Cable-actuated head-neck exoskeleton

Abstract

Described herein is a cable-actuated head-neck exoskeleton configured to effectively support and provide mobility to the head-neck. The exoskeleton comprises a head brace, a cable mount, a control unit, and a set of cables. Each cable extends from the control unit, through a defined position in the cable mount, and to a defined position in the head brace. The control unit includes a set of actuators. Each actuator of the set of actuators is connected to one of the cables and independently operates to adjust the length of the corresponding cable. Tension in the cables can therefore be independently adjusted to provide controlled tensile forces to the head and thereby generate moments about the cervical joints of the user.

Description

CABLE-ACTUATED HEAD-NECK EXOSKELETONCROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This Application claims priority to and the benefit of United States Provisional Patent Application No. 63 / 541,675, filed September 29, 2023, the entirety ofwhich is incorporated herein by reference.BACKGROUND

[0002] Poor postural control of the head-neck, including disorders such as dropped head syndrome (DHS), can be attributed to neurological disorders such as amyotrophic lateral sclerosis (ALS) or cerebral palsy (CP). Postural control disorders of the head-neck can also be caused by autoimmune conditions (e.g., polymyositis), exposure to radiation therapies, or age-related changes. Idiopathic cases (isolated neck extensor myopathy) have also been reported. In ALS, patients may be unable to support their head upright due to neck muscle weakness resulting from progressive loss of motor neurons. In CP, control of head movements can be affected in the most severe cases.

[0003] Poor head-neck control can severely reduce one's quality of life. For example, prolonged head flexion can cause neck pain, spinal deformity, and exacerbate difficulties with respiratory functions. It is also challenging to interact with the environment, such as to ambulate safely or to make eye contact in a conversation.

[0004] Static neck collars are conventionally used in current clinical practices to stabilize and keep the head upright. However, these devices are uncomfortable and restrictive. Additionally, such collars do not restore head-neck movement, leading to atrophied muscles due to disuse and challenges with engaging in social interactions (e g., make eye contact). Neck collars, rigid or soft, have also been shown to reduce range of motion of the neck by up to 60% for performing functional tasks like looking for traffic before crossing a street and taking a sip of water from a bottle. See Miller. Christopher P., et al. “Soft and rigid collars provide similar restriction in cervical range of motion during fifteen activities of daily living.” Spine 35.13 (2010): 1271-1278.

[0005] In CP patients, stabilization exercises are common to strengthen and improve control of neck muscles. These exercises have limited control and repeatability. Therefore, there is a clinical need to develop new devices that can enable head-neck movement during daily life (e.g., for ALS), as well as facilitate physical rehabilitation with precise and consistent patient interaction in clinical settings (e.g., for CP).

[0006] There is an ongoing need for solutions to the clinical problem of head-neck postural control disorders. In particular, there is an ongoing need for head-neck exoskeleton devices capable of effectively supporting and providing mobility to the head-neck of the user.SUMMARY

[0007] Described herein is a cable-actuated head-neck exoskeleton configured to effectively support and provide mobility to the head-neck. The cable-actuated head-neck exoskeleton described herein comprises a head brace, a cable mount for defining cable origin points, a control unit, and a set of cables. Each cable extends from the control unit, through a defined position in the mount, and to a defined position in the head brace. The mount can include a torso / shoulder mount or an external frame, for example. The control unit includes a set of actuators. Each actuator of the set of actuators is connected to one of the cables and independently operates to adjust the length and / or tension of the corresponding cable. Tension in the cables can therefore be independently adjusted to provide controlled tensile forces to the head and thereby control force / moment applied to the head and head-neck movement.

[0008] As disclosed in more detail below, the disclosed cable-actuated head-neck exoskeleton can be used as a stand-alone system or can be interfaced with one or more peripheral devices, such as external computer devices, manual controls (e.g., joystick, keyboard, mouse, etc.), eye tracking devices, other user interfaces (e.g., touch screens, visual and / or audio interface elements), microphones, virtual reality (VR), mixed reality (MR), or augmented reality (AR) applications, and / or other sensing systems (e.g., electroencephalography (EEG) sensors, electromyography (EMG) sensors).

[0009] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an indication of the scope of the claimed subject matter.BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Various objects, features, characteristics, and advantages of the invention will become apparent and more readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings and the appended claims, all of which form a part of this specification. In the Drawings, like reference numerals may be utilized to designatecorresponding or similar parts in the various Figures, and the various elements depicted are not necessarily drawn to scale, wherein:

[0011] Figure 1A illustrates an example of a cable-actuated head-neck exoskeleton device comprising ahead brace and a cable mount for defining positions of the cable origin points;

[0012] Figure IB illustrates the cable-actuated head-neck exoskeleton device as worn by a user;

[0013] Figure 2 is a schematic kinematic overview of the cable- actuated head-neck exoskeleton device;

[0014] Figures 3A and 3B show an alternative configuration of the cable-actuated head-neck exoskeleton device that includes a control unit in the form of a belt that supports the individual actuators;

[0015] Figures 4A and 4B illustrate an example of an actuator assembly configured as a series elastic actuator (SEA) that includes a clutch; and

[0016] Figure 5 illustrates an example control system for the cable-actuated head-neck exoskeleton device.DETAILED DESCRIPTIONIntroduction

[0017] Certain previously developed powered neck exoskeletons have included a headband, shoulder pads, and a set of rigid linkages mechanically connecting the shoulder pads and headband. While such exoskeletons can assist users with head-neck rotations, they are restrictive to natural head-neck movements due to the kinematic constraints of the rigid linkages. Moreover, the actuators (e.g., servomotors) typically must be positioned on the back of the user, supported by the shoulder pads. This, along with the rigid linkages, further adds to the bulk and weight of such devices, negatively impacting their comfort, aesthetics, and functional range of motion.

