may further include a second arm 162 that extends from the pivot axis 163. The first arm 161 and the second arm 162 may be disposed on opposite sides of the pivot axis 163 from each other. The translation block 154 may be configured to contact or engage the second arm 162, and the second arm 162 may rotate the lever arm 160 about the pivot axis 163. In this manner, force may be applied to a user's lower limb, for example, to assist the user in a squat posture recovery and / or a pressing operation. The translation block 154 is the user An electric thrust can be provided to the lever arm 160 over a portion of the hip extension exercise. The translation block 154 can provide an electric thrust of 30 to 70 degrees to the lever arm 160, an electric thrust of 40 to 70 degrees to the lever arm 160, and an electric thrust of approximately 67 degrees to the lever arm 160 in various embodiments. The translation block 154 can provide a unidirectional thrust to assist in the extension of the user's hip.

[0026]

[0033] By placing the translation block 154 adjacent to the second arm 162, the translation block can be moved to a location where it is not in the way when not in use (i.e., to the right in FIG. 2D), making the translation block 154 "invisible" to the user's movement (i.e., the translation block does not physically contact the second arm 162 when the second arm rotates back and forth as the user walks and / or moves around (i.e., when the user moves the lower limbs back and forth). In this regard, the translation block 154 can be moved from a first mode in which the translation block 154 engages the second arm 162 to a second mode in which the translation block 154 is disengaged from the second arm and the lever arm 160 can rotate freely about the pivot axis 163. For example, in the second (free) mode (e.g., the motor is turned off in the free mode), the user can push with the knee, perform a wide stance and cross-step, rotate the hip, and crawl.

[0027]

[0034] Referring now to FIGS. 2A - 2D in combination, system 100 further includes a computing device 104 that includes one or more controllers (e.g., processors), and one or more tangible non - transitory memories capable of implementing digital or program logic. In various embodiments, for example, one or more controllers are one or more of a general - purpose processor, a digital signal processor (DSP), an application - specific integrated circuit (ASIC), a field - programmable gate array (FPGA), or other programmable logic device, discrete gates, transistor logic, or discrete hardware components, or any various combinations thereof. In various embodiments, computing device 104 controls at least various portions of system 100 and the operation of various components of system 100. For example, computing device 104 controls various parameters of system 100, such as the operation of motor 152. Computing device 104 may determine when to activate the powered exoskeleton (e.g., by selectively positioning translational block 154 by motor 152).

[0028]

[0035] In various embodiments, computing device 104 may implement a control scheme to enable different movement activities. A system that is not properly executed may tend to move the system during incorrect movements and may cause injury. To control system 100, a redundant activity recognition algorithm may be implemented with a basic model and / or an AI training model. Both models may operate on a whitelist principle where the system only operates when it is certain that lifting and pressing are occurring. In all other cases, the system does not participate in various embodiments. Computing device 104 utilizes one or more inertial measurement units (IMUs) embedded within control chips at the hips (e.g., one on each side), and rotational sensors around the axes of rotation (e.g., one on each side) to detect and / or determine when to activate the exoskeleton (e.g., identify features such as squatting, sitting, pushing, walking, jogging, ascending stairs, entering and exiting a vehicle, etc.). Using sensor feedback, computing device 104 may selectively operate motor device 150 in a first mode to provide a unidirectional thrust to assist hip extension, or in a second mode to allow the user to freely extend or contract the hips.

[0029]

[0036] Referring now to FIG. 3, in various exemplary embodiments, system 100 includes a system of flexible adjustable straps 120. The straps 120 can be coupled to an adjustable vest or, alternatively, the straps can comprise an adjustable vest. When torque is applied by the motor to the thigh within the exoskeleton, the lateral pelvic plate 110 must rotate. Adjustable straps O-P and C-D are specifically positioned so that the plate does not rotate. Adjustable strap O-P (also referred to herein as the first strap) can extend horizontally between the upper ends of the vertical struts 112 and around the user's waist or just below the ribs. Adjustable strap C-D (also referred to herein as the second strap) can extend horizontally between the lower ends of the lateral pelvic plates 110 and around the user's hips. This configuration (i.e., a back strap at the lower waist and a front strap near the sternum) creates a desirable connection for holding the lateral pelvic plates 110 in a desired position. Stated differently, straps 120 are configured to reduce rotation of each lateral pelvic plate 110 during operation of the powered exoskeleton. The flexible straps 120 are adjustable so that the system can be easily worn by individuals of various sizes.

[0030]

[0037] Strap I * and J * as well as E and F allow the shoulder straps to be adjusted. The shoulder straps prevent the exoskeleton from moving vertically. Straps G and H allow the hip belt to be adjusted. Straps A and B allow the chest strap to be adjusted. Sizes of flexible straps: The lengths of the straps in exemplary embodiments are shown in Table 1.

[0031]

Table 1

[0032]

[0038] Although the principles of the present disclosure are shown in various embodiments, many modifications of the structures, arrangements, proportions, elements, materials, and components actually used, which are specifically adapted to particular environments and operating requirements, may be made without departing from the principles and scope of the present disclosure. These and other changes and modifications are intended to be included within the scope of the present disclosure.

