Assistive mobility system including a wheeled mobility unit integrated with a wearable assistive device

Abstract

An assistive mobility system integrates a wheeled mobility subsystem, such as a wheelchair, with a wearable assistive subsystem, such as an exoskeleton. The subsystems include complementary connective features that facilitate positioning, alignment, and automatic coupling and / or decoupling when a user is seated and / or when the user stands or moves away. When coupled, an electrical interface transfers power and / or data between the subsystems, enabling transfer of data and electrical power. Cameras, sensors, and actuators on the wheelchair may be used to align connective features of the subsystems to facilitate coupling. Sensors on the wearable subsystem generate biometric and / or motion data, which is transmitted to the wheeled mobility subsystem, to an offboard device, and / or to a cloud database, for display or storage. The system coordinates wheelchair and / or exoskeleton actuation during seated-to-standing transitions. The system supports rehabilitation exercises while the user is seated or standing.

Description

ASSISTIVE MOBILITY SYSTEM INCLUDING A WHEELED MOBILITY UNIT INTEGRATED WITH A WEARABLE ASSISTIVE DEVICE CROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application 63 / 770,960, filed March 12, 2025, which is hereby incorporated by reference, including appendices, in its entirety.TECHNICAL FIELD

[0002] This disclosure relates to an assistive mobility system that includes a wheeled mobility unit, such as a wheelchair, and one or more wearable assistive devices, such as an exoskeleton.BACKGROUND

[0003] There are various types of assistive mobility devices including wheeled units (e.g., wheelchairs) and wearable devices (e.g., exoskeletons). Most standard powered and non-powered wheelchairs and other similar wheeled mobility devices (scooters, walkers, etc.) provide seated and / or wheeled mobility to the user (a disabled or elderly user, for example). Some wheelchairs provide additional user-motion capabilities including seat elevation, seat tilt, seat lateral tilt, backrest recline, leg elevation, leg extension, and standing, among others. Some wheelchairs provide additional terrain-navigation capabilities including off-road driving and limited curbclimbing, and a very select few provide stair-climbing. A number of wearable assistive devices, also called exoskeletons, have been developed for a number of applications, including workers manipulating heavy objects, rehabilitation of upper or lower limbs, or aiding upper or lower limbs for daily activities.

[0004] Different types of assistive devices have different advantages and disadvantages. For example, a wheeled mobility device provides for stable and comfortable mobility across long distances, with access to a large power source (if a powered system); however, the type of mobility is limited, as are the activities that the user can perform while seated. A wearable assistive device, such as an exoskeleton, assists use of a user’s limbs. For example, a lower-limb exoskeleton may help a user to stand, walk, and / or climb stairs; however, power requirements dictate either a large cumbersome power source (e.g., a heavy battery) or a limited operation time between charging, thus limiting the range (distance) the exoskeleton may travel. An upper-limb exoskeleton affords the user additional strength and / or dexterity to perform tasks with their hands and arms; however, power requirements dictate either a large cumbersome power source or a limited operation time between charging.

[0005] The approaches described in this section are approaches that could be pursued but not necessarily approaches that have been previously conceived or pursued. Therefore, unless otherwise indicated, it should not be assumed that any of the approaches described in this section qualify as prior art merely by virtue of their inclusion in this section.BRIEF DESCRIPTION OF THE DRAWINGS

[0006] The accompanying drawings, which are incorporated in and constitute a part of this specification, exemplify the embodiments and, together with the description, serve to explain and illustrate principles disclosed herein. The drawings are intended to illustrate major features of the exemplary embodiments in a diagrammatic manner. The drawings are not intended to depict every feature of actual embodiments nor relative dimensions of the depicted elements and are not drawn to scale. It should be noted that references to “an” or “one” implementation in this disclosure are not necessarily to the same implementation, and they mean at least one. In the drawings, in accordance with one or more implementations:

[0007] Figures 1 A-C illustrate an example assistive mobility system;

[0008] Figures 2A-D illustrate examples of an assistive mobility system with camera alignment features;

[0009] Figures 3 A-C illustrate an example assistive mobility system with clamshell exoskeletons;

[0010] Figure 4 illustrates a wearable assistive subsystem with sensors;

[0011] Figure 5 is a block diagram of the data and communication connections between a wheeled mobility subsystem, a wearable assistive subsystem, and other items;

[0012] Figure 6 is a flow chart illustrating example operations for using an assistive mobility system;

[0013] Figure 7 is a flow chart illustrating example operations for using an exoskeleton; and

[0014] Figure 8 illustrates a block diagram of a computing system.DETAILED DESCRIPTION

[0015] 1. SUMMARY

[0016] In general, wheelchairs and exoskeletons are both useful for aiding mobility of a user but are not traditionally integrated. Wheelchairs provide general long-range mobility and have a high power capacity but are less useful for navigating close-quarters and do not provide limbstrengthening or rehabilitation. Exoskeletons are useful for close-quarters navigation, limb strengthening, and rehabilitation, but are not equipped with high capacity power sources.Wheelchairs may include indicators for showing battery life but display only limited information. Exoskeletons may include sensors for gathering biometric data but do not include convenient displays for the gathered data. One or more implementations use an integrated wheelchair-plus-exoskeleton assistive mobility system to provide long-range and close-quarter mobility, high power capacity, limb strengthening and rehabilitation, and gathering and display of biometric data.