[0018] Due to size and weight constraints, such devices are practically limited in the number of rigid linkages and actuators that can be used. For example, such devices often intentionally couple translation motions of the head with rotation motions of the head to minimize the number of linkages and actuators. This, however, results in devices with less movement potential (e.g., only three degrees of freedom).

[0019] Cable-driven exoskeleton devices can address issues associated with rigid-linkage- based designs because cables apply tensile forces to collectively generate forces and moments at the head-neck without constraining head-neck movement. The cable-actuated head-neck exoskeleton described herein comprises a head brace, a mount for defining cable origin points, a control unit, and a set of cables. Each cable extends from the control unit, through a defined through hole in the mount, and to a defined insertion point in the head brace. The mount can include a wearable mount or an external frame, for example. The control unit includes a set of actuators. Each actuator of the set of actuators is connected to one of the cables and independently operates to adjust the length of the corresponding cable. Tension in the cables can therefore be independently adjusted to provide controlled tensile forces to the head and thereby generate moments about the cervical joints of the user.

[0020] The disclosed device positions cables and actuators in a manner that allows for more than three (e.g., six) degrees of freedom in head-neck motion while applying sufficient support to the head. This enables, for example, greater functional range of motion for the user, greater user comfort while using the exoskeleton, higher likelihood of user compliance with prescribed activities (e.g., exercises, training), more versatility in use (e.g., easier to wear with typical clothes), minimal risk of injury, and greater overall user satisfaction.

[0021] The disclosed cable-actuated head-neck exoskeleton can be used in a variety of applications. Examples include: rehabilitation for patients recovering from head and / or neck injuries or surgeries; assistance for elderly and / or disabled individuals such as those with postural disorders caused by ALS, CP, other neurological disorders, or other causes; strength and / or coordination training; sports and athletics performance applications to simulate the resistance or support desired during competitions (e.g., pilots, race car drivers, soccer players); and in virtual reality' (VR), mixed reality (MR), or augmented reality' (AR) applications to provide tactile feedback and / or simulate a variety of user movements. The disclosed device can also be utilized in a work environment to improve safety and / or reduce fatigue, such as in environments that involve heavy headgear, repetitive head movements, high neck strain, overhead work, extended periods looking up or down, and / or other potentially fatiguing head movements.Example Exoskeleton1. Overview

[0022] Figure 1 A illustrates an example of a cable-actuated head-neck exoskeleton device 100(also referred to herein as simply “the device’’). Figure IB illustrates the device 100 when wornby a user. The illustrated device 100 includes a head brace 102, a cable mount 104 (shown here supported on the shoulders of the user, a control unit 200, and a set of cables 106. As shown in Figure 1A, each cable 106 extends from the control unit 200, through a distinct, defined through hole 107 in the mount 104, and to a defined insertion point 109 in the head brace 102. The through holes 107 define cable origin points with respect to the insertion points 109. That is. the through holes 107 define the direction of the tension forces applied to the head brace 102 when the corresponding cable 106 is tensioned.

[0023] As explained in greater detail below, the control unit 200 includes a series of actuators for controlling the application of tension to the cables. Each cable can be controlled independently such that the combined effect of the cables 106 provides forces and / or moments to the head brace 102 to enable movement of the head brace 102 to a desired position relative to the mount 104 and / or to maintain the head brace 102 in a desired position relative to the mount 104.

[0024] Figures 3A and 3B illustrate an alternative configuration of the cable-actuated headneck exoskeleton device 100 that includes a control unit 200 in the form of a belt that supports individual actuators 206. As described in more detail below; the actuators 206 of the control unit 200 need not be directly attached to the mount 104 or head brace 102, and need not be positioned between the mount 104 and head brace 1 2. This significantly increases the versatility of the design and reduces crowding and bulkiness that other designs (e.g., those requiring rigid linkages) suffer from.

[0025] The mount 104 can, in some embodiments, be replaced by an external frame or other means for defining origin points for the cables 106. That is, the cable mount 104 can be provided in the form of an external frame rather than as a wearable component. The description related to a wearable mount is therefore likewise applicable to other cable mount structures except where specifically noted. A cable mount in the form of an external frame can be useful in situations where the cable mount is attached to a chair, wheelchair, mobility7scooter, bed, or other external support structure, for example.2. Exoskeleton Kinematics

[0026] The through holes 107 of the mount 104 and the insertion points 109 of the head brace 102 define the kinematics of the device 100. With additional reference to the schematic kinematic overview shown in Figure 2, the device 100 can include (1) a right insertion point 109 disposed at a location on the head brace 102 corresponding to the right side of the user’s head, (2) a left insertion point 109 disposed at a location on the head brace 102 corresponding to the left side ofthe user’s head, and (3) a back insertion point 109 disposed at a location on the head brace 102 corresponding to the back of the user’s head. The through holes 107 of the mount 104 define the kinematic origin points of the respective cables 106. The cable vectors can therefore form the opposing vectors originating at the base of the user’s neck (e.g., at the center of the C7 cervical joint).

[0027] The illustrated device 100 includes (1) a pair of through holes 107 located on a right segment of the mount 104, (2) a pair of through holes 107 located on a left segment of the mount 104, and (3) multiple through holes positioned along a back segment of the mount 104 (three through holes 107 in this example). Cables 106 passing through the through holes 107 of the right segment extend to the right insertion point 109 of the head brace 102. cables 106 passing through the through holes 107 of the left segment extend to the left insertion point 109 of the head brace 102, and cables 106 passing through the through holes 107 of the back segment extend to the back insertion point 109 of the head brace 102. Some embodiments (see Figures 3A-3B) include a single through hole 107 on each of the right and left sides of the mount 104, rather than multiple through holes 107 on each side.

