Walkabout Exoskeleton

Abstract

The walkabout exoskeleton system can include an exoskeleton and a walkabout platform that supports the exoskeleton. The walkabout platform can be maneuverable over a ground surface. The walkabout platform can include a transport system operable with the walkabout platform. The transport system can be operable to facilitate movement of the walkabout platform over a ground surface. The walkabout platform also includes a bipedal locomotion zone defined at least in part by the walkabout platform. The bipedal locomotion zone can provide clearance for bipedal locomotion of an operator wearing the exoskeleton.

Description

[Technical Field]

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS This application claims the benefit of U.S. Provisional Application No. 63 / 437,989, filed January 9, 2023, entitled "WALK-ABOUT EXOSKELETON," which is incorporated herein by reference in its entirety. [Background technology]

[0002] A wide variety of exoskeletons, humanoids, robotic arms, and other robots or robotic systems exist to perform tasks in a variety of situations and application fields. Robotic exoskeletons are wearable electromechanical devices developed specifically as augmentation devices to assist, enhance, or amplify the wearer's physical performance, or as prosthetics for gait rehabilitation or mobility assistance. Exoskeletal robots have potential applications in several different fields and can be used by a variety of different operators. While many exoskeleton systems include an upper body exoskeleton portion supported by a lower body exoskeleton portion (e.g., one with two legs) that interfaces with the lower body of a human operator after the operator dons the exoskeleton, lower body exoskeletons are often complex in their configurations, with multiple actuable joints facilitating multiple degrees of freedom of movement that mimic the kinematics of a human operator as closely as possible due to their physical coupling to the human operator, i.e., the legs of the human operator. This level of complexity within the lower body exoskeleton portion is often unnecessary. In practice, the types of amplified or assisted movements and / or maneuvers that a human operator may need to perform with the lower body exoskeleton portion to accomplish one or more tasks with the upper body exoskeleton are often simple, thus obviating the need for a complex lower body exoskeleton portion in that it has significantly greater capabilities than are required. Another way of saying this is that a complex exoskeleton may have the actuable joints, degrees of freedom, and various components, elements, and systems required to operate the lower body exoskeleton portion when interfaced with a human operator that are only there due to the complex configuration of the lower body exoskeleton that enables the human interface. In reality, however, such complexity may be excessive for many tasks that need to be performed using the upper body exoskeleton portion.A complex lower body exoskeleton portion can certainly serve as support for the upper body exoskeleton portion when interfaced with the user's upper body, and can perform simple amplified movements and / or maneuvers, such as facilitating the operator's amplified lifting, crouching, bending, walking from one place to another, etc., but may do so utilizing all available systems, components, degrees of freedom, etc. present within the lower body exoskeleton portion. Additionally, it is recognized that in some cases, the lower body exoskeleton portion may simply serve as support for the upper body exoskeleton portion, etc., for tasks that can be performed and accomplished using only the upper body exoskeleton portion. Complex lower body exoskeletons can be expensive and also cumbersome due to the direct interface between the lower body exoskeleton and the human operator, especially when performing lower body movements and / or maneuvers, such as walking, crouching, or even prolonged standing. Summary of the Invention [Means for solving the problem]

[0003] An initial summary of the inventive concepts is presented below, followed by a more detailed description of specific examples. This initial summary is intended to assist the reader in understanding the examples more quickly, but is not intended to identify key features or essential features of these examples, nor is it intended to limit the scope of the claimed subject matter.

[0004] According to one example according to the present disclosure, a walkabout exoskeleton system can include an exoskeleton and a walkabout platform that supports the exoskeleton. The walkabout platform can be maneuverable over a ground surface. The walkabout platform can include a transport system operable with the walkabout platform. The transport system can be operable to facilitate movement of the walkabout platform over a ground surface. The walkabout platform can also include a bipedal locomotion zone. The bipedal locomotion zone can be defined, at least in part, by the walkabout platform, which can provide clearance for bipedal locomotion of an operator wearing the exoskeleton.

[0005] In some examples, the walkabout platform may further include a walkabout base and a mast extending upward from the walkabout base. The exoskeleton may be mounted to the mast to position the operator within the bipedal locomotion zone when wearing the exoskeleton. In one example, the exoskeleton may be coupled to the mast. In one example, the exoskeleton may be vertically adjustable along the mast.

[0006] In some examples, the exoskeleton may further comprise a fuselage member and a mast interface member. The fuselage member and the mast interface member may rotate relative to one another about a rotational axis at the fuselage forward joint. In one example, the relative rotation of the fuselage member and the mast interface member about the axis may be powered by an actuator. In one example, a winch system may be coupled between the mast and the exoskeleton. The winch system may be operable to rotate the fuselage member relative to the mast interface member about the rotational axis at the fuselage forward joint.

[0007] In some examples, the bipedal locomotion zone includes an area defined by a plurality of ground-contacting rollers of the transport system. The ground-contacting rollers may be disposed on the walkabout base. The center of gravity of the walkabout exoskeleton system may be maintained within this area to avoid tipping during use.

[0008] In some examples, the Walkabout exoskeleton system can include a power source supported by the Walkabout base. The power source can be supported in a position operable to maintain a center of gravity within an area to avoid tipping during use. The power source can be supported by the Walkabout in a position behind the operator.

[0009] In some examples, the walkabout base can include a support bridge and first and second side members extending outward from the support bridge below the exoskeleton. The first and second side members can define, at least in part, a bipedal locomotion zone. The first and second side members can each include a front wheel and a rear wheel.

[0010] In some examples, the walkabout exoskeleton system can further comprise a detachable counterweight operable to selectively attach to the walkabout base. The counterweight can include one or more batteries.

[0011] In some examples, the walkabout exoskeleton system can further include an extendable arm supported by the walkabout base. The extendable arm can be extendable and retractable in a direction away from the first and second side members. The actuator can be operable to facilitate extension and retraction of the extendable arm.

[0012] In some examples, the walkabout exoskeleton system can further include first and second forks extending from the first and second side members, respectively. The first and second forks can be actuable to carry a load. The first and second forks can be operable to move from a stowed position to a deployed position. In one example, the first and second forks can be retractable into the first and second side members. In one example, the first and second forks can be rotatable relative to the first and second side members to move from the stowed position to the deployed position.

[0013] In some examples, the first and second side members can each include a retractable extension operable to selectively extend and retract from the first and second side members, respectively. The ground-contacting rollers can include front and rear ground-contacting rollers. The front ground-contacting roller can be disposed on the retractable extensions of the first and second side members, respectively. In some implementations, the walkabout base can include an actuator in each of the first and second side members that can be operable to extend and retract the retractable extension. In other implementations, the front ground-contacting roller can each include an actuator that can be operable to extend and retract the retractable extension.

[0014] In some examples, the transport system may be operatively integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, and the remote navigation system may be configured to facilitate the walkabout platform moving about on a surface in at least one of a ridden mode, a remote mode, or an autonomous mode.

[0015] In another example according to the present disclosure, a walkabout platform operable to support a wearable exoskeleton is provided. The walkabout platform may include a transport system operable to facilitate movement of the walkabout platform over a ground surface, and a bipedal locomotion zone defined at least in part by the walkabout platform that provides clearance for bipedal locomotion of an operator.

[0016] In some examples, the transport system may be operatively integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, and the remote navigation system may be configured to facilitate the walkabout platform moving about on a surface in at least one of a ridden mode, a remote mode, and an autonomous mode.

[0017] In another example according to the present disclosure, a walkabout exoskeleton system can include an exoskeleton and a walkabout platform that supports the exoskeleton. The walkabout platform can be maneuverable on a ground surface. The walkabout platform can include a transport system operable with the walkabout platform. The transport system can be operatively integrated with a remote navigation system via an interface that connects the walkabout exoskeleton to the remote navigation system. The remote navigation system can be configured to facilitate the walkabout platform moving about on a ground surface in an autonomous mode.

[0018] In some examples, the transport system may also be configured to facilitate the walkabout platform moving about on a surface in a passenger mode or an autonomous mode.

[0019] The features and advantages of the present invention will become apparent from the following detailed description, taken in conjunction with the accompanying drawings, which together illustrate, by way of example, features of the present invention. [Brief explanation of the drawings]

[0020] [Figure 1] FIG. 1 is a front isometric view of a walkabout exoskeleton system according to an example of the present disclosure. [Figure 2] FIG. 2 is a side view of the walkabout exoskeleton system shown in FIG. 1. [Figure 3] FIG. 2 is a rear isometric view of the walkabout exoskeleton system shown in FIG. 1. [Figure 4] FIG. 2 is a front isometric view of the walkabout exoskeleton system shown in FIG. 1 with the operator in a crouched position. [Figure 5] FIG. 1 is a schematic diagram illustrating an interface between a mast and an exoskeleton of a walkabout exoskeleton system according to an example of the present disclosure. [Figure 6A] FIG. 1 illustrates a side view of a walkabout exoskeleton system with an extendable counterweight according to an example of the present disclosure. [Figure 6B] 6B is a schematic diagram of the extendable arm of the extendable counterweight of FIG. 6A. FIG. [Figure 7] FIG. 2 is a schematic diagram of a user input interface associated with the transport system of the walkabout exoskeleton system shown in FIG. 1. [Figure 8A] FIG. 1 is a side view illustrating a walkabout exoskeleton system with deployable forks according to an example of the present disclosure. [Figure 8B] FIG. 1 is a side view illustrating a walkabout exoskeleton system with deployable forks according to an example of the present disclosure. [Figure 8C] FIG. 8C is a close-up view of the front of a side member of the walkabout exoskeleton system shown in FIGS. 8A and 8B. [Figure 9A] FIG. 1 is a side view illustrating a walkabout exoskeleton system with deployable forks according to an example of the present disclosure. [Figure 9B]FIG. 1 is a side view illustrating a walkabout exoskeleton system with deployable forks according to an example of the present disclosure. [Figure 9C] FIG. 9C is a close-up view of the front of a side member of the walkabout exoskeleton system shown in FIGS. 9A and 9B. [Figure 10] FIG. 1 is an isometric view of a walkabout exoskeleton system with retractable extensions according to an example of the present disclosure. [Figure 11] FIG. 1 is an isometric view of a walkabout exoskeleton system with track rollers according to an example of the present disclosure. [Figure 12] FIG. 1 is an isometric view of a walkabout exoskeleton system with a deployable riding surface according to an example of the present disclosure. [Figure 13] FIG. 13 is a front view of the walkabout exoskeleton system shown in FIG. 12. [Figure 14] FIG. 13 is a front view of the walkabout exoskeleton system shown in FIG. 12 with the riding surface in the deployed position. [Figure 15] FIG. 13 is an isometric view of the walkabout exoskeleton system shown in FIG. 12 with retractable extensions. [Figure 16] FIG. 1 is a side view of a walkabout exoskeleton system with a forward torso flexion. [Figure 17] FIG. 17 is a side view of the walkabout exoskeleton system shown in FIG. 16 with the operator in a crouched position. [Figure 18] FIG. 1 is a side view of a walkabout exoskeleton system in which the forward torso is supported by a winch system. [Figure 19A] FIG. 1 illustrates a walkabout exoskeleton with a torso flexion and a riding surface or platform. [Figure 19B] FIG. 1 illustrates a walkabout exoskeleton with a torso flexion and a riding surface or platform. DETAILED DESCRIPTION OF THE INVENTION

[0021] Reference will now be made to illustrative examples, and specific terminology will be used herein to describe the same, nevertheless it will be understood that no limitation of the scope of the invention is thereby intended.