[0017] The disclosed embodiments describe an integrated assistive mobility system including a wheeled mobility subsystem, which may include a wheeled mobility unit such as a wheelchair, integrated with a wearable assistive subsystem, which may include one or more wearable assistive devices such as an exoskeleton. Modes of system integration include mechanical, electrical, software, usability, and aesthetic integration. The system may afford the user with: comfortable and long-distance travel means; mobility assistance; enhanced strength, dexterity, and stamina; rehabilitation means (e.g., limb stretching and strengthening); measurement of health parameters (e.g., heartbeat, oxygen) and functional metrics (e.g., joint strengthjoint range-of-motion); extended operation time and range for exoskeletons; procurement of health parameters and functional metrics; and communication of health parameters and functional metrics to the user (e.g., via onboard indicators / displays or a mobile application) and / or other stakeholders (e.g., physicians, care-givers).

[0018] 2. GENERAL OVERVIEW

[0019] The disclosed embodiments describe an assistive mobility system that includes a wheeled mobility subsystem integrated with a wearable assistive subsystem. The wheeled mobility subsystem includes a wheeled mobility unit, such as a wheelchair or other wheeled mobility unit. The wearable assistive subsystem includes one or more wearable assistive devices, such as an upper-limb, lower-limb, wrist, ankle, or other exoskeleton. The subsystems integrate with each other to leverage the advantages each type of subsystem bestows to the user. For example, a combined and integrated wheelchair-plus-exoskeleton system provides long distance travel, enhanced upper-limb and / or lower-limb mobility and dexterity, with ample access to power, a means for viewing biometric data collected from exoskeleton sensors, and a means for seated or standing rehabilitation exercise (e.g., stretching or strength-training) via the powered exoskeleton components. The embodiments described are relevant to elderly users and / or users with disabilities. However, various embodiments represent broader applications including industrialand military applications, among others. The example embodiments presented generally refer to lower-limb (leg) exoskeletons and / or upper-limb (arm) exoskeletons. However, the concepts described are applicable to other hip, ankle, foot, shoulder, wrist, hand, back, neck, partial-body, full-body, or other exoskeletons.

[0020] In one or more implementations, the wheeled mobility subsystem and wearable assistive subsystem include one or more features to facilitate coupling, decoupling, alignment, and / or communication between the subsystems. The subsystems may exchange data and / or electrical power, either wirelessly or using a wired connection. Biometric data gathered from sensors on the exoskeleton may be displayed on a wheelchair display or transmitted to a user computing device or to a cloud-based storage location. In some embodiments, an exoskeleton coupled to a wheelchair provides structural support to the wheelchair. The subsystems may include features for automatically fastening and / or unfastening the exoskeleton.

[0021] 3. ASSISTIVE MOBILITY SYSTEM

[0022] Figures 1 A-C illustrate an example assistive mobility system, in accordance with one or more embodiments. Figure 1 A illustrates an assistive mobility system 100 with a user in a seated position. The assistive mobility system 100 is an integrated system that includes a wheeled mobility subsystem that includes a wheeled mobility unit, such as a wheelchair, and a wearable assistive subsystem that includes one or more assistive wearable devices, such as an exoskeleton. Implementations in which the assistive mobility system 100 includes a wheelchair and exoskeleton may be referred to as a “wheelchair-plus-exoskeleton” system.

[0023] In Figure 1 A, the assistive mobility system 100 includes a wheeled mobility subsystem 110 and a wearable assistive subsystem 120. The wheeled mobility subsystem 110 includes a wheeled mobility unit 112, a battery 114, an electrical interface 116, and a (first) connective feature 118 that provides connection, alignment, and / or coupling between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120. In some implementations, the electrical interface 116 includes a wired power transfer module or a wireless power transfer module (e.g., inductive transmitter / receiver) and a data transceiver.