[0028] When there are multiple through holes 107 on the right segment of the mount 104, they can be positioned so that there is at least some separation between them along the anterior- posterior direction and / or along the medial -lateral direction. Likewise, when there are multiple through holes 107 on the left segment of the mount 104, they can positioned so that there is at least some separation between them along the anterior-posterior direction and / or along the medial- lateral direction. The through holes 107 of the back segment of the mount 104 can be positioned along a medial-lateral line extending along the back side of the mount 104.

[0029] The positioning of the cables 106. as defined by the through holes 107 and insertion points 109, is preferably symmetric about the sagittal plane. The through holes 107 and insertion points 109 are positioned to minimize obstruction of the visual field. For example, the arrangement of cables 106 avoids passing any cables directly in front of the user’s face.

[0030] The kinematic configuration illustrated in Figures 1A and IB, which includes seven cables 106 and three insertion points to the head brace 102, allows for a geometric solution to solve for the position and orientation of the head brace 102 based solely on cable lengths, which can be measured by the respective actuators to which the cables 106 are attached. The exoskeleton device 100 can thus beneficially omit position / motion sensors in the head brace 102 and mount 104.

[0031] The number and arrangement of cables 106 in the configuration of Figures 1A and IB are exemplary only. In other embodiments, different numbers of cables 106 can be used and / or the cables 106 can be rearranged, such as the five cable configuration shown in Figures 3 A and 3B. Appropriate forces / moments to apply to the head brace 102 for any alternative arrangement can be determined, for example, through an optimization approach (e.g., using machine learning) such as any of those disclosed herein or combination thereof.3. Head Brace & Mount Features

[0032] The head brace 102 can include size-adjustment features for greater adaptability to users of different sizes. In the illustrated embodiment, the head brace 102 includes separate sections 103 and 105 that can be connected via an adjustable connection such as with one or more straps, hook and loop fasteners, snap connections, ties, drawstrings, buckles, etcetera. Other embodiments may include a unitary piece that is adjustable in diameter using buckle closures, ‘"strapback” or "‘snapback” closures common in baseball caps, hook and loop connections, buckles, and / or a Hex / stretch fit construction.

[0033] The head brace 102 can also include a back piece 110 that curves upward to engage the top of the head. This can beneficially prevent slipping of the head brace 102 by counteracting the downward pull of the cables. To further increase this effect, a strap or other structure (not shown) can attach and extend between the back section 103 and the front section 105, extending across the top of the head to further engage the head and counteract downward cable forces.

[0034] The head brace 102 can also include one or more indexing features to assist in proper placement on the user’s head. An indexing feature can be positioned relative to identifiable anatomy of the user. For example, an index marker 112 can be located to indicate proper placement of the head brace 102 w hen the marker 112 is aligned with the user’s temple.

[0035] The head brace 102 and / or mount 104 can be formed from a variety’ of suitable materials. Examples include polymers, leather, fabrics, and combinations thereof. In some embodiments, the mount 104 is configured with a relatively slim profile and can optionally be worn under clothing. For the mount 104, preferred embodiments include a flexible material that can generally conform to the body of the user yet be structurally strong enough to resist significant deformation when subjected to the tension forces of the cables 106.

[0036] The mount 104 can take various forms. It can be supported by the shoulders and / or torso. It can be configured with the form of shoulder pads and / or as a vest, as shown in Figures 1A-1B and 3A-3B, respectively. The mount 104. when provided in a wearable form, may haveany suitable shape capable of effectively defining origin points for the cables 106 relative to the head brace 102. As show n in Figures 3A and 3B, for example, the wearable mount 104 can include various buckles, straps, clasps, ties, zippers, and / or other adjustment features known in the art to promote a better and / or more comfortable fit to an individual user.

[0037] The exoskeleton device can alternatively utilize a cable mount configured as an external frame rather than a wearable mount. The head brace and cables can otherwise be configured similar to their corresponding components in the other embodiments described herein. An embodiment with a fixed external frame as the mount can be useful, for example, in a physical therapy clinic, hospital, and / or for wheelchair users where the mount can be mounted to the wheelchair, mobility unit, or other external support structure.4. Cable Features

[0038] The cables 106 can be formed from any material capable of providing sufficient tensile strength while also being relatively lightweight and durable. Examples include nylon, polyethylene (e.g.. ultra-high molecular weight polyethylene (UHMWPE)) and other similar polymer materials. Wire lines formed from stainless steel and / or other metals can additionally or alternatively be utilized, though polymer materials may be more preferred for most applications. The cables 106 can be monofilament or a composite of multiple filaments. For example, a braided structure of multiple filaments can function as a single cable for the purposes of the present disclosure.

[0039] The cables 106 can include one or more inline connectors 114 to enable selective detachment of the cables 106. As shown in Figures 3A and 3B, for example, connectors 1 14 can be positioned betw een the insertion points 109 of the head brace 102 and the through holes 107. The connectors 114 enable selective disconnection of the more distal portion (i.e., the portion tow ard the head brace 102) of the cable 106 from the remainder. Connectors 114 in this position enable easier disengagement of the head brace 102 from the mount 104, which allows easier donning and doffing of the head brace 102. The connectors 114 can also function as mechanical fuses configured to break if tension in the cable 106 exceeds a predetermined failure threshold. A connector 114 can take the form of a carabiner, breakaway link, weakened chain link, loadlimiting ties or shackles, other load-limiting mechanical connections, and combinations thereof.

[0040] The cables 106 can be configured as Bowden cables and / or can include a sheath to shield the user from at least some of the cable movement. In the illustrated embodiment, the sections of the cables 106 disposed between the mount 104 and the control unit 200 are coveredby outer sheaths 108. The outer sheaths 108 do not translate relative to the mount 104 and control unit 200, but allow the respective cables 106 to translate within their inner lumens.