[0033]

[0039] The present disclosure has been described with reference to various embodiments. However, those skilled in the art will understand that various modifications and changes can be made without departing from the scope of the present disclosure. Accordingly, the specification is to be regarded as illustrative rather than restrictive in nature, and all such modifications are intended to be included within the scope of the present disclosure. Similarly, benefits, other advantages, and solutions to problems have been described above with respect to various embodiments. However, a benefit, an advantage, a solution to a problem, and any element that may generate or make more prominent any benefit, advantage, or solution to a problem should not be construed as a critical, required, or essential feature or element. 。

[0034]

[0040] As used herein, the terms "comprising," "comprises," or any other variation thereof are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Also, as used herein, the terms "coupled to," "coupling," or any other variation thereof are intended to cover physical connection, electrical connection, magnetic connection, optical connection, communication connection, functional connection, and / or any other connection. When language similar to "at least one of A, B, or C" or "at least one of A, B, and C" is used in this specification or a claim, this expression is intended to mean any of the following: (1) at least one of A, (2) at least one of B, (3) at least one of C, (4) at least one of A and at least one of B, (5) at least one of B and at least one of C, (6) at least one of A and at least one of C, or (7) at least one of A, at least one of B, and at least one of C.

Claims

1. A hip-mounted powered exoskeleton and an adjustable vest coupled to the powered exoskeleton; a power source for powering the powered exoskeleton; and a computing device for controlling the robotic device and determining when to activate the powered exoskeleton; Equipped with A wearable robotic device for lifting and pressing.

2. The powered exoskeleton is configured to provide unidirectional thrust to assist in hip extension. The robotic device of claim 1 .

3. The powered exoskeleton is further configured to provide a unidirectional thrust for a portion of a user's hip extension motion. The robotic device of claim 2 .

4. The powered exoskeleton includes first and second lateral pelvic plates. The robotic device of claim 3 .

5. the adjustable vest comprising one or more straps configured to reduce rotation of each lateral pelvic plate during actuation of the powered exoskeleton; The robotic device of claim 4 .

6. the adjustable vest includes a first strap extending horizontally between a first upper end of a first lateral pelvic plate and a second upper end of a second lateral pelvic plate; The robotic device of claim 4 .

7. The adjustable vest further includes a second strap extending horizontally between the first lower end of the first lateral pelvic plate and the second lower end of the second lateral pelvic plate. The robotic device of claim 6.

8. The adjustable vest further comprises a pair of adjustable shoulder straps. The robotic device of claim 7.

9. first and second lateral pelvic plates; at least one strap configured to reduce rotation of each side pelvic plate and configured to support a lumbar region of a user of the back support device; Equipped with Rear support device.

10. and further comprising an adjustable vest coupled to the at least one strap. The back support device of claim 9.

11. and further comprising a plurality of straps forming an adjustable vest. The back support device of claim 9.

12. Each lateral pelvic plate is configured to support use of a motor to assist a user of the back support device in lifting an object. The back support device of claim 9.

13. Each side pelvic plate is configured to support the use of a motor to assist a user of the back support device in pushing against an object. The back support device of claim 9.

14. Each lateral pelvic plate is configured to be coupled to a passive exoskeleton. The back support device of claim 9.

15. a semi-passive exoskeleton coupled to the first and second lateral pelvic plates; The semi-passive exoskeleton comprises a power source that can be activated or deactivated. The back support device of claim 9.

16. a powered exoskeleton coupled to the first and second lateral pelvic plates; The powered exoskeleton comprises a power source and powered actuators. The back support device of claim 9.

17. further comprising first and second motor devices coupled to the first and second lateral pelvic plates, respectively; Each motor device is A frame, A motor mounted on the frame; a screw rotatably mounted to the frame; a translation block threadedly coupled to the screw; a lever arm pivotally coupled to the frame; Equipped with the translation block is configured to contact the lever arm to rotate the lever arm about a pivot axis. The back support device of claim 9.

18. the translation block is configured to move from a first mode in which the translation block engages the lever arm to a second mode in which the lever arm is free to rotate about the pivot axis.

20. The back support device of claim 17.

19. a lower limb prosthesis coupled to the lever arm; The lower limb orthosis is configured to rotate with the lever arm about the pivot axis.

20. The back support device of claim 17.

20. Positioning a first lateral pelvic plate against a first side of the user's hips; positioning a second lateral pelvic plate on a second side of the user's hips; positioning a first strap to extend horizontally between a first upper end of the first side pelvic plate and a second upper end of the second side pelvic plate, the first strap extending across a waist of a user; Adjusting the length of the first strap; positioning a second strap to extend horizontally between a first lower end of the first side pelvic plate and a second lower end of the second side pelvic plate, the second strap extending across the user's hips; Adjusting the length of the second strap; contracting the user's hips; Extending the user's hips with the support of the wearable robotic device; and Including, A method for using a wearable robotic device.

Images