[0024] The wearable assistive subsystem 120 includes a wearable assistive device 122, a battery 124, an electrical interface 126 that interfaces with (e.g., is configured to transmit and / or receive power and / or data to and / or from) the electrical interface 116, a (second) connective feature 128 that interfaces with the connective feature 118 to provide connection, alignment, and / or coupling between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120, and oneor more sensors 129a, 129b. When a user initiates use of the wheeled mobility unit 112, the wearable assistive device 122 is initially in place on (e.g., on top of or adjacent to) the wheeled mobility unit 112, ready to receive a body part of the user. The wearable assistive device 122 is automatically or manually secured to the user’s body part as the user initiates use of the wearable assistive device 122. In the example, the wearable assistive device 122 includes an upper portion 123 configured to be secured to a user’s limb above an anatomical joint of the user, an actuated joint 125 aligned with the anatomical joint, and a lower portion 127 configured to be secured below the anatomical joint.

[0025] In Figure 1 A, a user is seated on the wheeled mobility unit 112, and one or more limbs of the user are secured to the wearable assistive device 122, which is removably coupled to the wheeled mobility subsystem 110. The wearable assistive device 122 is configured to receive electrical power to charge the battery 124 via a wired electrical interface between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120 and / or via a wireless power interface implemented using the electrical interface 116 and the electrical interface 126. In one or more implementations, the electrical power interface automatically connects when the wearable assistive subsystem 120 is coupled to the wheeled mobility subsystem 110 and automatically disconnects when the wearable assistive subsystem 120 is decoupled as the user stands or sits while wearing the wearable assistive device 122. In one or more implementations, the connective features 118, 128 include alignment features configured to guide coupling for mechanical and / or electrical connections between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120. The connective feature 118 of the wheeled mobility unit 112 may be positioned underneath and / or adjacent to an expected position of the upper portion 123 of the wearable assistive device 122 when the user is seated.

[0026] In Figure 1 A, the wheeled mobility unit 112 is depicted as a wheelchair, although another type of wheeled mobility unit (e.g., a scooter, walker, hospital bed, etc.) may be used in some implementations. Also, the wearable assistive device 122 is illustrated as a lower-limb exoskeleton, although another type of wearable assistive device may be used in some implementations. The wearable assistive subsystem 120 is configured to automatically align with and couple to the wheeled mobility subsystem 110 when the user sits on the wheeled mobility unit 112, and to automatically decouple when the user stands or moves away, thereby enabling independent operation.

[0027] In Figure 1 A, the battery 114 is a power source of the wheeled mobility subsystem 110 and is configured to provide electrical power to propulsion components of the wheeled mobility unit 112 and, when coupled, to the wearable assistive subsystem 120. The battery 114 mayinclude one or more rechargeable battery modules positioned within a chassis of the wheeled mobility unit 112. In one or more implementations, a battery 114 is mounted adjacent a rear portion of the wheeled mobility unit 112 and / or molded into a body of the wheeled mobility unit.

[0028] The electrical interface 116 is configured to transfer electrical power and / or transmit data between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120. For example, the electrical interface includes a data communication interface and / or a power transfer interface integrated into a physical connector or docking assembly. The electrical interface 116 may support wired communication and / or electrical power transfer through the connective feature 118, wireless communication using one or more wireless protocols, and / or wireless charging using an induction coil, or the like. In some implementations, the electrical interface 116 also supports communication with external computing devices.

[0029] The connective feature 118 includes one or more mechanical alignment features and / or electrical interfaces configured to guide, couple, and / or electrically connect with the connective feature 128 of the wearable assistive subsystem 120. In various embodiments, the connective feature 118 includes tapered guide surfaces, magnetic elements, electrical contacts, and / or wireless charging components.

[0030] The battery 124 is a power source of the wearable assistive subsystem 120 and is configured to provide electrical power to actuators and sensors of the wearable assistive device 122. The battery 124 may be rechargeable and configured to receive charging power from the battery 114 when the subsystems are coupled. In some implementations, the battery 124 is integrated into a frame of the wearable assistive device 122, such as being integrated into the upper portion 123. The battery 124 may be charged either via an externally facing power jack or wirelessly.

[0031] The electrical interface 126 is configured to transfer electrical power and / or transmit data between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120 via the electrical interface 116. In some implementations, the electrical interface 126 also supports communication with external computing devices. The electrical interface 126 may support wired communication and / or electrical power transfer through the connective feature 128, wireless communication using one or more wireless protocols, and / or wireless charging using an induction coil, or the like.

[0032] The connective feature 128 is attached to and / or integrated with the wearable assistive device 122 and includes complementary mechanical and / or electrical features configured to couple with the connective feature 118. The connective feature 128 may include guide structures,magnetic elements, conductive contacts, and / or wireless power receivers.

[0033] The upper portion 123 includes structural members and securement elements configured to attach to an adjacent body part (e.g., a thigh or upper arm) of a user. The upper portion 123 may house at least a portion of the battery 124 and / or the electrical interface 126. In the example, the connective feature 128 is integrated into or adjacent the upper portion 123.