[0041] The use of cables 106 with a Bowden / sheath construction beneficially protects the user from the potentially harmful or irritating effects of cable movement against skin or clothing, without the need of an external frame to distance the cables 106 from direct contact with the user. In use, the sheathed portions 108 of the cables 106 can be passed under the user's clothes, minimizing the overall appearance of the exoskeleton device 100.

[0042] The Bowden cables can be adjustable in length. For example, as shown in the configuration of Figures 3 A and 3B, a Bowden cable sheath 108 can include an adaptor 1 16 that enables length adjustment of the sheath 108. The adaptor 116 can be a segment of tubing connectable to other portions of the sheath 108 such that different sizes of adaptors 116 can readily be swapped to customize fit to the particular user. Additionally, or alternatively, an adaptor can itself be adjustable in length, such as via accordion-like and / or telescoping features that enable adjustment of the length of the adaptor 116.

[0043] The ability to adjust the length of the sheath 108 via the adaptor 116 beneficially enables the cables 106 to be positioned with minimal bending between the actuator 206 and the corresponding through hole 107. In the absence of adaptors 116. the cables 106 and sheaths 108 could include a default length that generally fits taller individuals and allows bending for shorter individuals. However, when worn by a shorter individual, the extra lengths of the cables 106 and sheaths 108 would necessarily bend betw een the actuator 206 and through hole 107. Such bending undesirably adds friction to the cable 106. making actuation more difficult and / or decreasing the ability to accurately correlate cable tension to forces / moments experienced at the user’s head. That is, variable cable friction from one user to the next, based on different user anatomy, would complicate the ability7to use tension measured at the actuator 206 to determine forces / moments experienced at the head brace 102. In contrast, the adaptors 116 allow the cables 106 to be routed in a substantially straight path from the actuator 206 to the corresponding through hole 107.5. Control Unit & Actuators

[0044] The use of cables 106 with a Bowden / sheath construction also beneficially allows the control unit 200 to be positioned remotely from the mount 104 and head brace 102. In particular, the actuators of the control unit 200 need not be directly attached to the mount 104 or head brace 102, and need not be positioned between the mount 104 and head brace 102. This significantly increases the versatility7of the design and reduces crowding and bulkiness that other designs (e.g., those requiring rigid linkages) suffer from.

[0045] For example, the control unit 200 can be positionable 6 inches or more from the mount 104, such as 9 inches or more from the mount 104, 12 inches or more from the mount 104, 15 inches or more from the mount 104, 18 inches or more from the mount 104, 24 inches or more from the mount 104, or any appropriate distance from the mount 104 so long as the cables are accordingly adjusted in size.

[0046] Supporting the control unit 200 somewhere other than the shoulders or back of the user better distributes the weight and bulk of the device and can provide a more comfortable and / or more aesthetically pleasing user experience. The control unit 200 can be configured to be worn around the user’s torso or waist, for example. The control unit 200 can be attached to a belt and supported thereby when worn by the user.

[0047] In the configuration shown in Figures 3A and 3B, for example, the control unit 200 can includes a belt that incorporates the individual actuators 206. The actuators 206 shown here include motorized spools that can control cable tension via rotation. As shown, suspenders and / or other support features can additionally or alternatively be included to support the actuators 206 and / or increase wearability' and comfort of the device 100. Such yvearable support features can take various forms as known in the art, and can include, for example, various buckles, straps, clasps, ties, zippers, other wearable components, and combinations thereof.

[0048] The control unit 200 can also include a power source 220 (e.g., one or more batteries) for powering any of the components of the control unit 200.

[0049] Figures 4A and 4B illustrate an example of an actuator assembly comprising a series elastic actuator (SEA) mechanism and a clutch 212. Actuators disclosed herein can optionally include such features. An actuator with an SEA mechanism and clutch 212 can beneficially promote device safety and / or actuator efficiency.

[0050] To provide SEA functionality', a spring element 208 can be incorporated into the cable 106 at some point between the actuator 206 and the head brace 102, though it is likely preferable to position the spring element 208 closer to the actuator 206 to avoid additional complexity near the user’s head. The spring element 208 can essentially store some of the tension applied by the actuator 206 and can therefore maintain tension in the cable 106 even in situations yvhere user head movement would introduce slack into the cable 106.

[0051] The clutch 212 can engage yvith the actuator 206 to prevent adjustment of the cable 106. The clutch 212 can be configured to engage the actuator 206 in the absence of power to the associated motor. In the illustrated embodiment, for example, the clutch 212 includes a pair of opposing clutch members and an electromagnet that, when power is proy ided to the motor, holdsthe clutch members apart in an open position and maintains free movement of the spool of the actuator 206. When power is off, the clutch members are no longer held apart and are allowed to engage the spool of the actuator 206. The clutch members can be biased towards a closed configuration by one or more springs, for example, as in the illustrated embodiment. Other clutching mechanisms as known in the mechanical arts can additionally or alternatively be included.

[0052] The actuator assembly can also include a linear potentiometer 210 associated with the spring element 208. The linear potentiometer 210 provides a measure of the length of the spring element 208. The determined length of the spring element 208 and the spring constant of the spring element 208 can be used to determine the tension applied to the cable 106 by the spring element 208.

[0053] In use, when power to the corresponding motor is off, the clutch 212 engages with the actuator 206 to hold position of the actuator 206 (e.g., to prevent unspooling of the cable 106). The spring element 208 maintains some amount of tension in the cable 106 to prevent or minimize slack in the cable 106 and to absorb and allow minor head movements by the user without the need to continuously adjust cable tension using the actuator 206.Exoskeleton Control

[0054] Figure 5 illustrates an example control system for the cable-actuated head-neck exoskeleton device, showing the components and functions that can be included with the control unit 200.