[0022] As used herein, the term "substantially" refers to the complete or nearly complete extent or degree of an action, characteristic, quality, state, structure, item, or result. For example, a "substantially" enclosed object means an object that is completely enclosed or nearly completely enclosed. The precise acceptable degree of deviation from absolute completeness may, in some cases, depend on the specific context. Generally speaking, however, the proximity to completeness is such that the same overall result would be obtained if absolute and total completeness were obtained. The term "substantially" is equally applicable when used in a negative sense, referring to the complete or nearly complete absence of an action, characteristic, quality, state, structure, item, or result.

[0023] As used herein, the term "walkabout" refers to the type and characteristics of a lower support system for an upper body exoskeleton, i.e., a walkabout platform, capable of locomotion and movement on the ground or other surface corresponding to operator locomotion and movement by an operator wearing the upper body exoskeleton. The operator is interfaced (e.g., coupled) with the upper body exoskeleton, and while wearing it, the operator's legs are not coupled to the walkabout platform. In other words, the operator can use their own power to achieve locomotion and other movement on the ground or other surface with the operator's legs decoupled from the walkabout platform, and the walkabout platform will follow. Operator locomotion and movement may be performed within a bipedal locomotion zone defined, at least in part, by one or more structural elements of the walkabout platform.

[0024] To further explain the current technology, examples are provided with reference to the figures. Referring to FIGS. 1-4, a walkabout exoskeleton system 100 is presented. The walkabout exoskeleton system 100 includes an exoskeleton 102 (e.g., an upper exoskeleton) and a walkabout platform 104 that supports the exoskeleton around the ground or a ground-like surface. One advantage of the walkabout platform 104 is that it provides a lower support system for an upper body exoskeleton portion that does not directly interface with or couple to the legs of a human operator, thereby eliminating the need to match, or even closely match, the kinematics of the legs of a human operator, thus reducing the complexity of the walkabout platform 104 compared to other lower body exoskeleton portions that interface with the legs of a human operator and include various actuated joints and associated degrees of freedom that resemble or match the kinematics of the lower body of a human operator.

[0025] The exoskeleton 102 may be any suitable robotic exoskeleton operable to amplify the movements and / or tasks of an operator wearing the exoskeleton 102. Accordingly, the illustrated exoskeleton 102 is not intended to be limiting in any way unless otherwise stated herein. As in the illustrated example, the exoskeleton 102 may include multiple robotic limbs, such as a right robotic limb 113a that may correspond to the operator's right arm and a left robotic limb 113b that may correspond to the operator's left arm. The right robotic limb 113a may amplify movements performed by the operator's right arm, and the left robotic limb 113b may amplify movements performed by the operator's left arm.

[0026] The right robotic limb 113a and the left robotic limb 113b may each include structural support members in the form of limb members 114a, 114b, and 114c that can move in one or more degrees of freedom relative to one another via joints 115a and 115b to which the limb members 114a, 114b, and 114c connect. The degrees of freedom of movement of the exoskeleton 102 may correspond to the respective degrees of freedom of human movement. The exoskeleton 102 may include various joint actuation systems (e.g., including one or more actuators, transmissions, clutches, or other components) for driving relative rotation between two or more of the limb members 114a, 114g, and 114c based on input from an operator (e.g., the operator's arm movement) and amplifying the operator's movement. Each of the right robotic limb 113a and the left robotic limb 113b may include an end effector 114d. The end effectors shown are exemplary, and any suitable end effector may be utilized based on the desired task to be performed by the walkabout exoskeleton system 100. Such end effectors may include a robotic hand, a gripper, a tool, a magnet, a camera, or the like, or any combination thereof.

[0027] The exoskeleton 102 may include a support bridge 116, and the right robotic limb 113 a and the left robotic limb 113 b may each be attached to and extend from the exoskeleton support bridge 116. For example, the right robotic limb 113 a and the left robotic limb 113 b may be attached to the support bridge at respective joints. Joint assemblies may be provided at the joints between the robotic limbs 113 a, 113 b and the support bridge 116 to facilitate relative movement between the robotic limbs 113 a, 113 b and the support bridge 116. The joint assemblies may include, for example, one or more actuators, transmissions, or connectors that facilitate relative movement between the robotic limbs 113 a, 113 b and the support bridge 116. The support bridge 116 may be designed and configured to be supported at a location behind the operator operating the walkabout exoskeleton system 100, such as around the operator's shoulders and upper back. The exoskeleton support bridge 116 may be operable to connect to and be supported by the walkabout platform 104, as described in more detail below.

[0028] The walkabout platform 104 may include a walkabout base 108 that supports a mast 110. The walkabout base 108 and mast may be integrally formed as a single piece, or the mast 110 may be attached to the walkabout base through any suitable connection mechanism, such as welding, adhesives, fasteners, etc. The mast 110 may extend upward from the walkabout base 108, be supported around the walkabout base 108, and be positioned behind an operator operating the walkabout exoskeleton system 100. The mast 110 may be operable to support the exoskeleton 102. In one example, the exoskeleton 102 is mounted or attached to the mast 110 via a support bridge 116 or the like, thereby allowing an operator wearing the exoskeleton 102 to be positioned within a bipedal locomotion zone 106 defined at least in part by the walkabout base 108.

[0029] In some examples, the exoskeleton 102 may be mounted or attached to the mast 110, allowing the exoskeleton 102 to move in one or more degrees of freedom relative to the mast 110. In one example, the exoskeleton 102 may be movably mounted to the mast 110 so that it can move vertically, or up and down (as shown in FIGS. 1-4 ), relative to the mast 110. To this end, in one example, the mast 110 may include a linear actuator 112 that facilitates vertical movement of the exoskeleton 102 relative to the mast 110. The linear actuator 112 may be any suitable actuator, such as a mechanical linear actuator (e.g., a screw or chain drive), a pneumatic linear actuator, or a hydraulic linear actuator. Movement of the exoskeleton 102 relative to the mast 110 can facilitate operators of various heights using the walkabout exoskeleton system 100. Additionally, movement of the exoskeleton 102 relative to the mast 110 may also enable the operator to move to different positions, such as a lower position (e.g., a crouched position (such as that shown in FIG. 4)), so that the operator can perform necessary or desirable tasks. For example, movably coupling the exoskeleton 102 to the mast 110 may allow the operator to lower their body from a standing position to a lower position and perform tasks with the aid of the exoskeleton 102 that cannot be performed from a standing position, such as lifting items from the ground, loading items onto lower shelves, and countless other tasks.

[0030] FIG. 5 illustrates a schematic of a mast-exoskeleton interface system 171 that provides an interface between the mast 110 and the exoskeleton 102 according to one example of the present disclosure. Referring now to FIGS. 1-5 , in some examples, the exoskeleton 102 is mounted to the mast 110 so as to be able to move in one or more degrees of freedom, as described above. As shown in FIGS. 1-5 , the exoskeleton 102 may be configured to move vertically up or down relative to the mast 110. The interface system 171 may facilitate relative movement between the mast 110 and the exoskeleton 102. For example, the mast-exoskeleton interface system 171 may include the linear actuator 112 described above. The exoskeleton 102 may be connected to the mast 110 via the linear actuator 112. As described above, the linear actuator 112 may be any suitable linear actuator, now known or later developed. The linear actuator 112 may be configured based on the expected load resulting from both the weight of the exoskeleton 102 and the weight of the load to be carried by the exoskeleton 102. That is, the type and size of the linear actuator 112 may be selected to be suitable for accepting the maximum expected load (e.g., the combined load of the weight of the exoskeleton 102 and the maximum expected load to be carried by the exoskeleton 102).

[0031] In some examples, the linear actuator 112 may include a backdrivable actuator (i.e., an actuator that moves in a reverse direction when acted upon by an external force and requires continuous power to maintain its position in the presence of the external force). In some examples, the linear actuator 112 may include a non-backdrivable actuator (i.e., an actuator that maintains its position in the absence of power in the presence of an external force). In some applications, a backdrivable actuator may provide increased responsiveness compared to a non-backdrivable actuator. In some applications, a non-backdrivable actuator may reduce the power requirements for the actuator due to its ability to maintain its position in the absence of power.

[0032] In one example, the mast exoskeleton interface system 171 can include passive gravity compensation to help support the weight of the exoskeleton 102 and a load carried by the exoskeleton 102. For example, the mast exoskeleton interface system 171 can include a passive actuator 178. A passive actuator, as used herein, can include an actuator that is not powered and provides a reaction force in response to a load applied to the passive actuator. For example, the passive actuator can include a mechanical spring, a pneumatic passive actuator (i.e., an air spring), or the like. The passive actuator 178 can be configured to provide gravity compensation to support the weight of the exoskeleton 102 and, optionally, a load carried by the exoskeleton 102. The passive actuator can be attached to the exoskeleton 102 in parallel with the linear actuator 112, as shown in FIG. 5.

[0033] For example, the passive actuators 178 may be configured to compensate for the weight of the exoskeleton 102. In other words, the passive actuators 178 may be configured such that the passive actuators 178 can provide a reaction force equal to the weight of the exoskeleton 102. Thus, the passive actuators 178 may be configured to maintain the vertical position of the exoskeleton 102 relative to the mast 110 without assistance from the linear actuators 112. Because the passive actuators 178 provide the force necessary to support the weight of the exoskeleton, the linear actuators 112 need only be sized and configured to move the exoskeleton 102 vertically and support the weight of the load carried by the exoskeleton 102. In this manner, the power required from the linear actuators 112 may be less than when the passive actuators 178 are not incorporated into the mast exoskeleton interface system 171. This may result in energy savings and allow smaller, lower-power linear actuators to be incorporated into the mast exoskeleton interface system 171 compared to when the passive actuators 178 are not used.

[0034] In another example, the passive actuators 178 may be configured to compensate for at least a portion of the weight of the exoskeleton 102 and the weight of the maximum expected load to be supported by the exoskeleton 102. In other words, the passive actuators 178 may be configured to provide a reaction force equal to at least a portion of the weight of the exoskeleton 102 and the load carried by the exoskeleton 102. In this example, additional energy savings may be achieved when the exoskeleton 102 carries a load because the passive actuators 178 can support a portion of the weight and load of the exoskeleton 102.

[0035] When there is no load carried by the exoskeleton 102, the linear actuators 112 may need to work against the passive actuators 178 to maintain the unladen exoskeleton 102 in a given position relative to the mast 110. Therefore, determining the strength of the passive actuators 178 may be based on the expected percentage of time the exoskeleton 102 will be operating while supporting a given load. In the above example, the passive actuators 178 are configured to support the weight of the exoskeleton 102 or the weight of the exoskeleton 102 and a load, although this is not intended to be limiting. The passive actuators 178 may be configured to provide any desired reaction force based on a given application, such as a reaction force less than the weight of the exoskeleton.