[0034] In the example, the actuated joint 125 includes an actuator configured to apply assistive or resistive torque about a user’s anatomical joint. The actuated joint 125 may include a motor, transmission, and position sensor configured to detect joint angle.

[0035] The lower portion 127 includes structural members and securement elements configured to attach to a body part (e.g., a lower leg or forearm) of the user. In some implementations, the lower portion 127 may include attachment points for sensors and / or connection features.

[0036] The sensors 129a, 129b are positioned on the wearable assistive device 122 and are configured to measure information associated with the user, such as joint position, limb orientation, user motion, or biometric parameters, such as heart rate, blood pressure, or other biometric data. The sensors 129a, 129b may include inertial measurement units, encoders, or physiological sensors. In the example, the sensor 129a is attached to or integrated into the upper portion 123, and the sensor 129b is attached to or integrated into the lower portion 127, of the wearable assistive device 122.

[0037] In implementations of the assistive mobility system that include a wheelchair and lower-limb exoskeleton, when the user is seated on the wheelchair and the user’s legs are secured to the exoskeleton, which is coupled to the wheelchair, the exoskeleton can draw power to charge its own battery either via a physical electrical connection between the two subsystems 110, 120 or via a transmitter (e.g., a wireless-charging transmitter) of the wheeled mobility subsystem and a receiver (e.g., a wireless-charging receiver) of the wearable assistive subsystem. In various implementations, electrical power connections between the two subsystems 110, 120, whether physical or wireless, connect and / or disconnect automatically (without specific user intent or command) as the user gets up from and sits back down in the wheelchair while wearing the exoskeleton. In various implementations, the connective features 118, 128 are configured to assist alignment and / or coupling for mechanical and / or electrical connections between the wheelchair and the exoskeleton.

[0038] In Figure IB, the wheeled mobility subsystem 110 includes a wheelchair 130, a left communication device 136a (e.g., a transmitter or transceiver), a right communication device 136b, a left connective feature 138a, and a right connective feature 138b. The wheelchair 130includes a back 132, a seat 135, a display 150 located along a top edge of the back 132, and actuated support frame members 155. The seat portion 135 includes a left side 137 and a right side 139. The display 150 includes one or more indicators and / or one or more other visual elements. In the example, the left communication device 136a and the left connective feature 138a are located on the seat 135 proximate the left side 137. The right communication device 136b and the right connective feature 138b are located on the seat 135 proximate the right side 139.

[0039] As illustrated in Figure IB, the wearable assistive subsystem 120 includes a left exoskeleton 140a, a right exoskeleton 140b, a left communication device 146a (e.g., a receiver or transceiver), a right communication device 146b, a left connective feature 148a, a right connective feature 148b, and sensors 149. In this example, the communication devices 136a, 136b may include or form part of the electrical interfaces 116, 126 described with respect to Figure 1A.

[0040] The seat 135 receives the user when the user is sitting. The left connective feature 148a and the right connective feature 148b engage with the left connective feature 138a and the right connective feature 138b, respectively, when the user is seated on the seat 135, resulting in coupled operation of the subsystems. The left connective feature 138a and the right connective feature 138b are positioned such that when a user sits on the seat, the left connective feature 138a and the right connective feature 138b align with and couple to the left connective feature 148a and the right connective feature 148b to facilitate mechanical coupling and / or electrical connection between the wheeled mobility subsystem 110 and the wearable assistive subsystem 120 (e.g., between the wheelchair 130 and the exoskeletons 140a, 140b). The left communication device 136a and the right communication device 136b are configured to transfer data and / or electrical power to and / or from the left communication device 146a and the right communication device 146b, respectively, when the wheelchair 130 is coupled to the exoskeletons 140a, 140b.

[0041] The display 150 presents visual information associated with operation of the wheeled mobility subsystem 110 and / or associated with data received from the wearable assistive subsystem 120. For example, the display 150 includes one or more light emitting diode (LED) units, which may include various indicators and / or one or more visual elements that present system status and / or sensor information, integrated into the top edge of the back 132 of the wheelchair 130. In other implementations, the display 150 is located on another portion of the wheelchair 130. For example, in one ore more implementations, a display 150 is integrated into or mounted on an armrest, is located on another portion of the back 132, or is included in an external display device that receives data via a wired or wireless connection.

[0042] The left exoskeleton 140a and the right exoskeleton 140b secure to corresponding limbs of the user. In the example, the left exoskeleton 140a includes (i) an upper gripper 143 a fastened around an upper portion of the user’s left leg and (ii) a lower gripper 145a fastened around a lower portion of the user’s left leg. Likewise, the right exoskeleton 140b includes (i) an upper gripper 143b fastened around an upper portion of the user’s right leg and (ii) a lower gripper 145b fastened around a lower portion of the user’s right leg.