[0055] The illustrated control unit 200 includes a controller 214 that is communicatively connected to a series of actuators 206 (e.g.. 206a, 206b, and so on as indicated by the ellipses). The number of actuators will typically match the number of cables. As shown here, each actuator is connected to a corresponding cable 106 (e.g., actuator 206ais connected to cable 106a) to enable independent control of that cable. The actuators 206 can comprise servomotors (and / or other ty pes of DC motors), spool mechanisms, linear actuators, and / or any other mechanism capable of controlling the length or tension of an attached cable 106. The controller 214 can be configured to control the actuators 206 according to various parameters, including torque, position, velocity7, force, stiffness, and / or other suitable control parameters.

[0056] The separate actuators 206 can be housed within the same common housing, as shown in Figure 1A. Alternatively, one or more of the actuators 206 may be associated with a separatehousing and / or one or more of the actuators 206 may be unhoused. That is, not all actuators 206 need be arranged in the same common housing or need be housed.

[0057] The controller 214 can also be communicatively connected to one or more user input devices 218. Examples of input mechanisms might include, for instance, microphones, touchscreens, cameras, keyboards, stylus, mouse, or other pointer inputjoysticks, and so forth. The user can utilize some combination of manual input device(s) to control movement of the exoskeleton device 100.

[0058] The controller 214 can also be communicatively connected to one or more sensors 216 associated with the exoskeleton device 100. Sensors 216 can include, for example, eye-tracking sensors, electroencephalography (EEG) sensors, electromyography (EMG) sensors, and / or other biometric sensors. Input from such sensors can be useful for controlling the exoskeleton device 100, particularly where the user does not have full hand control for effective use of other manual input mechanisms. Using eye-tracking sensors, for example, can make beneficial use of the biological relation between head and eye movements (e.g., the vestibulo-ocular reflex) such that gaze can be a useful signal for controlling head-neck movement. Additionally, or alternatively, EEG and / or EMG sensors (e.g.. electrodes) can be positioned at suitable locations (e.g., on the head and / or neck) and the resulting signals used by the controller 214 to control head-neck movement of the exoskeleton device 100.

[0059] The sensors 216 can additionally or alternatively include one or more position / motion sensors (e.g., accelerometers, gyroscopes, magnetometers, capacitive or optical touch sensors) and / or force sensors (e.g., load cells, force-sensing resistors, piezoelectric sensors, potentiometers such as linear potentiometers 210). The sensors 216 can include sensors that measure a parameter of the actuator 206 such as the current draw, which can be correlated to tension in the corresponding cable 206. In some embodiments, the controller 214 can calculate the position of the head brace 102 relative to the mount 104 and / or can calculate forces / moments at the head brace 102 using input from the one or more sensors 216. For example, the controller 214 can use close-loop feedback from one or more of such sensors to determine desired cable lengths and / or tensions for obtaining desired head brace position and / or force / moment to apply to the head. In some embodiments, the controller 214 can make position and / or force / moment determinations solely by tracking the lengths of the cables 106. The exoskeleton device 100 can thus beneficially omit position / motion sensors in the head brace 102 and mount 104.

[0060] The controller 214 can also be communicatively connected to one or more external devices 220. An external device 220 can include output mechanisms such as speakers, displays,tactile output, projections, and so forth. The external device 220 can be configured to display exoskeleton device status information, control options, use history, settings, a virtual model of the exoskeleton, and the like. The external device 220 can include any computer device. The external device 220 can include a device configured to implement a VR, MR, and / or AR environment for the user.

[0061] The controller 214 is configured to use one or more forms of input (e.g., from sensors 216 and / or user input 218) and determine the proper output to the actuators 206 for adjusting their respective cables 106. The controller 214 can be configured to receive user-selected options and / or parameter controls for self-customization / tuning of the exoskeleton device 100. For example, the user can input (e.g.. through an input device such as described above) a preferred level of a particular parameter (e.g., cable adjustment speed, cable tension limits, eye-tracking sensitivity) to obtain preferred exoskeleton performance.

[0062] The controller 214 and / or other components of the control system can include microcontroller components known in the art, such as a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), Program-specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), or any other specialized circuit.

[0063] As used herein, components that are ‘'communicatively connected” can be connected via a wired connection or via a wireless connection. A wireless connection can include Wi-Fi, Near Field Communication (NFC), ultra-high frequency radio (e.g., Bluetooth®), and / or cellular networks, for example.

[0064] The controller 214 is configured to compute the cable length adjustments for obtaining a desired head position. The determinations can be based on kinematic models, machine learning, optimization algorithms (e.g., gradient descent, genetic algorithms, hill climbing, conjugate gradient, coordinate descent, Newton’s method, simulated annealing, particle swarm optimization, etc.), or combinations thereof.Example Aspects

[0065] The following clauses provide a non-exhaustive list of example aspects of the disclosed cable-actuated head-neck exoskeleton device and related methods:

[0066] Clause 1. A cable-actuated head-neck exoskeleton device, comprising: ahead brace; a cable mount; a control unit; and a set of cables, each cable extending from the control unit, through a defined through hole in the cable mount, and to a defined insertion point in the head brace,wherein the control unit includes a set of actuators, each actuator being coupled to a respective cable, and each being configured to independently adjust a length or tension of the corresponding cable to collectively apply force and moment to the head brace and / or control position of the head brace relative to the cable mount.

[0067] Clause 2. The exoskeleton device of clause 1, wherein the cable mount includes a wearable mount or an external frame.

[0068] Clause 3. The exoskeleton device of clause 1, wherein the set of cables extend through the cable mount and attach to the head brace in a manner that provides six degrees of freedom for movement of the head brace relative to the cable mount.

[0069] Clause 4. The exoskeleton device of any one of clauses 1-3, wherein the head brace comprises: (1) a right insertion point disposed at a location on the head brace corresponding to the right side of the user's head, (2) a left insertion point disposed at a location on the head brace corresponding to the left side of the user's head, and (3) a back insertion point disposed at a location on the head brace corresponding to the back of the user's head.