[0036] While only a single passive actuator 178 is shown in FIG. 5 , it should be noted that multiple passive actuators may be used. For example, a first passive actuator configured to compensate for the weight of the exoskeleton may be provided. A second passive actuator may also be provided, configured to compensate for at least a portion of the weight of an expected load. In some examples, one or more of the passive actuators may be activated or deactivated. For example, a second passive actuator configured to compensate for at least a portion of the weight of an expected load may be configured to be activated or deactivated depending on whether a load is carried by the exoskeleton 102. When a load is carried by the exoskeleton 102, the second passive actuator may be activated to provide gravity compensation for the load. When the exoskeleton 102 is not carrying a load, the second passive actuator may be deactivated to avoid providing an extra reaction force greater than the weight of the exoskeleton 102. One or more of the actuators may be activated and deactivated via any suitable mechanism, such as a clutch, a control valve (in the case of a pneumatic actuator), or the like.

[0037] Control of the linear actuators 112, and optionally control of the activation and deactivation of the passive actuators 178, may be provided by a control unit 172 of the mast exoskeleton interface system 171. The control unit 172 may include a processor and one or more non-transitory storage media capable of storing control instructions executable by the processor. The control unit 172 may send control instructions to the linear actuators 112 to power the linear actuators 112 such that the linear actuators 112 are actuated to move the exoskeleton vertically with respect to the mast 110. The control unit 172 may also send control instructions to the passive actuators 178 to activate or deactivate them when desired.

[0038] The control commands generated by the control unit 172 to operate the linear actuators 112 may be based on one or more inputs received by the control unit 172. For example, the mast exoskeleton interface system 171 may include sensors 174 strategically supported and positioned to sense an operator wearing the exoskeleton 102. For example, the sensors 174 may be deployed to measure or determine the vertical movement of the operator, such as when the operator bends down to a crouching position or rises from a crouching position. In some examples, the sensors 174 may be attached to, integrated with, or otherwise operable with a harness 130 coupled to the exoskeleton 102 and sized and configured to interface with the operator. In the illustrated example, the harness 130 may be sized and configured to be worn around the shoulders and torso of the operator.

[0039] The sensor 174 may include any suitable kind or type of sensor. In one example, the sensor 174 may comprise a force sensor, such as a six-degree-of-freedom force-moment sensor, strategically positioned on and supported by the harness 130, which may be utilized to sense the operator's movements via the harness 130. In another example, the sensor 174 may include a position sensor. The position sensor may be a displacement sensor that detects the operator's position when the operator stands up or crouches. Of course, while a single sensor 174 is shown in FIG. 5, it should be understood that a combination of multiple sensors may be used to provide input to the control unit 172.

[0040] In another example, the mast exoskeleton interface system 171 may include a user input device 176 with which the operator can manually interact to initiate and control movement of the exoskeleton 102 relative to the mast 110. The user input device 176 may provide input to the control unit 172 that facilitates movement of the exoskeleton 102 relative to the mast 110. The user input device 176 may be configured to provide the operator with the ability to manually send control commands to the control unit 172 that facilitate movement of the exoskeleton 102 relative to the mast 110 (i.e., the operator may directly control movement of the exoskeleton 102 relative to the mast 110 by manipulating the input device 176).

[0041] For example, the input device 176 may include a wireless transceiver operable to wirelessly transmit and receive information from a remote device, such as a mobile phone 131 or the like. The transceiver may be operable to wirelessly receive and transmit information via any suitable wireless protocol, such as Bluetooth, Wi-Fi, NFC, or the like. The exoskeleton 102 may have, for example, a mounting receiver for the mobile phone 131. An operator may operate the mobile phone 131, which may be running an application operable to wirelessly transmit information to the wireless transceiver. The information may include control instructions for moving the exoskeleton to a desired height relative to the mast 110. In another example, the input device 176 may include a wired transceiver capable of connecting to a remote device via a wired connection. For example, the exoskeleton 102 may include a mobile device dock to which the mobile phone 131 can connect via a wired connection. The input device 176 may also include other devices for providing input, such as a joystick, keyboard, or other known input devices. Although one input device 176 is shown in FIG. 5, it should of course be understood that a combination of input devices may also be used.

[0042] The above-described features of the mast exoskeleton interface system 171 may be connected to a power source 120, such as a battery, that powers the walkabout exoskeleton system 100. The power source 120 may advantageously be housed on the walkabout exoskeleton system 100 to maintain balance of the system, as described in more detail below.

[0043] When an operator moves vertically relative to the mast 110 while wearing the exoskeleton 102 of the walkabout exoskeleton system 100, the operator can cause the mast exoskeleton interface system 171 to move the exoskeleton 102 in a desired vertical direction and at a desired speed. For example, the operator can wear the harness 130 in conjunction with wearing the exoskeleton 102. When the operator initiates vertical movement, such as standing up or crouching, the sensor 174 can detect the operator's movement and send information about the operator's movement to the control unit 172 of the mast exoskeleton interface system 171. The control unit 172 can cause the linear actuator 112 to move the exoskeleton 102 based on the received information.

[0044] In one example, the sensor 174 can include a six-degree-of-freedom force-moment sensor as described above. The sensor 174 can be operable to detect forces caused by the operator's movement when the operator begins to stand up or crouch. The sensor 174 can detect the magnitude and direction of the force, which can correspond to the operator's acceleration. The control unit 172 can receive information regarding the forces sensed by the sensor 174. Based on the received information, the control unit 172 can send commands to the linear actuator 112 to cause the exoskeleton 102 to move in the same direction and at the same speed as the operator. In one example, the control unit 172 can command the linear actuator 112 to move the exoskeleton relative to the mast in a manner that continuously attempts to cancel the forces sensed by the sensor 174.

[0045] In another example, where the sensor 174 includes a position sensor, such as a displacement sensor, the sensor 174 can detect the direction and magnitude of a displacement caused by the operator beginning to stand up or crouch. The control unit 172 can receive information regarding the displacement of the sensor 174. Based on this information, the control unit 172 can send commands to the linear actuator 112 to cause the exoskeleton 102 to move in the same direction and at the same speed as the operator. For example, the control unit 172 can instruct the linear actuator 112 to move the exoskeleton 102 relative to the mast 110 in a manner that continuously attempts to cancel the displacement sensed by the sensor 174.

[0046] In another example, an operator can directly control the movement of the walkabout platform 104 via user input 176. For example, the operator can use the mobile device 131 to send control commands to the control unit 172 via the wired or wireless input device 176. Based on the input received at the control unit 172, the control unit 172 can send control commands to the actuators 112 to move the walkabout exoskeleton vertically according to the input provided by the operator. The operator can also manually control the movement of the walkabout exoskeleton 102 relative to the mast 110 via another input device, such as a joystick, keyboard, or the like.

[0047] Referring again to FIGS. 1-4, the walkabout base can include a first side member 124a and a second side member 124b. The first side member 124a and the second side member 124b can be connected by a support bridge 122. The support bridge 122 can separate the first side member 124a and the second side member 124b and can provide a support structure for the mast 110. In the example shown in FIGS. 1-4, the first side member 124a and the second side member 124b can each include a vertical portion 126 and a horizontal portion 128 connected to the support bridge 122. The support bridge 122 can be positioned at any location with respect to the ground. In one example, the vertical portion 126 may be configured to position and height the support bridge 122 behind the operator's knees, thereby reducing the likelihood that the support bridge 122 will interfere with the operator's movement while operating the walkabout exoskeleton system 100, such as during the operator's walking cycle.

[0048] The horizontal portion 128 can extend from the bottom of the vertical portion 126 along the side of the operator. That is, the horizontal portion 128 can extend from behind the operator, where the horizontal portion 128 connects with the vertical portion 126, toward the front of the operator. The horizontal portion 128 can include front rollers 118 and rear rollers 119. For purposes of this description, front refers to the direction the operator faces while wearing the exoskeleton 102, and rear refers to the direction opposite the direction the operator faces. The front rollers 118 and rear rollers 119 can be any suitable type of roller that facilitates the walkabout exoskeleton system moving about on the ground. For example, the rollers 118, 119 can include wheels or tracks. In some examples, instead of front rollers 118 and rear rollers 119, the rollers can include a single roller in the form of a track on each side member 124a, 124b that extends along the length of the horizontal portion 128 (see FIG. 11 ). The rollers 118, 119 can comprise wheels or tracks and can be omnidirectional wheels or omnidirectional tracks. Each of the front rollers 118 and rear rollers 119 can be actuated to move the walkabout exoskeleton system 100, as described in detail below. In some examples, only one of the front rollers 118 or rear rollers 119 can be actuated while the other of the front rollers 118 or rear rollers 119 can be passive (i.e., not actuated but rotates freely). In some examples, all of the rollers 118, 119 are passive, and the walkabout exoskeleton system 100 can be moved by operator force or through other external forces acting on the exoskeleton system 100.

[0049] The side members 124 a, 124 b and the support bridge 122 can define a bipedal locomotion zone 106. The bipedal locomotion zone 106 can include the space between the horizontal portions 128 of the side members 124 a, 124 b and in front of the support bridge 122, within which an operator wearing the exoskeleton 102 can walk, run, or otherwise move about on a ground surface. In other words, the bipedal locomotion zone 106 can include the space between the front rollers 118 and the rear rollers 119, as shown in FIGS. 1-4 . Thus, while the operator is wearing the exoskeleton 102, the operator is positioned within the bipedal locomotion zone 106.

[0050] The vertical portions 126 of the side members 124a, 124b may be integrally formed with or coupled to the horizontal portions 128. The vertical portions 126 may further be attached to or integrally formed with the support bridge 122. The vertical portions 126 may be sized and configured to receive and support a power source 120, such as a battery. Additionally, the vertical portions 126 may be positioned behind the bipedal locomotion zone 106. This places the power source 120 (e.g., a battery) behind the bipedal locomotion zone 106. Typically, the power source 120, such as a battery, may have a relatively large weight. Therefore, when the power source 120 is disposed on the vertical portions 126, the power source 120 can act as a counterweight for the walkabout exoskeleton system 100. In other words, the power source 120 may help stabilize the walkabout exoskeleton system 100 to prevent it from tipping over during use. This is because the exoskeleton 102 and the operator using the exoskeleton 102 will pick up or otherwise interact with a load in front of the operator. Having the weight of the vertical portion 126 and power source 120 behind the operator can provide a torque that counteracts the torque caused by the weight of the exoskeleton 102 and the load carried by the exoskeleton 102 to prevent the walkabout exoskeleton system 100 from tipping over. Of course, the power source 120 can be disposed anywhere behind the operator during use, such as on the support bridge 122.