[0043] In the example, the left communication device 146a and the right communication device 146b transmit sensor data generated by the sensors 149 to the wheeled mobility subsystem via the left communication device 136a and the right communication device 136b. The sensors 149 generate sensor data associated with user motion and / or biometrics and provide the sensor data for transmission to the wheeled mobility subsystem 110 and presentation on the display 150. In one or more implementations, a display 150 may be mounted onto or integrated with an arm support or other portion of the wheelchair

[0044] In Figure IB, the wheelchair 130 is illustrated in a tipped-forward position. As the user takes an upright stance, such as for standing or walking, the wheeled mobility subsystem 110 causes the actuated support members 155 to actuate and cause the wheelchair to tilt forward to assist the user in standing up from the wheelchair 130 more easily. In some implementations, once the wheelchair 130 is in the tipped-forward position, the wearable assistive subsystem 120 automatically disconnects, mechanically and electrically, from the wheelchair subsystem 110 while remaining secure to the user’s leg(s), assisting or rehabilitating the user as needed.Furthermore, when the user returns to the wheelchair 130 and sits back down, the wheeled mobility subsystem 110 actuates the actuated support members 155 to transition the wheelchair 130 from the tipped-forward state to a horizontal state, such as illustrated in Figure 1 A. Once the user is seated in the wheelchair 130 and / or once actuated support members 155 complete the transition of the wheelchair 130 from the tipped-forward state to the horizontal state, reciprocal self-alignment features and / or self-coupling features of the connective features 138a, 138b, 148a, 148b, aid the exoskeletons 140a, 140b in automatically snapping into place on the wheelchair 130. In various implementations, such self-alignment and / or self-coupling features can include passive mechanical features (e.g., braces, straps, brackets, etc.), magnetic features (e.g., passive magnetic components and / or controllable electromagnetic components), sensors (to sense relative positions of the connective features 138a, 138b, 148a, 148b), and / or actuators (to reposition one or more of the connective features 138a, 138b, 148a, 148b to facilitate alignment).

[0045] In various embodiments related to leg exoskeletons, wheelchair motion and exoskeleton actuation can work in concert to assist the user. For example, to help the user move from a seatedposture to a standing posture, the seat of the wheelchair tilts forward and the exoskeleton provides a power boost to the knee. The reverse cycle can occur to move from a standing posture to a seated posture. The wheelchair seat motion can be accomplished via a controllable actuation system such as a parallel manipulator or parallel robotic system, including, but not limited to, a Stewart platform.

[0046] Figure 1C illustrates an electrical connection between a wheeled mobility subsystem 110 and an assistive wearable subsystem 120 that includes a left exoskeleton 162a and a right exoskeleton 162b. In Figure 1C, a wheelchair 160 of the wheeled mobility subsystem is connected to the left exoskeleton 162a via a left tether 170a, and the wheelchair 160 is connected to the right exoskeleton 162b via a right tether 170b. The left tether 170a is connected to the wheelchair 160 at a left connection point 166a of a left communication device of the wheelchair 160 and at a left connection point 168a of a left communication device of the left exoskeleton 162a. Likewise, the right tether 170b is connected to the wheelchair 160 at a right connection point 166b of a right communication device of the wheelchair 160 and at a right connection point 168b of a right communication device of the right exoskeleton 162b. Data is transmitted from one or more of the exoskeletons 162a, 162b, via one or more of the tethers 170a, 170b, and may be displayed on a display 175 located on the wheelchair 160. Electrical power from a battery of the wheeled mobility subsystem 110 may be transferred via one or more of the tethers 170a, 170b, to provide electrical power to the one or more of the exoskeletons 162a, 162b, or to charge one or more batteries of the one or more exoskeletons 162a, 162b.

[0047] In general, a wheelchair may include a wheelchair battery that is higher capacity than smaller exoskeleton batteries. The tethers 170a, 170b are suitable for providing power and / or communications to the exoskeleton(s) 162a, 162b, thus enabling the exoskeletons 162a, 162b to draw power from the wheelchair battery, rather than just the smaller exoskeleton batteries.

[0048] In one or more implementations, a communication device and / or a connective feature is a standalone assembly that may be mounted to or otherwise fixed onto a wheeled mobility unit and / or a wearable assistive device. For example, a traditional wheelchair may be retrofit by attaching a communication device, a connective feature, or an integrated communication device and connective feature. Likewise, a traditional exoskeleton may be retrofitted by attaching a communication device, a connective feature, or an integrated communication device and connective feature. In some implementations, a complementary set of integrated connective features having integrated communication devices may be attached to a wheelchair and one or more exoskeletons to facilitate coupling and / or power and / or data transfer. The connective features and integrated communication devices facilitate coupling and power and / or data transferwhen brought into proximity.