[0070] Clause 5. The exoskeleton device of clause 4, wherein the set of cables comprises multiple cables, such as 5 to 7 cables.

[0071] Clause 6. The exoskeleton device of clause 5. wherein the cable mount is a wearable mount that comprises: (1) one or more through holes located on a right segment of the mount, wherein cables extending therethrough attach to the right insertion point of the head brace; (2) one or more through holes located on a left segment of the shoulder mount, wherein cables extending therethrough attach to the left insertion point of the head brace; and (3) three through holes positioned along a across a back segment of the shoulder mount, wherein cables extending therethrough attach to the back insertion point of the head brace.

[0072] Clause 7. The exoskeleton device of clause 6, wherein the through holes of the right segment of the shoulder mount are positioned so that there is at least some separation along the anterior-posterior direction and / or along the medial-lateral direction, and wherein the through holes of the left segment of the shoulder mount are positioned so that there is at least some separation along the anterior-posterior direction and / or along the medial-lateral direction.

[0073] Clause 8. The exoskeleton device of any one of clauses 1-7, wherein the through holes are symmetric about the sagittal plane.

[0074] Clause 9. The exoskeleton device of any one of clauses 1-8, wherein the cables do not pass directly in front of a user's face and do not directly obstruct the visual field.

[0075] Clause 10. The exoskeleton device of any one of clauses 1-9, wherein the control unit further comprises a controller communicatively connected to the set of actuators.

[0076] Clause 1 1 . The exoskeleton device of clause 10, wherein the actuators of the set of actuators are configured to measure lengths of the respective cables, and wherein the controller is configured to determine a position of the head brace relative to the cable mount based on the determined lengths of the cables.

[0077] Clause 12. The exoskeleton device of clause 10 or claim 11, wherein the controller is communicatively connected to one or more user input devices.

[0078] Clause 13. The exoskeleton device of clause 12, wherein the one or more user input devices comprises a microphone, touchscreen, camera, keyboard, stylus, mouse, other pointer input, and / or joystick.

[0079] Clause 14. The exoskeleton device of any one of clauses 10-13, wherein the controller is communicatively coupled to one or more sensors.

[0080] Clause 15. The exoskeleton device of clause 14, wherein the one or more sensors comprises a gaze / eye-tracking sensor, electroencephalography (EEG) sensor, electromyography (EMG) sensor, and / or position / motion sensors.

[0081] Clause 16. The exoskeleton device of any one of clauses 10-15, wherein the controller is communicatively coupled to an external device.

[0082] Clause 17. The exoskeleton device of clause 16, wherein the external device comprises an output mechanism comprising speakers, displays, tactile output, and / or projections.

[0083] Clause 18. The exoskeleton device of clause 17. wherein the display of the output device is configured to display exoskeleton device status information, control options, use history, settings, and / or a virtual model of the exoskeleton.

[0084] Clause 19. The exoskeleton device of any one of clauses 10-18, wherein the controller uses closed-loop feedback from one or more sensors to determine cable lengths and / or tensions for obtaining a desired head brace position and / or force / moment applied to the head brace, optionally using kinematic models, machine learning, and / or optimization algorithms.

[0085] Clause 20. The exoskeleton device of any one of clauses 1-19, wherein the exoskeleton device omits position, motion, or force sensors in the head brace or cable mount.

[0086] Clause 21. The exoskeleton device of any one of clauses 1-20. wherein the set of actuators comprises servomotors and / or other types of DC motors.

[0087] Clause 22. The exoskeleton device of any one of clauses 1-21, wherein the set of actuators are housed within a common housing.

[0088] Clause 23. The exoskeleton device of any one of clauses 1 -22, wherein the head brace is size-adjustable, such as via a ratchet mechanism.

[0089] Clause 24. The exoskeleton device of any one of clauses 1-23, wherein the head brace comprises a back piece that curves to engage a top portion of the user's head.

[0090] Clause 25. The exoskeleton device of any one of clauses 1-24, wherein the head brace includes one or more indexing features to assist in proper placement on the user's head.

[0091] Clause 26. The exoskeleton device of any one of clauses 1-25, wherein the cables comprise a polymer such as ultra-high molecular weight polyethylene (UHMWPE)) and / or nylon.

[0092] Clause 27. The exoskeleton device of any one of clauses 1-26, wherein at least a portion of the cables are sheathed within respective outer sheaths, wherein the cables are translatable within the outer sheaths, the outer sheaths optionally comprising one or more adaptors, each adaptor being associated with an outer sheath to enable length adjustment of the outer sheath.

[0093] Clause 28. The exoskeleton device of clause 27, wherein the cable mount is a wearable mount and wherein the outer sheaths are disposed between the control unit and the mount.

[0094] Clause 29. The exoskeleton device of any one of clauses 1-28, wherein the cable mount is a wearable mount and wherein the control unit is positionable 6 inches or more from the mount, such as 9 inches or more from the mount. 12 inches or more from the mount, 15 inches or more from the mount, 18 inches or more from the mount, or 24 inches or more from the mount.

[0095] Clause 30. The exoskeleton device of any one of clauses 1-29. wherein the control unit is configured to be supported and / or worn around the torso and / or waist of the user.

[0096] Clause 31. The exoskeleton device of clause 30, further comprising a strap and / or belt connected to the control unit.

[0097] Clause 32. The exoskeleton device of any one of clauses 1-31, wherein the cable mount is a wearable mount and comprises a material that is conformable to the user yet strong enough to maintain positions of the through holes.

[0098] Clause 33. The exoskeleton device of any one of clauses 1-32, wherein the set of cables comprise one or more inline connectors, each connector being disposed in a cable at a position between the through hole and the insertion point of the head brace, each connector enablingselective disconnection of a distal portion of the corresponding cable 106 from a remainder of the cable 106, the connectors optionally comprising a predetermined failure threshold so as to function as mechanical fuses.