[0051] When the power source 120 is located as a counterweight at the rear of the walkabout exoskeleton system 100 or in a position behind the bipedal locomotion zone 106, the walkabout exoskeleton system 100 can maintain a center of gravity that falls within the area of ​​the bipedal locomotion zone 106 (i.e., the area between the front rollers 118 and rear rollers 119) even when the exoskeleton 102 is carrying a load (within predetermined specifications) in front of the operator. Because the power source 120 can act as a counterweight behind the bipedal locomotion zone 106, the walkabout exoskeleton system 100 can be operable to prevent tipping during operation by maintaining a center of gravity within the area of ​​the bipedal locomotion zone 106. For example, even when an operator wearing the exoskeleton 102 uses the robotic limbs 113 a, 113 b to carry a load in front of the operator, the walkabout exoskeleton system 100 can maintain its center of gravity within the bipedal locomotion zone 106 and avoid tipping due, at least in part, to the location of the power source 120 (e.g., a battery) behind the bipedal locomotion zone 106 in the vertical portion 126 of the side member, which acts as a counterweight to the load carried by the exoskeleton 102. This is because the weight of the power source 120 behind the bipedal locomotion zone creates a torque acting on the walkabout platform 104 and the walkabout exoskeleton system 100 that acts in the opposite direction to the torque caused by the load carried by the exoskeleton 102. Thus, the center of gravity is maintained within the bipedal locomotion zone (or the area defined by the front and rear rollers 118, 119), preventing tipping.

[0052] In some examples, the power source 120 may be removable from the vertical portions 126 of the side members 124a, 124b. Thus, the power source 120 may be easily replaced with a new power source, for example, to quickly switch from a depleted battery to a fully charged battery. In some examples, if even more counterweight is desired for a particular application, additional counterweights may be provided that may be attachable to the walkabout base 104. For example, additional power sources 120 may be attached to the vertical portions 126 of the side members 124a, 124b or to the support bridge 122. In some examples, counterweights that are not power sources 120 may also be used. Furthermore, the specific shapes and configurations of the side members 124a, 124b, the support bridge 122, and the mast 110 are not limited to the precise features shown in FIGS. 1-4. It should be understood that modifications can be made to facilitate the bipedal locomotion zone accommodating the exoskeleton 102 and the operator and supporting structure behind the operator that provides counterweight to the load carried by the exoskeleton 102 to prevent tipping.

[0053] Other mechanisms for preventing tipping during use may also be incorporated into the walkabout exoskeleton system 100. For example, FIG. 6A shows a side view of the walkabout exoskeleton system 100 with a movable counterweight system 161 according to an example of the present disclosure. As shown, the exoskeleton system 100 may include a movable counterweight system 161 operable to move and alter the placement of the center of gravity of the walkabout exoskeleton system 100 during operation. The movable counterweight system 161 may operate to alter the center of gravity to reduce the likelihood of, or completely prevent, tipping of the walkabout exoskeleton system 100. In this example, the movable counterweight system 161 may provide an adjustable counterweight to counteract any loads or forces that would tend to cause the walkabout platform 104 to tip over. Such loads may vary depending on the task being performed using the walkabout exoskeleton system 100.

[0054] In general, the movable counterweight system 161 may include a support arm and a weighted mass or counterweight coupled to or otherwise supported by the support arm. The support arm may be configured to facilitate movement of the counterweight to one of a plurality of positions relative to the walkabout platform 104. The support arm may be moved in response to or in preparation for a load acting on the walkabout exoskeleton system 100.

[0055] In one example, as shown in FIGS. 6A and 6B , the movable counterweight system 161 can include a support arm in the form of a telescoping arm 162. The telescoping arm can be configured to support a counterweight. In some examples, the counterweight can include a power source 120, such as a battery. The telescoping arm 162 can be a multi-segment arm having a first segment 164 a, a second segment 164 b, and a third segment 164 c. Although three segments 164 a, 164 b, and 164 c are shown in FIGS. 6A and 6B , any number of segments can be incorporated into the telescoping arm 162. The segments 164 a, 164 b, and 164 c can be operable to move relative to one another, thereby telescopically extending and retracting the telescoping arm 162. The telescoping arms 162 may be coupled to the walkabout platform 104 in any arrangement suitable to accomplish its intended purpose of preventing tipping of the walkabout exoskeleton system 100 by providing a counterweight to any loads or forces that would tend to cause the platform 104 to tip over. In the illustrated example, the telescoping arms 162 may be coupled to the walkabout base 108, such as to the support bridge 122 or one of the side members 124. In some examples, two telescoping arms 162 (or more) may be utilized, with one arm attached to each of the side members 124 of the walkabout base 108.

[0056] The telescoping arm 162 may carry a counterweight, in this example, a power source 120, and may be operable to move the power source 120 to one of a plurality of positions relative to the walkabout platform 104 via movement of the telescoping arm 162. In one example, the illustrated power source 120 may be one or more batteries. However, this is not intended to be limiting in any way. Indeed, in other examples, the counterweight may include any type of weighted mass, or any type of object, device, system, or any combination thereof. In some examples, the counterweight may be attached to the outermost segment 164c of the telescoping arm 162. In some examples, the counterweight may be removable or replaceable. In some examples, the counterweight may be replaceable with another counterweight having at least one of a different size, type, or weight.

[0057] The support arm may be configured and operable to move along one or more degrees of freedom and one or more axes to position the counterweight at one of a plurality of positions relative to the walkabout platform 104. In one example, as shown, the telescoping arm 162 may be configured to extend and retract bidirectionally along an axis parallel to the ground. For example, as shown, the telescoping arm 162 may extend outward and away from the walkabout platform 104 along an axis parallel to the ground in a direction opposite to the direction in which the side members 124 extend (i.e., rearward, or in other words, away from the operator's back when the operator is wearing the exoskeleton 102). Similarly, the telescoping arm 162 may retract in the opposite direction along the same axis.

[0058] In this manner, the telescoping arm 162 can selectively advance and retract the counterweight 120 toward and away from the side members 124, thereby shifting the center of gravity of the walkabout exoskeleton system 100 in corresponding forward and rearward directions. By moving the counterweight in the forward and rearward directions, the counterweight can be positioned in one of multiple positions. This movement can enable the movable counterweight system 161 to provide an appropriate counter torque to counteract the torque caused by lifting a load by the exoskeleton 102 in front of the operator. By countering the torque from the load with the movable counterweight system 161, the center of gravity of the walkabout exoskeleton system 100 can be moved and maintained within the area defined by the side members 124. That is, the center of gravity can be moved or maintained on the support of the walkabout exoskeleton system 100 (i.e., rollers 118 and 119) to prevent tipping (e.g., the center of gravity can be maintained within a bipedal locomotion zone, such as bipedal locomotion zone 106 in Figures 1-4).

[0059] Advantageously, the movable counterweight system 161 (taking any form or configuration) may be adjustable. In other words, the position of the counterweight relative to the walkabout platform 104 can be changed to change the location of the center of gravity of the walkabout exoskeleton system 100. This can reduce the likelihood of, and / or completely prevent, the walkabout exoskeleton system 100 from tipping over.

[0060] In some examples, a support arm, such as the exemplary telescoping arm 162, may be manually actuated. In some examples, the support arm may be automatically actuated in response to a given load carried by the walkabout exoskeleton system 100. FIG. 6B is a schematic diagram of the exemplary telescoping arm 162 of the walkabout exoskeleton system 100 of FIG. 6A. With reference to FIGS. 6A and 6B, the telescoping arm 162 may include an arm controller 160 that controls the extension and retraction of the telescoping arm 162. In this example, the telescoping arm 162 may include the arm controller 160. However, the arm controller 160 may also be incorporated into one or more other controllers or control systems of the walkabout exoskeleton system 100. For example, the controller 160 may be incorporated into the same device as the control unit 172 described above, or may be a separate controller from the control unit 172.

[0061] The arm controller 160 may be communicatively coupled to the exoskeleton 102 such that the arm controller 160 can receive information regarding the position of one or more of the limbs 113 of the exoskeleton 102 and / or the weight of a load carried by the limbs 113 of the exoskeleton 102. Based on the information received by the arm controller 160, a torque caused by the load carried by the exoskeleton 102 (e.g., a torque acting on the exoskeleton system 100 based on the position of the limbs 113 and / or the weight of the load carried by the exoskeleton 102) can be determined. If the torque is determined to have the potential to cause the walkabout exoskeleton system 100 to tip over, the arm controller 160 may cause the telescoping arms 162 to extend outward in a rearward direction. This can then move the counterweight (in this example, taking the form of the power source 120) in a rearward direction from the first position to the second position to increase the counter torque provided by the counterweight 120 (i.e., by increasing the moment arm of the counterweight of the power source 120 with respect to the walkabout platform 104 of the walkabout exoskeleton system 100) to counteract the torque induced by the load acting on the exoskeleton 102 and the position of the limb 113. In some examples, the arm controller 160 can cause the telescoping arm 162 to fully extend or partially extend based on information received at the arm controller 160 regarding the torque induced by the load carried by the exoskeleton 102.

[0062] In one example, the telescoping arm 162 can include actuators 266a, 266b, and 266c associated with the segments 164a, 164b, and 164c, respectively. Each of the actuators 266a, 266b, and 266c can include a linear actuator or other type of actuator operable to extend or retract the associated segment 164a, 164b, and 164c, respectively. For example, the actuators 266a, 266b, and 266c can be any suitable linear actuator, including a mechanical linear actuator, a hydraulic linear actuator, a pneumatic linear actuator, or the like. Of course, other types of actuators besides linear actuators can be used to move the telescoping arm 162. Additionally, other types, different types, and any number of actuators can be used to move the support arm, depending on the configuration.

[0063] Those skilled in the art will appreciate that the support arm of movable counterweight system 161, shown as taking the form of telescoping arm 162, is not intended to be limiting in any way. Indeed, it is contemplated herein that the support arm of movable counterweight system 161 may be configured in many different ways and include many different types of mechanisms, components, etc. In fact, any type of mechanism, system, and assembly of components may be used to provide a support arm capable of moving a counterweight coupled to or otherwise supported (e.g., integrally formed with) the support arm between multiple positions relative to walkabout platform 104.

[0064] Referring again to FIGS. 1-4, the walkabout exoskeleton system 100 allows the operator to move about on a ground surface (e.g., walking, standing, crouching, etc.) under their own power while amplifying the operator's strength via the exoskeleton 102. FIG. 7 is a schematic diagram of a user input interface associated with the transport system of the walkabout exoskeleton system shown in FIG. 1. With reference to FIGS. 1-4 and 7, the walkabout platform 104 of the walkabout exoskeleton system 100 can include a transport system 150 comprising various components as described herein, the transport system 150 operable to initiate and control movement of the walkabout platform 104 on a ground surface via input from the operator. The walkabout platform 104 can also define, at least in part, a bipedal locomotion zone 106 that provides clearance for bipedal locomotion of the operator wearing the exoskeleton. The transport system 150 is communicatively coupled to a user input interface 151 so as to receive information from an operator of the walkabout exoskeleton system 100 and facilitate movement of the walkabout platform 104 over the ground.

[0065] In some implementations, the walkabout exoskeleton 100 can include an interface 197 that can connect the walkabout exoskeleton 100 to a remote navigation system 195. The remote navigation system 195 can enable the walkabout exoskeleton 100 to operatively communicate with the remote navigation system 195. For example, the interface 197 can be an interface that enables electronic communication between the remote navigation system 195 and the walkabout exoskeleton 100 (e.g., at least one of login communication, status communication, or operational control communication). In some cases, the interface 197 can be associated with or integrated with one or both of the user interface input 151 or the control unit 152.