[0049] 4. CAMERA ALIGNMENT

[0050] Figures 2A-C illustrate examples of an assistive mobility system with camera alignment features. In Figure 2A, a wheelchair 210 includes a left connective feature 218a and a right connective feature 218b. Also in Figure 2A, a left lower-limb exoskeleton 220a includes a left connective feature 228a, and a right lower-limb exoskeleton 220b includes a right connective feature 228b.

[0051] The left connective feature 218a has an integrated camera 212a that is integrated into the left connective feature 218a, that faces forward from the wheelchair 210, and that captures visual data in a field of view 214a. Likewise, the right connective feature 218b has an integrated camera 212b that is integrated into the right connective feature 218b, that faces forward from the wheelchair 210, and that captures visual data in a field of view 214b.

[0052] In this example, one or more of the cameras 212a, 212b capture visual data indicating position(s) of one or more of the exoskeletons 220a, 220b relative to the wheelchair 210. The wheelchair 210 uses the visual data to determine whether one or more of the connective features 218a, 218b are misaligned with one or more of the connective features 228a, 228b. When misalignment is detected, the wheelchair 210 actuates one or more of the connective features 218a, 218b to reposition the connective features 218a, 218b into aligned position(s) relative to the connective features 228a, 228b.

[0053] For example, the wheelchair 210 actuates the left connective feature 218a along a range of motion 215a and / or actuates the right connective feature 218b along a range of motion 215b to move the connective feature(s) 218a, 218b to position the connective feature(s) 218a, 218b toward the front or back of the seat of the wheelchair 210, to be in alignment with the connective features 228a, 228b when the user is seated in the wheelchair 210. Also, the wheelchair 210 may actuate one or more of the connective features 218a, 218b along a range of motion 217 to move the connective feature(s) 218a, 218b toward the left and / or right edge or toward the center of the seat of the wheelchair to position the connective feature(s) 218a, 218b to be in alignment with the connective features 228a, 228b when the user is seated in the wheelchair 210. In some implementations, the exoskeletons 220a, 220b have markings, such as lines, crosshairs, dots, or other alignment indicators, that facilitate determination of the position of the connective features 228a, 228b by the cameras 212a, 212b. For example, a controller processes the visual data to estimate an offset between the connective features 218a, 218b, 228a, 228b using the alignmentindicators by processing the visual data to determine relative position and orientation of the connective features based on feature detection, pattern recognition, or position estimation based on the indicators. The controller then generates actuator commands to actuate a connective feature, seat component, arm support, or other movable component to reduce the alignment offset.

[0054] Figure 2B illustrates a wheelchair-plus-upper-limb-exoskeleton system having camera alignment features. In Figure 2B, a wheelchair 230 includes a left camera 232a, a right camera 232b, a left arm support 236a, a right arm support 236b, a left connective feature 238a, and a right connective feature 238b. In Figure 2B, an upper-limb exoskeleton 240 includes a connective feature 248. The left arm support 236a extends vertically along a portion of the back of the wheelchair 230, from the top of the wheelchair to a position that is aligned with a user’s elbows when the user is seated. The left arm support 236a extends horizontally forward from the back of the wheelchair, so that the left arm support 236a is configured for use as an arm rest when a user is seated in the wheelchair 230.

[0055] In the example, the left camera 232a is integrated into the left arm support 236a and positioned near the top of the vertical portion of the left arm support 236a. The left camera 232a is configured to obtain visual information from a field of view 234a extending from the left camera 232a toward the front of the wheelchair 230 to determine alignment between the left connective feature 238a and a connective feature of an upper-limb exoskeleton worn by a user.

[0056] Likewise, the right camera 232b is integrated into the right arm support 236b and positioned near the top of the vertical portion of the right arm support 236b. The right camera 232b is configured to obtain visual information from a field of view 234b extending from the right camera 232b toward the front of the wheelchair 230 to determine alignment between the right connective feature 238b and a connective feature of an upper-limb exoskeleton worn by a user. In the example, the right camera determines alignment between the right connective feature 238b and the connective feature 248 of the exoskeleton 240.

[0057] In this example, the wheelchair 230 actuates the left arm support 236a along a range of motion 235a and / or actuates the right arm support 236b along a range of motion 235b to move the arm support(s) 236a, 236b to position the connective feature(s) 238a, 238b higher or lower, to be in alignment with one or more respective connective features of an upper-limb exoskeleton worn by a user, such as connective feature 248 of exoskeleton 240, when the user is seated in the wheelchair 230. Also, the wheelchair 230 may actuate one or more of the arm supports 236a, 236b along a range of motion 237 to move the arm supports 236a, 236b and connective feature(s) 238a, 238b toward the left and / or right edge or toward the center of the wheelchair to position theconnective feature(s) 238a, 238b to be in alignment with the one or more connective features of an upper-limb exoskeleton worn by a user, such as connective feature 248 of exoskeleton 240, when the user is seated in the wheelchair 230. In some implementations, the exoskeleton has markings, such as lines, crosshairs, dots, or other alignment indicators, that facilitate determination of the position of the connective feature 248 by the right camera 232b.