[0099] Clause 34. The exoskeleton device of any one of clauses 1-33, wherein the set of actuators comprises an actuator assembly that includes a clutch and / or a series elastic actuation (SEA) mechanism.

[0100] Clause 35. The exoskeleton device of clause 34, wherein the SEA mechanism comprises a spring element disposed inline in a corresponding cable between the corresponding actuator and the corresponding insertion point, and optionally further comprising a linear potentiometer associated with the spring element to measure length of the spring element.

[0101] Clause 36. The exoskeleton device of clause 34 or claim 35 wherein the clutch comprises a set of opposing clutch members that are held in an open position, such as by an electromagnet, when a motor of the corresponding actuator is powered and close when the motor of the corresponding actuator is not powered.

[0102] Clause 37. A method of providing assisted movement to the head or neck of a user, comprising: positioning the exoskeleton device as in any one of clauses 1-36 on the user; and the exoskeleton device adjusting the lengths of one or more cables to thereby move the head or neck of the user.

[0103] Clause 38. The method of clause 37, wherein the exoskeleton device is used for one or more of: rehabilitation for patients recovering from head and / or neck injuries or surgeries; assistance for elderly and / or disabled individuals such as those with postural disorders caused by ALS, CP, other neurological disorders, or other causes; sports and athletics applications such as to simulate the resistance or support desired during competitions; virtual reality (VR), mixed reality (MR), or augmented reality (AR) applications such as to provide tactile feedback and / or simulate a variety’ of user movements; or a work environment.Additional Terms & Definitions

[0104] While certain embodiments of the present disclosure have been described in detail, with reference to specific configurations, parameters, components, elements, etcetera, the descriptions are illustrative and are not to be construed as limiting the scope of the claimed invention.

[0105] Furthermore, it should be understood that for any given element of component of a described embodiment, any of the possible alternatives listed for that element or component may generally be used individually or in combination with one another, unless implicitly or explicitly stated otherwise.

[0106] In addition, unless otherwise indicated, numbers expressing quantities, constituents, distances, or other measurements used in the specification and claims are to be understood as optionally being modified by the term '‘about.” When the terms “about,” “approximately,” “substantially,” or the like are used in conjunction with a stated amount, value, or condition, it may be taken to mean an amount, value or condition that deviates by less than 20%, less than 10%, less than 5%, less than 1%, less than 0. 1%, or less than 0.01% of the stated amount, value, or condition. At the very least, and not as an attempt to limit the application of the doctrine of equivalents to the scope of the claims, each numerical parameter should be construed in light of the number of reported significant digits and by applying ordinary rounding techniques.

[0107] Any headings and subheadings used herein are for organizational purposes only and are not meant to be used to limit the scope of the description or the claims.

[0108] It will also be noted that, as used in this specification and the appended claims, the singular forms “a,” “an” and “the” do not exclude plural referents unless the context clearly dictates otherwise. Thus, for example, an embodiment referencing a singular referent (e.g., “widget”) may also include two or more such referents.

[0109] The embodiments disclosed herein should be understood as comprising / including disclosed components, and may therefore include additional components not specifically described. Optionally, the embodiments disclosed herein can omit components that are not specifically described. That is, non-disclosed components may optionally be omitted from the disclosed embodiments. For example, any additional actuators, power transmission members (e.g., cables, linkages), and / or wearable components (e.g., multiple layers or nested rings of the head brace) not specifically disclosed herein may optionally be omitted.

[0110] It will also be appreciated that embodiments described herein may also include properties and / or features (e.g., ingredients, components, members, elements, parts, and / or portions) described in one or more separate embodiments and are not necessarily limited strictly to the features expressly described for that particular embodiment. Accordingly, the various features of a given embodiment can be combined with and / or incorporated into other embodiments of the present disclosure. Thus, disclosure of certain features relative to a specific embodiment of the present disclosure should not be construed as limiting application or inclusion of said features5 to the specific embodiment. Rather, it will be appreciated that other embodiments can also include such features.

Claims

CLAIMS1. A cable-actuated head-neck exoskeleton device, comprising: a head brace; a cable mount; a control unit; and a set of cables, each cable extending from the control unit, through a defined through hole in the cable mount, and to a defined insertion point in the head brace, wherein the control unit includes a set of actuators, each actuator being coupled to a respective cable, and each being configured to independently adjust a length or tension of the corresponding cable to collectively apply force and moment to the head brace and / or control position of the head brace relative to the cable mount.

2. The exoskeleton device of claim 1. wherein the cable mount includes a wearable mount or an external frame.

3. The exoskeleton device of claim 1. wherein the set of cables extend through the cable mount and attach to the head brace in a manner that provides six degrees of freedom for movement of the head brace relative to the cable mount.

4. The exoskeleton device of claim 1 , wherein the head brace comprises: ( 1) a right insertion point disposed at a location on the head brace corresponding to the right side of the user’s head, (2) a left insertion point disposed at a location on the head brace corresponding to the left side of the user’s head, and (3) a back insertion point disposed at a location on the head brace corresponding to the back of the user’s head.

5. The exoskeleton device of claim 4, wherein the set of cables comprises multiple cables, such as 5 to 7 cables.

6. The exoskeleton device of claim 5, wherein the cable mount is a wearable mount that comprises: (1) one or more through holes located on a right segment of the mount, wherein cablesextending therethrough attach to the right insertion point of the head brace; (2) one or more through holes located on a left segment of the shoulder mount, wherein cables extending therethrough attach to the left insertion point of the head brace; and (3) three through holes positioned along a across a back segment of the shoulder mount, wherein cables extending therethrough attach to the back insertion point of the head brace.