[0066] In one example, the user input interface 151 can include multiple sensors 154a, 154b, 154n (where the letter "n" as used herein represents and conveys that any number of sensors (or other components, elements as specified herein) are contemplated). In one example, the multiple sensors 154a-n can be strategically supported and positioned to sense an operator wearing the exoskeleton 102. For example, one or more of the multiple sensors 154a-n can be deployed to measure or determine the speed and direction of the operator moving about on a ground surface. In some examples, one or more of the multiple sensors 154a-n can be attached to, integrated with, or otherwise operable with a harness 130 coupled to the exoskeleton 102 and sized and configured to interface with the operator. In the illustrated example, the harness 130 can be sized and configured to be worn around the shoulders and torso of the operator.

[0067] The plurality of sensors 154a-n can include any one or more of a variety of different types. In one example, one or more of the plurality of sensors 154a-n can include a force sensor. For example, one or more of the plurality of sensors 154a-n can include a six-degree-of-freedom force-moment sensor strategically positioned and supported on the harness 130. The six-degree-of-freedom force-moment sensor can be utilized to sense the operator's movements through the harness 130 as the operator walks, turns, crouches, and / or returns to a standing position. These operator movements can induce forces in the walkabout exoskeleton system 100 through the harness 130 due to the operator's movements relative to the walkabout exoskeleton system 100. The induced forces can be sensed by the six-degree-of-freedom force-moment sensor. A corresponding speed and direction can be determined based on the sensed operator movements.

[0068] In another example, one or more of the plurality of sensors 154a-n can include a position sensor. For example, the position sensor can be a displacement sensor strategically positioned and supported on the harness 130. The position sensor can be operable to detect the position of the operator as the operator moves about on the ground. Movement of the operator can induce displacements in the position sensor through the harness 130 in one or more degrees of freedom. This displacement is sensed by the displacement sensor, and a corresponding velocity and direction of the operator can be determined based on the displacements caused by the operator movement.

[0069] Other types of sensors can also be utilized to provide information to the transport system 150 to determine the speed and direction at which the operator moves about on the ground. For example, the sensor 154 can include one or more optical or ultrasonic sensors. The optical or ultrasonic sensors can be disposed and supported anywhere on the walkabout base 104, such as on the side members 124 and / or support bridge 122 of the walkabout base 104. The optical or ultrasonic sensors, along with an image processor and / or an ultrasonic energy processor, can be configured to detect the position and orientation of the operator within the bipedal locomotion zone 106. For example, the optical and / or ultrasonic sensors can detect the position and orientation of the operator's legs and / or feet within bipedal locomotion. When the operator takes a step, the optical and / or ultrasonic sensors can be configured to detect the direction and speed of the operator's legs / feet and can transmit corresponding processed information regarding the operator's movement, including the direction and speed within the bipedal locomotion zone 106, to the transport system 150.

[0070] In another example, the user input interface 151 may include a plurality of user input devices 156 a, 156 b, 156 n that an operator may manually interact with to initiate and control movement of the walkabout platform 104. The user input devices 156 a-n may provide input to the transport system 150 to facilitate movement of the walkabout platform 104 over a ground surface. The user input devices 156 a-n may be configured to provide the operator with the ability to manually send control commands to the transport system 150 to facilitate movement of the walkabout platform 104 over a ground surface (i.e., the operator may directly control movement of the walkabout platform 104 by manipulating one or more of the plurality of user input devices 156 a-n).

[0071] For example, one of the input devices 156 may include a wireless transceiver operable to wirelessly transmit and receive information from a remote device, such as a mobile phone 131 or the like. The transceiver may be operable to wirelessly receive and transmit information via any suitable wireless protocol, such as Bluetooth, Wi-Fi, NFC, or the like. The exoskeleton 102 may have a mounted receiver for the mobile phone 131, for example. The operator may operate the mobile phone 131, which may be running an application operable to wirelessly transmit information to the wireless transceiver. The information may include control instructions for moving the walkabout platform 104 in a desired direction at a given speed. In another example, the input device may include a wired transceiver capable of connecting to a remote device via a wired connection. For example, the exoskeleton 102 may include a mobile device dock to which the mobile phone 131 can connect via a wired connection. The input device 156 may also include other devices for providing input, such as a joystick, keyboard, or other known input device.

[0072] Information from the user input interface 151 can be transmitted to the transport system 150 to facilitate movement of the walkabout platform 104. In one example, the transport system can include a control unit 152, one or more actuators 158a, 158b, 159a, 159b, and rollers 118, 119. The control unit 152 can include a processor and one or more non-transitory storage media capable of storing control instructions executable by the processor. The control unit 152 can be connected to the user input interface 151 and can receive information from the sensors 154 and / or the inputs 156 of the user input interface 151. The control unit 152 can be incorporated into the same device as the control unit 172 and / or the controller 160, or the control unit 152 can be a separate device.

[0073] The control unit 152 may further be connected to one or more actuators 158a, 158b, 159a, 159b that can actuate the rollers 118, 119. The actuators 158a, 158b, 159a, 159b may include any actuator suitable for causing the rollers 118, 119 to move in a desired direction at a desired speed. For example, the actuators 158a, 158b, 159a, 159b may comprise one or more electric motors that can control the rotation and / or orientation of the rollers 118, 119. In some examples, the actuators 158a, 158b, 159a, 159b may be connected to the rollers 118, 119 via a transmission. The actuators 158a, 158b, 159a, 159b may include front actuators 158a, 158b respectively connected to each of the front rollers 118 and rear actuators 159a, 159b respectively connected to the rear rollers 119. The transport system 150 may be connected to a power source 120, such as one or more batteries, for powering the control unit 152 and the actuators 158a, 158b, 159a, 159b.

[0074] As the operator moves about on the ground while wearing the exoskeleton 102 of the walkabout exoskeleton system 100, the operator can cause the walkabout platform 104 to move the walkabout exoskeleton system 100 in a desired direction and speed. For example, the operator can wear the harness 130 in conjunction with wearing the exoskeleton 102. When the operator begins walking within the bipedal locomotion zone 106, one or more of the sensors 154a-n can detect the operator's movement and send information regarding the operator's movement to the control unit 152 of the transport system 150. Based on the received information, the control unit 152 can cause one or more of the actuators 158a-b, 159a-b to drive the rollers 118, 119.

[0075] In one example, one or more of the plurality of sensors 154a-n can include the six-degree-of-freedom force-moment sensors described above. The sensors can be operable to detect forces caused by the operator's movement when the operator begins walking or some other form of movement within the bipedal locomotion zone 106. The sensors can detect the magnitude and direction of the force, which can correspond to the operator's acceleration and direction. The control unit 152 can receive information regarding the forces sensed by the sensors. Based on the received information, the control unit 152 can send commands to one or more of the actuators 158a, 158b, 159a, 159b to actuate one or more of the rollers 18, 19 such that the walkabout platform 104 moves in the same direction as the operator. In one example, the control unit 152 can command the actuators 158a, 158b, 159a, 159b to move the walkabout platform 104 in a manner that continuously attempts to cancel the forces sensed by the sensors 154. In this manner, the walkabout platform 104 can move in the same direction and speed as the operator.

[0076] In another example, if one or more of the plurality of sensors 154a-n includes a position sensor, such as a displacement sensor, the sensor can detect the direction and magnitude of a displacement caused by the operator beginning to walk or otherwise move within the bipedal locomotion zone 106. The control unit 152 can receive information regarding the sensor's displacement. Based on this information, the control unit 152 can send instructions to one or more of the actuators 158a, 158b, 159a, 159b to actuate one or more of the rollers 18, 19 such that the walkabout platform 104 moves in the same direction and at the same speed as the operator. For example, the control unit 152 can instruct the actuators 158a, 158b, 159a, 159b to move the walkabout platform 104 in a manner that continuously attempts to eliminate the displacement sensed by the sensor 154.

[0077] In another example, if one or more sensors 154 include optical or ultrasonic sensors, the sensors 154 can detect the position, orientation, and movement of the operator's legs and / or feet as the operator begins walking or some other form of movement within the bipedal locomotion zone 106. The control unit 152 can receive information from the sensors 154 regarding the position, orientation, and movement of the operator's legs and / or feet. Based on this information, the control unit 152 can send instructions to one or more of the actuators 158a, 158b, 159a, 159b to actuate one or more of the rollers 18, 19 so that the walkabout platform 104 moves in the same direction and at the same speed as the operator. For example, the control unit 152 can instruct the actuators 158a, 158b, 159a, 159b to move the walkabout platform 104 to continuously maintain the operator's legs and / or feet within the bipedal locomotion zone 106 as the operator moves about on the ground.

[0078] In another example, an operator may directly control the movement of the walkabout platform 104 via one or more of the inputs 156. For example, the operator may use the mobile device 131 to send control commands to the control unit 152 via the wired or wireless inputs 156 of the user input interface 151. Based on the inputs received at the control unit 152, the control unit 152 may send control commands to the actuators 158a, 158b, 159a, 159b to move the walkabout platform 104 according to the inputs provided by the operator. The operator may similarly manually control the movement of the walkabout platform via another input device, such as a joystick, keyboard, or the like.

[0079] In some examples, the walkabout exoskeleton system can be used to transport pallets in addition to amplifying human movement via the exoskeleton. FIGS. 8A and 8B show a side view of a walkabout exoskeleton system with deployable forks, and FIG. 8C shows a close-up view of the front of the side members of the walkabout exoskeleton system shown in FIGS. 8A and 8B. Referring to FIGS. 8A-8C, the walkabout platform 104 can include side members 124 spaced apart by support bridges 122, as described above. Each of the side members 124 can include a horizontal portion 128. Deployable forks 134 can be configured to be attached to the front portions 332 of the horizontal portions 128 of each of the side members 124. The forks 134 can be rotatably attached to the side members 124 in any suitable manner. In the illustrated example, the forks 134 can be attached to the front portions 132 of the side members 124 via respective axles 136. The forks 134 may be configured to rotate about an axle 136 from a stowed position (as shown in FIG. 8A) to a deployed position (as shown in FIG. 8B).

[0080] In some examples, the deployment and retraction of the forks 134 may be driven by an actuator 135. For example, the actuators 135 may each comprise an electric motor and, optionally, a transmission coupled to each fork 134. The actuators 135 may provide sufficient torque to rotate the forks 134 from a stowed position (FIG. 8A) to a deployed position (FIG. 8B) and from the deployed position to the stowed position. In other examples, the forks 134 may be manually rotated from the stowed position to the deployed position and vice versa by an operator.

[0081] When the forks 134 are in the deployed position shown in FIG. 8B , the walkabout exoskeleton system can be used to pick up and transport a pallet via the forks 134. For example, the forks 134 can be attached to the front side 132 of the side members 124 via mounts 137. The mounts 137 can be configured to extend from actuators 133. The actuators 133 can be any suitable actuator, such as a linear actuator, operable to move the mounts 137 vertically, as indicated by arrow 139. By lowering the mounts 137 with the actuators 133 while the forks 134 are in the deployed position, the forks 134 can be moved to a position on the ground to pick up a pallet. When the forks 134 are under the pallet, the actuators 133 can raise the mounts 137, thereby raising the forks 134 to lift the pallet to be transported to another location. Optionally, the actuators 135 can be configured to rotate the forks 134 while carrying the pallet, so that the forks can be angled to maintain the pallet on the forks 134 during transport.