[0058] Figure 2C illustrates a wheelchair-plus-exoskeleton system having a wheelchair and lower-limb and upper-limb exoskeletons. In this example, the wheelchair-plus-exoskeleton system includes a wheelchair 230, a left lower-limb exoskeleton 220a, a right lower-limb exoskeleton 220b, and an upper-limb exoskeleton 240. The wheelchair 230 is equipped with a lower left camera 212a, a lower right camera 212b, an upper left camera 232a, and an upper right camera 232b.

[0059] In this example, the cameras 212a, 212b, 232a, 232b, capture visual information that is used to determine aligned positions for connective features that couple the exoskeletons 220a, 220b, 240 to the wheelchair. The wheelchair 230 actuates one or more connective features and / or supports to position the connective features of the wheelchair 230 to be in alignment with connective features of the exoskeletons 220a, 220b, 240 as the user approaches and / or sits in the wheelchair 230.

[0060] In some implementations, once the user is seated, the cameras 212a, 212b, 232a, 232b, or other sensors, determine that the user is seated and cause the exoskeletons 220a, 220b, 240, to “snap” into place via mechanical or magnetic coupling mechanisms. In one or more implementations, a wheelchair-plus-exoskeleton system includes a fewer or greater number of exoskeletons and / or cameras. For example, a single camera integrated into the seat or back of a wheelchair may be used to determine relative position and / or alignment between the wheelchair and one or more exoskeletons.

[0061] Various mechanisms may also be used for coupling or docking the wearable assistive subsystem to the wheeled mobility subsystem. In some implementations, coupling may be achieved using mechanical docking structures such as hooks, rails, tapered guide slots, funnel-shaped receivers, brackets, or snap-fit connectors that guide the exoskeleton into a docked position as the user sits on the wheelchair. In other implementations, magnetic docking mechanisms may be used in which permanent magnets or electromagnets draw complementary connective features together and maintain the subsystems in a coupled configuration. Some embodiments may employ locking pins, rotating cams, or latch plates that automatically engage when the connective features are aligned. In still other embodiments, docking may be achieved through connector assemblies that combine mechanical coupling with electrical contacts, pogopins, or wireless charging coils.

[0062] Decoupling between the wheelchair and the exoskeleton may occur automatically or in response to user input. For example, a controller may release a latch, retract a locking pin, or deactivate an electromagnetic coupling element when sensors detect that the user has initiated a standing motion. In other implementations, decoupling may occur when a user actuates a release mechanism such as a button, switch, lever, or touchscreen control located on the wheelchair or exoskeleton. Some embodiments may employ passive decoupling features, such as tapered mechanical guides or spring-biased connectors, that allow the exoskeleton to disengage as the user stands or moves away. In various implementations, the coupling and decoupling mechanisms may operate in coordination with electrical connectors so that power and data connections are automatically established when the subsystems dock and automatically disengaged when the subsystems separate.

[0063] Figure 2D illustrates a wheelchair having an arm-support mounted display and input device. In Figure 2D, an arm support 250 of a wheelchair has an assembly mounted thereon that includes a display 252 and an input device 254. In some implementations, the display 252 may display system information (e.g., battery life, error code status, usage statistics, etc.) and / or biometric data (heartrate, blood pressure, usage history) for a user. The input device 254 may include a joystick, directional pad, buttons, and / or the like that are used to navigate graphical use interface elements presented on the display 252 and / or to control motion of the wheelchair and / or exoskeleton. For example, the input device 254 may be used to steer the wheelchair, to cause coupling and / or decoupling, and / or to drive one or more actuators of the system, for example, to controlling the tilt of the wheelchair, the angle of an actuated joint of an exoskeleton, and / or the position of connective features or arm or leg supports. In various implementations, the display 252 and / or the input device 254 may be otherwise configured or located.

[0064] 5. EXOSKELETON INTEGRATION, FASTENING AND UNFASTENING

[0065] Figures 3 A-C illustrate an example assistive mobility system with clamshell exoskeletons. In Figure 3 A, the assistive mobility system includes a wheelchair 310, a left lower-limb exoskeleton 320a, and a right lower-limb exoskeleton 320b. Also in Figure 3 A, a user is illustrated as sitting in the wheelchair 310, with respective lower limbs positioned within the exoskeletons 320a, 320b, and with the exoskeletons 320a, 320b in open configurations.