7. The exoskeleton device of claim 6, wherein the through holes of the right segment of the shoulder mount are positioned so that there is at least some separation along the anterior-posterior direction and / or along the medial -lateral direction, and wherein the through holes of the left segment of the shoulder mount are positioned so that there is at least some separation along the anterior-posterior direction and / or along the medial-lateral direction.

8. The exoskeleton device of claim 1, wherein the through holes are symmetric about the sagittal plane.

9. The exoskeleton device of claim 1, wherein the cables do not pass directly in front of a user’s face and do not directly obstruct the visual field.

10. The exoskeleton device of claim 1, wherein the control unit further comprises a controller communicatively connected to the set of actuators.

11. The exoskeleton device of claim 10, wherein the actuators of the set of actuators are configured to measure lengths of the respective cables, and wherein the controller is configured to determine a position of the head brace relative to the cable mount based on the determined lengths of the cables.

12. The exoskeleton device of claim 10, wherein the controller is communicatively connected to one or more user input devices.

13. The exoskeleton device of claim 12, wherein the one or more user input devices comprises a microphone, touchscreen, camera, keyboard, stylus, mouse, other pointer input, and / or joystick.

14. The exoskeleton device of claim 10, wherein the controller is communicatively coupled to one or more sensors.

15. The exoskeleton device of claim 14, wherein the one or more sensors comprises a gaze / eye-tracking sensor, electroencephalography (EEG) sensor, electromyography (EMG) sensor, and / or position / motion sensors.

16. The exoskeleton device of claim 10, wherein the controller is communicatively coupled to an external device.

17. The exoskeleton device of claim 16, wherein the external device comprises an output mechanism comprising speakers, displays, tactile output, and / or projections.

18. The exoskeleton device of claim 17, wherein the display of the output device is configured to display exoskeleton device status information, control options, use history, settings, and / or a virtual model of the exoskeleton.

19. The exoskeleton device of claim 10, wherein the controller uses closed-loop feedback from one or more sensors to determine cable lengths and / or tensions for obtaining a desired head brace position and / or force / moment applied to the head brace, optionally using kinematic models, machine learning, and / or optimization algorithms.

20. The exoskeleton device of claim 1 , wherein the exoskeleton device omits position, motion, or force sensors in the head brace or cable mount.

21. The exoskeleton device of claim 1, wherein the set of actuators comprises servomotors and / or other types of DC motors.

22. The exoskeleton device of claim 1, wherein the set of actuators are housed within a common housing.

23. The exoskeleton device of claim 1, wherein the head brace is size-adjustable, such as via a ratchet mechanism.

24. The exoskeleton device of claim 1, wherein the head brace comprises a back piece that curves to engage a top portion of the user’s head.

25. The exoskeleton device of claim 1, wherein the head brace includes one or more indexing features to assist in proper placement on the user’s head.

26. The exoskeleton device of claim 1, wherein the cables comprise a polymer such as ultra- high molecular weight polyethylene (UHMWPE)) and / or nylon.

27. The exoskeleton device of claim 1, wherein at least a portion of the cables are sheathed within respective outer sheaths, wherein the cables are translatable within the outer sheaths, the outer sheaths optionally comprising one or more adaptors, each adaptor being associated with an outer sheath to enable length adjustment of the outer sheath.

28. The exoskeleton device of claim 27, wherein the cable mount is a wearable mount and wherein the outer sheaths are disposed between the control unit and the mount.

29. The exoskeleton device of claim 1, wherein the cable mount is a wearable mount and wherein the control unit is positionable 6 inches or more from the mount, such as 9 inches or more from the mount, 12 inches or more from the mount, 15 inches or more from the mount. 18 inches or more from the mount, or 24 inches or more from the mount.

30. The exoskeleton device of claim 1, wherein the control unit is configured to be supported and / or worn around the torso and / or waist of the user.

31. The exoskeleton device of claim 30, further comprising a strap and / or belt connected to the control unit.

32. The exoskeleton device of claim 1. wherein the cable mount is a wearable mount and comprises a material that is conformable to the user yet strong enough to maintain positions of the through holes.

33. The exoskeleton device of claim 1, wherein the set of cables comprise one or more inline connectors, each connector being disposed in a cable at a position between the through hole and the insertion point of the head brace, each connector enabling selective disconnection of a distal portion of the corresponding cable 106 from a remainder of the cable 106. the connectors optionally comprising a predetermined failure threshold so as to function as mechanical fuses.

34. The exoskeleton device of claim 1. wherein the set of actuators comprises an actuator assembly that includes a clutch and / or a series elastic actuation (SEA) mechanism.

35. The exoskeleton device of claim 34, wherein the SEA mechanism comprises a spring element disposed inline in a corresponding cable between the corresponding actuator and the corresponding insertion point, and optionally further comprising a linear potentiometer associated with the spring element to measure length of the spring element.

36. The exoskeleton device of claim 34, wherein the clutch comprises a set of opposing clutch members that are held in an open position, such as by an electromagnet, when a motor of the corresponding actuator is powered and close when the motor of the corresponding actuator is not powered.

37. A method of providing assisted movement to the head or neck of a user, comprising: positioning the exoskeleton device as in any one of claims 1-36 on the user; and the exoskeleton device adjusting the lengths of one or more cables to thereby move the head or neck of the user.

38. The method of claim 37, wherein the exoskeleton device is used for one or more of: rehabilitation for patients recovering from head and / or neck injuries or surgeries; assistance for elderly and / or disabled individuals such as those with postural disorders caused by ALS, CP, other neurological disorders, or other causes; sports and athletics applications such as to simulate the resistance or support desired during competitions; virtual reality (VR), mixed reality (MR), or augmented reality (AR) applications such as to provide tactile feedback and / or simulate a variety of user movements; or a work environment.

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