[0082] Deployable forks are not limited to rotatable forks as shown in FIGS. 8A and 8B. FIGS. 9A and 9B show a side view of a walkabout exoskeleton system also having deployable forks, and FIG. 9C shows a close-up view of the front of the side members of the walkabout exoskeleton system shown in FIGS. 9A and 9B. Referring to FIGS. 9A-9C, deployable forks 134 may be configured to be stored within or along with the horizontal portions 128 of each of the side members 124 when in the stowed position as shown in FIG. 9A. For example, the forks 134 may be stored within fork compartments 190 of the side members 124. The forks 134 may be operable to extend and retract from the side members 124 via any suitable mechanism. In the example shown in FIGS. 9A-9C, the forks 134 may be mounted on linear tracks 192 such that the forks 134 can translate from the horizontal portions 128 of the side members 124 to the deployed position as shown in FIG. 9B.

[0083] In some examples, the deployment and retraction of the forks 134 may be performed manually by an operator. In other examples, the deployment and retraction of the forks 134 may be driven by actuators 194, such as mechanical, hydraulic, or pneumatic linear actuators. To raise and lower the forks to pick up and place a pallet, the track 192 and forks 134 may be raised and lowered vertically via one or more actuators 196a, 196b. Thus, when the forks 134 are in the deployed position shown in FIG. 9B , the walkabout exoskeleton system may be used to pick up and transport a pallet via the forks 134.

[0084] 10, which is an isometric view of a walkabout exoskeleton system with a retractable extension. In this example, the side members 124 of the walkabout base 104 can include horizontal portions 128 that can house the retractable extensions 138. The retractable extensions 138 can be housed within the horizontal portions 128 of the side members 124 and operable to extend outward from the front sides 532 of the side members 124, similar to the forks 134 described above with reference to FIGS. 9A-9C.

[0085] For example, the retractable extensions 138 are mounted on respective tracks 140 on which the retractable extensions 138 can translate in and out of the horizontal portions 128 of the side members 124. In some examples, the retractable extensions 138 can be configured for powered extension and retraction. For example, a linear actuator 191 is provided that can be operable to extend the retractable extensions 138 out of the side members 124 and retract the retractable extensions 138 into the side members 124. In another example, the front ground-contacting rollers 118 can each include an actuator 193 that can be operable to extend the retractable extensions 138 out of the side members 124 and retract the retractable extensions 138 into the side members 124. In implementations in which the actuators are included in the forward ground-contacting rollers, the actuators for the retractable extensions may be omitted from the walkabout base, which may save space, reduce costs, and allow for greater design flexibility (e.g., with respect to weight distribution, configuration, etc.). A locking mechanism may be implemented to lock the retractable extensions 138 in the retracted and extended positions. The locking mechanism may operate to lock the retractable extensions 138 in the retracted position relative to the side members 124, such that actuation of the forward ground-contacting rollers 118 does not cause the retractable extensions to extend, but facilitates locomotion of the walkabout platform 104. Similarly, a locking mechanism may operate to lock the retractable extension 138 in an extended position relative to the side member 124 so that continued actuation of the rollers 118 contacting the ground ahead does not cause the retractable extension to retract, but facilitates movement of the walkabout platform 104. The locking mechanism may include a manual lock, such as a pin, that passes through a through-hole that passes through the side member 124 and the retractable extension 138.In another example, the locking mechanism can include an actuatable locking mechanism, where an actuator (e.g., a linear actuator, such as a solenoid) associated with a locking member (e.g., a latch, pin, etc.) can be selectively controlled to actuate the locking member. As will be appreciated by those skilled in the art, there are many types and methods of implementation of locking mechanisms.

[0086] In this example, the front rollers 118, which may be omni-directional wheels, may be disposed at the ends of the retractable extensions 138. Thus, when the retractable extensions 138 are moved outward to the deployed position, the front rollers 118 move outward with the retractable extensions 138. The possibility of the walkabout exoskeleton system 100 tipping over as the front rollers 118 move outward may be prevented by increasing the area within the support (i.e., rollers 118 and 119).

[0087] For example, the risk of the walkabout exoskeleton system 100 tipping over may be increased if a load is carried by the exoskeleton 102 in front of the operator and if the load is well forward of the front rollers 118 when the retractable extensions 138 are in the stowed or retracted position, because the load carried by the exoskeleton 102 may cause the center of gravity of the walkabout exoskeleton system 100 to move forward of the front rollers 118 when in the stowed position. The risk of tipping can be prevented by moving the front rollers 118 forward in front of or below the load (or at least to a position approaching a position below the load) and extending the retractable extensions 138 so that the center of gravity of the loaded walkabout exoskeleton system 100 remains within the area defined by the front rollers 118 and rear rollers 119 in the extended position (i.e., the center of gravity remains within the extended bipedal locomotion zone 107 shown in FIG. 10 defined by the front rollers 118, the rear rollers 119, the side members 124 including the retractable extensions 138, and the support bridge 122). Because the center of gravity remains within the area defined by the front rollers 118 and rear rollers, the walkabout exoskeleton system 100 can be prevented from tipping.

[0088] In some examples, the retractable extension 138 may automatically extend based on the load carried by the exoskeleton 102. The retractable extension 138 may be actuated based on a control command received from a control unit on the walkabout exoskeleton system 100 (e.g., control units 172, 160, 152 described herein or a separate control unit). The control unit may receive information regarding the torque caused by the load carried by the exoskeleton 102 (e.g., the torque acting on the exoskeleton system based on the position of the exoskeleton 102's limbs and the weight of the load carried by the exoskeleton 102). If it is determined that this torque could potentially cause the walkabout exoskeleton system 100 to tip over, the control unit may cause the retractable extension 138 to extend outward, thereby moving the front rollers 118 forward to prevent the tip over. In some examples, the retractable extension 138 may be operable to extend outward to its furthest position. In some examples, the retractable extensions 138 may be operable to extend partially outward based on the position of the limbs of the exoskeleton 102 and the weight of the load carried by the exoskeleton 102 .

[0089] Referring now to FIG. 11 , FIG. 11 is an isometric view of a walkabout exoskeleton system with track rollers. In this example, as discussed above, the rollers 118 of the walkabout exoskeleton can comprise wheels or tracks. In this example shown in FIG. 11 , the rollers 118 are shown as tracks. In some examples, the tracks can include omnidirectional tracks. The example of rollers herein is not intended to be limiting in any way. It should be understood that any suitable rollers can be utilized to facilitate the walkabout exoskeleton system 100 moving about on the ground.

[0090] In some cases, an operator may desire to move using the walkabout exoskeleton system without walking. Accordingly, in some examples, the walkabout exoskeleton system 100 may be configured to switch between a walking configuration and a riding configuration. FIGS. 12-15 illustrate a walkabout exoskeleton system having a deployable riding platform. Referring to FIGS. 12-15, during use of the walkabout exoskeleton system 100, the operator may desire to ride the system 100 instead of walking with it. To facilitate this, the walkabout platform 104 may include a riding platform attached to the walkabout platform. The riding platform may be selectively movable within the bipedal locomotion zone 106 to allow the operator to ride the walkabout platform 104. In this example, the riding platform may include a right foot platform 142a connected to the right lateral member 124a and a left foot platform 142b connected to the left lateral member 124b. Thus, in this example, the walkabout platform 104 can be considered a convertible ride-on / walkabout platform.

[0091] Each of the foot platforms 142 a, 142 b is operable to selectively enter and exit the bipedal locomotion zone 106 so that an operator can selectively enter or walk with the walkabout exoskeleton system 100. In this example, the right and left foot platforms 142 a, 142 b are rotatably attached to the right and left lateral members 124 a, 124 b, respectively. The right and left foot platforms 142 a, 142 b can be connected to the outer edges of the horizontal portions 128 of each of the right and left lateral members 124 a, 124 b. The right and left foot platforms 142 a, 142 b can rotate about an axle 146 that runs along the outer edges of the horizontal portions 128 of each of the right and left lateral members 124 a, 124 b. Each of the right and left foot platforms 142a, 142b may be provided with a friction-enhancing surface 144 to provide added safety so that the operator may be prevented from slipping off the right and left foot platforms 142a, 142b.

[0092] 12 and 13, the right and left foot platforms 142a, 142b can be rotated to a walking position, in which the right and left foot platforms 142a, 142b are rotated upward and away from the bipedal locomotion zone so that the plane defined by the friction-enhancing surfaces 144 is parallel to the axis A defined by the vertical portions 126 of the left and right lateral members 124a, 124b. With the right and left foot platforms 142a, 142b in the walking position, the operator can walk within the bipedal locomotion zone 106 using the walkabout exoskeleton system 100 as described above.

[0093] 14 and 15, the right and left foot platforms 142a, 142b can be rotated to a riding position in which the right and left foot platforms 142a, 142b are rotated down into the bipedal locomotion zone so that the plane defined by the friction-enhanced surfaces 144 is parallel to the ground. When the right and left foot platforms 142a, 142b are in the riding position, an operator can ride the walkabout platform 104 while wearing the exoskeleton 102 of the walkabout exoskeleton system 100. The operator can control the walkabout platform 104 via user input, such as one of the user input devices 156a-n described above with reference to FIG. 7.

[0094] In one example, the right and left foot platforms 142 a, 142 b can be rotatably connected to the right and left lateral members 124 a, 124 b via a bistable mechanism. The bistable mechanism can be operable such that the right and left foot platforms 142 a, 142 b are biased to remain outside the bipedal locomotion zone 106 when in the walking position and are biased to remain within the bipedal locomotion zone 106 when the right and left foot platforms 142 a, 142 b are in the riding position. For example, the right and left foot platforms 142 a, 142 b can be connected to the right and left lateral members 124 a, 124 b via a torsion spring 145. The torsion spring 145 can be configured to have a stiffness such that the torsion spring 145 can maintain the right and left foot platforms 142 a, 142 b in the upright walking position when the right and left foot platforms 142 a, 142 b are in the upright walking position. The torsion spring 145 may further be configured to have a stiffness such that when the right and left foot platforms 142a, 142b are lowered in the riding position, the spring force of the torsion spring 145 is insufficient to overcome the torque caused by gravity acting on the right and left foot platforms 142a, 142b so that the right and left foot platforms 142a, 142b remain in the riding position.

[0095] In some examples, an operator can manually move the right and left foot platforms 142 a, 142 b from the walking position to the riding position and from the riding position to the walking position. In other examples, an actuator 198, such as an electric motor, is provided on each of the right and left foot platforms 142 a, 142 b to move the right and left foot platforms 142 a, 142 b from the walking position to the riding position and from the riding position to the walking position.

[0096] As shown in Figure 15, the walkabout exoskeleton 100 can also include a retractable extension 138, as described above with reference to Figures 9A-9C and 10. Of course, any of the features of the exoskeleton system 100 described herein can be incorporated in any suitable combination, and the examples presented herein are not intended to be limiting in any way.

[0097] 16-18, which illustrate a walkabout exoskeleton system with a bent-over torso. When an operator wants to pick up something that is on the ground in front of the walkabout exoskeleton system 100, the operator naturally wants to bend over the object to pick it up. Therefore, the walkabout base 104 of the walkabout exoskeleton system 100 can include a torso member 149 and a mast interface member 147 that rotate relative to one another. In some examples, the torso member 149 can be attached to the support bridge 122 of the exoskeleton 102 shown in FIGS. 1-4. In other examples, the torso member 149 can be integrally formed with the support bridge 122 of the exoskeleton 102. In this example, the torso member 149 and the mast interface member 147 can be connected at a joint 148. The trunk member 149 and mast interface member 147 may rotate about the axis of rotation of the joint 148 to enable trunk bending movement. That is, when the operator leans forward, as shown in FIG. 17, the trunk member 149 rotates relative to the mast interface member 147 and remains substantially parallel to the operator's trunk.

[0098] The rotation between the fuselage member 149 and the mast interface member 147 can be power-driven rotation. For example, an actuator 199 can be provided between the fuselage member 149 and the mast interface member 147 to rotate the fuselage member 149 relative to the mast interface member 147 about an axis of rotation at the joint 848. The actuator 199 can include an electric motor and transmission, although any other suitable actuator can be used. In the example shown in FIG. 18 , a winch system 180 can be provided to facilitate the rotation between the fuselage member 149 and the mast interface member 147. The winch system 180 can include a winch 182 that can be disposed on the mast 110. The winch system 180 can further include a cable 184 that can connect the fuselage member 149 and the exoskeleton 102 to the winch 182 such that the winch 182 can raise and lower the fuselage member 149, causing the fuselage member 149 to rotate about the axis of the joint 848.

[0099] The mast interface member 147 may be operable to move vertically along the mast 110 in a manner similar to the way the exoskeleton 102 can move vertically along the mast 110 as described above with reference to Figures 1-5. Thus, an operator can perform crouching and bending forward, along with forward trunk bending, while using the walkabout exoskeleton system 100.

[0100] While various examples of walkabout exoskeleton systems have been described above, it should be noted that these examples illustrate different features that may be incorporated into a walkabout exoskeleton system. Thus, each of the features of the walkabout exoskeleton systems described above may be combined together in any desired combination.

[0101] 19A and 19B show a walkabout exoskeleton system 100 incorporating trunk flexion, with the trunk member 149 and mast interface member 147 rotating relative to one another to provide the trunk flexion described above. Additionally, the walkabout exoskeleton system 100 may also include a riding platform that may be selectively movable within the bipedal locomotion zone to allow an operator to ride the walkabout platform 104. As described above, the riding platform may include a right foot platform 142a and a left foot platform 142b upon which the operator may stand on the walkabout platform 104. This is merely another example of a combination of features of the walkabout exoskeleton system and features described herein, which may be combined in any desired configuration.

[0102] In some implementations, the walkabout exoskeleton system 100 or the walkabout exoskeleton's transport system 150 may be operatively integrated with (e.g., operatively communicate with) a remote navigation system 195 in a work environment, such as an in-building navigation system, that includes one or more robotic assets of a different type (e.g., existing robotic assets performing various automated tasks, such as tasks in a warehouse) than the walkabout exoskeleton system 100 that move within the environment. For example, the remote navigation system 195 may include robotic assets whose movement is based on in-floor guidance (e.g., using radio frequency (RF) signals transmitted from in-floor wiring), magnetic tape guidance, laser-based guidance, gyroscopic (e.g., inertial) guidance, camera-based visual guidance, etc.

[0103] The walkabout exoskeleton system 100 may be operatively integrated with a remote navigation system 195 and operated in cooperation with other robotic assets. The walkabout exoskeleton system 100 may be operated in various modes, including, for example, a live operator mode, a remote (e.g., teleoperated) mode, or an autonomous mode. The live operator mode, as described herein, is a mode in which an operator is present within the exoskeleton 102 in either a walking mode or a riding mode. The remote mode, as described herein, is a mode in which the exoskeleton system 100 is controlled (e.g., at least partially controlled) remotely by the remote navigation system 195 using a remote device such as a mobile phone 131, joystick, keyboard, or the like.

[0104] The autonomous mode is a mode that does not require the operator to control the walkabout exoskeleton system 100. For example, the operator only needs to monitor the walkabout exoskeleton system 100 in case intervention is needed. In other cases, the operator may not interact with the walkabout exoskeleton system 100. The walkabout exoskeleton system 100 may also include a controller for switching modes (e.g., the interface may include an input system that allows the operator and / or the remote navigation system 195 to switch modes). In some implementations, modes may be hot-switched; in other words, the walkabout exoskeleton system 100 may switch, or be switched between, modes in real time without returning to a predefined starting point, such as a base station or a charging station.

[0105] In an integrated implementation, the walkabout exoskeleton system 100 may include an interface 197 that can connect the walkabout exoskeleton 100 to a remote navigation system 195. The remote navigation system 195 may enable the walkabout exoskeleton system 100 to operatively communicate with the remote navigation system 195. For example, the interface 197 may be an interface that enables electronic communication between the remote navigation system 195 and the walkabout exoskeleton system 100 (e.g., one or more of login communication, status communication, and operational control communication). In some cases, the interface 197 may be associated with or integrated with one or both of the user interface input 151 or the control unit 152. The walkabout exoskeleton system 100 may also include one or more sensors that enable integration, such as sensors capable of detecting RF signals, magnetic sensors, lasers and laser detection mechanisms, gyroscope systems, cameras (e.g., image capture devices of various spectrums, such as visible light, infrared, etc.), etc.

[0106] In some cases, the interface 197 may enable the walkabout exoskeleton system 100 to provide various parameters to and receive various commands from the remote navigation system 195. For example, the walkabout exoskeleton system 100 may provide parameters such as maximum speed, minimum speed, turning radius, weight (e.g., mass), and footprint (e.g., the amount of space occupied by the walkabout exoskeleton system 100, which may include one or both of floor area and volume). Additionally, the walkabout exoskeleton system 100 may provide information from various sensors to the remote navigation system 195.

[0107] The remote navigation system 195 can send commands to the walkabout exoskeleton system 100 to control one or more aspects of the walkabout exoskeleton system 100, such as the transport system 150, to facilitate the walkabout platform 104 moving about on the ground (e.g., the floor of a work environment). Additionally, the remote navigation system 195 can also send commands to control one or more systems or subsystems of the walkabout exoskeleton system 100 described herein, including (but not limited to) the power source 120, the mast exoskeleton interface system 171, the telescoping arm 162 of the movable counterweight system 161, the retractable extension 138 for the front roller 118 (e.g., via either or both of the actuators 191 and 193), the torso flexor, the winch system 180, the limb members 114, the joints 115, the forks 134, etc.

[0108] In some implementations, the walkabout exoskeleton system 100, such as one integrated with a remote navigation system 195, may include a training mode that allows an operator to perform tasks while the walkabout exoskeleton system 100 is in a learning mode, which allows the walkabout exoskeleton system 100 to perform those tasks in an autonomous mode.

[0109] Benefits of integration with a remote navigation system 195 may include route optimization, collision avoidance with existing robotic assets that are already part of the navigation system 195, and increased speed. These benefits may be greater in an operator-less mode (e.g., remote or autonomous mode), but even in live operator or remote mode, route optimization, collision avoidance may be improved and speed may be increased when the walkabout exoskeleton system 100 is operated in a ride-on configuration (e.g., as described with reference to FIGS. 12-15 ). Additionally, the autonomous mode may allow the operator to perform other functions rather than operating the exoskeleton system 100.

[0110] The following examples further illustrate some embodiments of the present technology. 1. A walkabout exoskeleton system comprising: Exoskeleton and a walkabout platform supporting the exoskeleton, the walkabout platform being maneuverable on the ground; a transport system operable with the walkabout platform, the transport system operable to facilitate movement of the walkabout platform over a ground surface; a bipedal locomotion zone defined at least in part by a walkabout platform that provides clearance for bipedal locomotion of an operator wearing the exoskeleton; a walkabout platform; and a walkabout exoskeleton system. 2. The Walkabout Platform is Walkabout Base and The walkabout exoskeleton system of Example 1 further comprises a mast extending upward from the walkabout base, the exoskeleton being attached to the mast so as to position the operator within the bipedal locomotion zone when wearing the exoskeleton. 3. The walkabout exoskeleton system of Example 1 or 2, wherein the exoskeleton is coupled to a mast. 4. A walkabout exoskeleton system as described in any one of Examples 1 to 3, wherein the exoskeleton is vertically adjustable along the mast. 5. The walkabout exoskeleton system of any one of Examples 1 to 4, wherein the exoskeleton further comprises a trunk member and a mast interface member that rotate relative to each other about a rotation axis at the trunk forward bending joint. 6. The walkabout exoskeleton system of any one of Examples 1 to 5, wherein the relative rotation of the fuselage member and the mast interface member about the axis is powered by an actuator. 7. The walkabout exoskeleton system of any one of Examples 1 to 6, further comprising a winch system coupled between the mast and the exoskeleton, the winch system operable to rotate the trunk member relative to the mast interface member about an axis of rotation at the trunk forward bending joint. 8. A walkabout exoskeleton system as described in any one of Examples 1 to 7, wherein the bipedal locomotion zone includes an area defined by a plurality of ground-contacting rollers of a transport system disposed on the walkabout base, and the center of gravity of the walkabout exoskeleton system is maintained within this area to avoid tipping during use. 9. The walkabout exoskeleton system of any one of Examples 1 to 8, further comprising a power source supported by the walkabout base in a position operable to maintain a center of gravity within the area to avoid tipping during use. 10. The walkabout exoskeleton system of any one of Examples 1 to 9, wherein the power source is supported by the walkabout base at a position behind the operator. 11. A walkabout exoskeleton system as described in any one of Examples 1 to 10, wherein the walkabout base includes a support bridge and first and second side members extending outward from the support bridge below the exoskeleton, the first and second side members defining, at least in part, a bipedal locomotion zone. 12. The walkabout exoskeleton system of any one of Examples 1 to 10, wherein the first and second side members each include a front wheel and a rear wheel. 13. The walkabout exoskeleton system of any one of Examples 1 to 12, further comprising a detachable counterweight operable to selectively attach to the walkabout base. 14. The walkabout exoskeleton system of any one of Examples 1 to 13, wherein the counterweight comprises one or more batteries. 15. The walkabout exoskeleton system of any one of Examples 1 to 14, further comprising an extendable arm supported by the walkabout base, the extendable arm being extendable and retractable in a direction away from the first and second side members. 16. The walkabout exoskeleton system of any one of Examples 1 to 15, further comprising an actuator operable to facilitate extension and retraction of the extensible arms. 17. The walkabout exoskeleton system of any one of Examples 1 to 16, further comprising first and second forks extending from the first and second side members, respectively, the first and second forks operable to carry a load. 18. The walkabout exoskeleton system of any one of Examples 1 to 17, wherein the first and second forks are operable to move from a stowed position to a deployed position. 19. The walkabout exoskeleton system of any one of Examples 1 to 18, wherein the first and second forks are retractable within the first and second side members. 20. The walkabout exoskeleton system of any one of Examples 1 to 19, wherein the first and second forks are rotatable relative to the first and second side members to move from a stowed position to a deployed position. 21. The walkabout base includes a support bridge and first and second side members extending outward from the support bridge below the exoskeleton, the first and second side members defining, at least in part, a bipedal locomotion zone; 21. The walkabout exoskeleton system of any one of Examples 1 to 20, wherein the first and second side members each comprise a retractable extension operable to selectively extend and retract from the first and second side members, respectively. 22. The walkabout exoskeleton system of any one of Examples 1 to 21, wherein the ground-contacting rollers include front and rear ground-contacting rollers, the front ground-contacting rollers being disposed on retractable extensions of the first and second side members, respectively. 23. The walkabout exoskeleton system of any one of Examples 1 to 22, wherein the walkabout base comprises an actuator on each of the first and second side members operable to extend and retract the retractable extension. 24. The walkabout exoskeleton system of any one of Examples 1 to 23, wherein the front ground-contacting rollers each include an actuator operable to extend and retract the retractable extension. 25. The walkabout exoskeleton system of any one of Examples 1 to 24, wherein the transport system is operatively integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, and the remote navigation system is configured to facilitate the walkabout platform moving about on a ground surface in at least one of a ridden mode, a remote mode, or an autonomous mode. 26. A walkabout platform operable to support a wearable exoskeleton, comprising: a transport system operable to facilitate movement of the walkabout platform over the ground; a bipedal locomotion zone defined at least in part by the walkabout platform that provides clearance for bipedal locomotion of an operator. 27. The walkabout platform of Example 26, wherein the transport system is operatively integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, and the remote navigation system is configured to facilitate the walkabout platform moving about on a ground surface in at least one of a ridden mode, a remote mode, or an autonomous mode. 28. A walkabout exoskeleton system comprising: Exoskeleton and a walkabout platform supporting the exoskeleton, the walkabout platform being maneuverable on the ground; a walkabout platform, comprising: a transport system operable with the walkabout platform, the transport system being operably integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, the remote navigation system being configured to facilitate the walkabout platform moving about on a ground surface in an autonomous mode; and A walkabout exoskeleton system comprising: 29. The walkabout exoskeleton system of Example 28, wherein the transport system is further configured to facilitate movement of the walkabout platform over a ground surface in at least one of a ride-on mode or a remote mode.

[0111] Reference has been made to examples illustrated in the drawings, and specific language has been used herein to describe the same. It will nevertheless be understood that no limitation of the scope of the technology is thereby intended. Alterations and further modifications of the features illustrated herein, as well as additional applications of the examples as illustrated herein, should be considered within the scope of the description.

[0112] Although the present disclosure may not explicitly disclose that some examples or features described herein can be combined with other examples or features described herein, the present disclosure should be read as describing any such combinations that would be feasible by one of ordinary skill in the art. The use of "or" in this disclosure should be understood to mean a non-exclusive "or," i.e., "and / or," unless otherwise indicated herein.

[0113] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more examples. In the previous description, numerous specific details, such as example configurations, have been set forth to provide a thorough understanding of examples of the described technology. However, it will be understood that the technology may be practiced without one or more of the specific details, or using other methods, components, devices, etc. In other instances, well-known structures or operations have not been shown or described in detail to avoid obscuring aspects of the invention.

[0114] Although the inventive subject matter has been described in terms specific to structural functions and / or operations, it will be understood that the inventive subject matter defined in the appended claims is not necessarily limited to the specific functions or operations described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims. Numerous modifications and alternative arrangements may be devised without departing from the spirit and scope of the described technology. [Explanation of symbols]

[0115] 18, 19 Roller 100 Walkabout Exoskeleton System 102 Exoskeleton 104 Walkabout Platform 106 Bipedal Locomotion Zone 108 Walkabout Base 110 Mast 112 Linear Actuator 113a Right robotic limb 113b Left robotic limb 114a, 114b, 114c Limb members 115a, 115b joints 116 Support Bridge 118 Front Roller 119 Rear Roller 120 Power supply 122 Support Bridge 124 Side members 124a first side member 124b second side member 126 Vertical section 128 horizontal part 131 Mobile Phones 131 mobile devices 132 Front 133 Actuator 134 Deployable Fork 135 Actuator 136 axles 137 Mount 138 Retractable Extension 142a, 142b Right and Left Foot Platforms 144 Friction-enhancing surfaces 145 Torsion spring 146 axles 147 Mast interface member 148 joints 149 Fuselage members 150 Transport System 151 User Interface Input 152 control unit 154 Sensors 154a, 154b, 154n sensors 156 inputs 156a, 156b, 156n user input devices 158a, 158b, 159a, 159b actuators 160 Arm Controller 161 Movable counterweight system 162 Telescopic Arm 164a First Segment 164b Second Segment 164c Third Segment 171 Mast Exoskeleton Interface System 172 Control Unit 174 Sensors 176 User Input Devices 178 Passive Actuators 180 Winch System 182 Winch 184 Cable 190 fork compartment 191 Linear Actuator 192 Linear Track 193 Actuator 195 Remote Navigation System 196a, 196b actuator 197 Interface 198 Actuator 199 Actuator 266a, 266b, 266c actuators 332 front 532 front side 848 joints

Claims

1. 1. A walkabout exoskeleton system, comprising: Exoskeleton and a walkabout platform supporting the exoskeleton, the walkabout platform being maneuverable on a ground surface; a transport system operable with the walkabout platform, the transport system operable to facilitate movement of the walkabout platform over the ground; a bipedal locomotion zone defined at least in part by the walkabout platform that provides clearance for bipedal locomotion of an operator wearing the exoskeleton; Walkabout platform and A walkabout exoskeleton system comprising:

2. The walkabout platform comprises: Walkabout Base and a mast extending upwardly from the walkabout base, the exoskeleton being mounted to the mast so as to position the operator within the bipedal locomotion zone when the exoskeleton is worn; The walkabout exoskeleton system of claim 1 further comprising:

3. The walkabout exoskeleton system of claim 2 , wherein the exoskeleton is coupled to the mast.

4. The walkabout exoskeleton system of claim 2 , wherein the exoskeleton is vertically adjustable along the mast.

5. 4. The walkabout exoskeleton system of claim 3, wherein the exoskeleton further comprises a trunk member and a mast interface member that rotate relative to one another about a rotation axis at a trunk forward bending joint.

6. 6. The walkabout exoskeleton system of claim 5, wherein the relative rotation of the fuselage member and the mast interface member about the axis is powered by an actuator.

7. 6. The walkabout exoskeleton system of claim 5, further comprising a winch system coupled between the mast and the exoskeleton, the winch system operable to rotate the trunk member relative to the mast interface member about the axis of rotation at the trunk forward joint.

8. 3. The walkabout exoskeleton system of claim 2, wherein the bipedal locomotion zone comprises an area defined by a plurality of ground-contacting rollers of the transport system disposed on the walkabout base, and the center of gravity of the walkabout exoskeleton system is maintained within the area to avoid tipping during use.

9. 10. The walkabout exoskeleton system of claim 8, further comprising a power source supported by the walkabout base in a position operable to maintain the center of gravity within the area to avoid tipping during use.

10. The walkabout exoskeleton system of claim 9 , wherein the power source is supported by the walkabout base at a location rearward of the operator.

11. 2. The walkabout exoskeleton system of claim 1, wherein the walkabout base includes a support bridge and first and second side members extending outward from the support bridge below the exoskeleton, the first and second side members defining, at least in part, the bipedal locomotion zone.

12. The walkabout exoskeleton system of claim 11 , wherein the first and second side members each include a front wheel and a rear wheel.

13. The walkabout exoskeleton system of claim 11 , further comprising a detachable counterweight operable to be selectively attached to the walkabout base.

14. The walkabout exoskeleton system of claim 13 , wherein the counterweight comprises one or more batteries.

15. 14. The walkabout exoskeleton system of claim 13, further comprising an extendable arm supported by the walkabout base, the extendable arm being extendable in a direction away from the first and second side members and retractable.

16. 16. The walkabout exoskeleton system of claim 15, further comprising an actuator operable to facilitate extension and retraction of the extendable arms.

17. 12. The walkabout exoskeleton system of claim 11, further comprising first and second forks extending from the first and second side members, respectively, the first and second forks operable to carry a load.

18. 18. The walkabout exoskeleton system of claim 17, wherein the first and second forks are operable to move from a stowed position to a deployed position.

19. 20. The walkabout exoskeleton system of claim 18, wherein the first and second forks are retractable within the first and second side members.

20. 20. The walkabout exoskeleton system of claim 18, wherein the first and second forks are rotatable relative to the first and second side members to move from the stowed position to the deployed position.

21. the walkabout base includes a support bridge and first and second side members extending outward from the support bridge below the exoskeleton, the first and second side members defining, at least in part, the bipedal locomotion zone; 10. The walkabout exoskeleton system of claim 8, wherein the first and second side members each comprise a retractable extension operable to selectively extend and retract from the first and second side members, respectively.

22. 22. The walkabout exoskeleton system of claim 21, wherein the ground contacting rollers include front and rear ground contacting rollers, the front ground contacting rollers being disposed on the retractable extensions of the first and second side members, respectively.

23. 23. The walkabout exoskeleton system of claim 22, wherein the walkabout base comprises an actuator on each of the first and second side members operable to extend and retract the retractable extension.

24. 23. The walkabout exoskeleton system of claim 22, wherein the front ground-contacting rollers each include an actuator operable to extend and retract the retractable extension.

25. 2. The walkabout exoskeleton system of claim 1, wherein the transport system is operatively integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, and the remote navigation system is configured to facilitate the walkabout platform moving about on the ground in at least one of a ridden mode, a remote mode, or an autonomous mode.

26. 1. A walkabout platform operable to support a wearable exoskeleton, comprising: a transport system operable to facilitate movement of the walkabout platform over a ground surface; a bipedal locomotion zone defined at least in part by the walkabout platform that provides clearance for bipedal locomotion of an operator; A walkabout platform equipped with:

27. 27. The walkabout platform of claim 26, wherein the transport system is operatively integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, and the remote navigation system is configured to facilitate the walkabout platform moving about on the ground in at least one of a ridden mode, a remote mode, or an autonomous mode.

28. 1. A walkabout exoskeleton system, comprising: Exoskeleton and a walkabout platform supporting the exoskeleton, the walkabout platform being maneuverable on a ground surface; a transport system operable with the walkabout platform, the transport system being operably integrated with a remote navigation system via an interface connecting the walkabout exoskeleton to the remote navigation system, the remote navigation system being configured to facilitate the walkabout platform moving about on the ground in an autonomous mode; Walkabout platform and A walkabout exoskeleton system comprising:

29. 30. The walkabout exoskeleton system of claim 28, wherein the transport system is further configured to facilitate movement of the walkabout platform over the ground in at least one of a ride-on mode or a remote mode.

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