[0066] In this example, the left exoskeleton 320a includes an upper clamshell fastener 322a, a lower clamshell fastener 324a, and a limb-receiving cavity 325a. Likewise, the right exoskeleton320b includes an upper clamshell fastener 322b, a lower clamshell fastener 324b, and a limbreceiving cavity 325b.

[0067] In the example, the upper clamshell fasteners 322a, 322b are configured to securely fasten around an upper leg (e.g., thigh) of a user, and the lower clamshell fasteners 324a, 324b are configured to fasten around a lower leg (e.g., calf) of the user, while the user is wearing the exoskeleton, for example while walking or standing.

[0068] In some implementations, the clamshell fasteners 322a, 322b, 324a, 324b are configured to automatically open (e.g., unfasten) and / or close (e.g., fasten) responsive to a user sitting in the wheelchair 310 with respective limbs positioned in the exoskeletons 320a, 320b. For example, when a user inserts a limb within cavity 325a and / or cavity 325b, one or more of the respective exoskeletons 320a, 320b transitions from an open configuration to a closed configuration responsive to the user’s limb being positioned within cavity 325a and / or cavity 325b. In some implementations, the clamshell fasteners 322a, 322b, 324a, 324b include one or more movable and / or hinged fastener portions that coordinate to secure the exoskeletons 320a, 320b to a user.

[0069] In some implementations, one or more clamshell operation mechanisms may be used to manually open and / or close one or more of the clamshell fasteners 322a, 322b, 324a, 324b. For example, the left lower-limb exoskeleton 320a may include an operation mechanism 326a, such as a switch, button, or toggle, that is configured to fasten and / or unfasten the left lower-limb exoskeleton 320a (and / or the right lower-limb exoskeleton 320b) responsive to user interaction. Likewise, the right lower-limb exoskeleton 320b may include an operation mechanism 326b, such as a switch, button, or toggle, that is configured to fasten and / or unfasten the right lower-limb exoskeleton 320b (and / or the left lower-limb exoskeleton 320a) responsive to user interaction. In some implementations, an exoskeleton includes upper and lower operation mechanisms for separately opening and / or closing upper and lower clamshell fasteners of the exoskeleton. In other implementations, a sensor or pressure plate is present on the wheelchair 310, and one or more movable clamshell fasteners automatically fasten around a user’s limb(s) responsive to the sensor or pressure plate determining that a user’s limbs are positioned within one or more respective exoskeleton cavities. In such implementations, a release mechanism (e.g., a button or switch) may be included on an exoskeleton or on the wheelchair 310 that unfastens a clamshell fastener in response to user interaction with the release mechanism.

[0070] Figure 3B illustrates the assistive mobility system with clamshell exoskeletons without a user present. In Figure 3B, the assistive mobility system includes a wheelchair 310, a left lower-limb exoskeleton 320a in an open configuration, and a right lower-limb exoskeleton 320b in an open configuration. In this example, the left clamshell exoskeleton 320a includes an upper cavity327a configured to receive an upper portion (e.g., thigh) of a user’s leg and a lower cavity 329a configured to receive a lower portion (e.g., calf) of the user’s leg. The upper clamshell fastener 322a is configured to fasten around the upper cavity 327a, and the lower clamshell fastener 324a is configured to fasten around the lower cavity 329a, when the clamshell exoskeleton 320a is in a closed configuration. Likewise, the right clamshell exoskeleton 320b includes an upper cavity 327b configured to receive an upper portion (e.g., thigh) of a user’s leg and a lower cavity 329b configured to receive a lower portion (e.g., calf) of the user’s leg. The upper clamshell fastener 322b is configured to fasten around the upper cavity 327b, and the lower clamshell fastener 324b is configured to fasten around the lower cavity 329b, when the exoskeleton 320b is in a closed configuration.

[0071] Figure 3C illustrates a side view of an assistive mobility system with a clamshell exoskeleton without a user present. In Figure 3C, a clamshell exoskeleton 350 is coupled to the wheelchair 310. In this example, the exoskeleton 350 includes an upper frame portion 352 and a lower frame portion 354. An upper clamshell fastener 356 is attached to the upper frame portion 352, and a lower clamshell fastener 358 is attached to the lower frame portion 354. The upper frame portion 352 is connected to the lower frame portion 354 via an actuated joint 355.

[0072] In this example, a battery 360 is positioned on a shelf 362 that is mounted on the wheelchair 310 and that extends vertically from the back of the wheelchair 310. The battery 360 provides electrical power to the wheelchair 310 and / or electrical components of the exoskeleton 350. In the example, the battery 360 is connected to a communication device 364 of the exoskeleton 350 via an electrical connection 365. For example, one or more wires, which may optionally be at least partially integrated into the frame of the wheelchair 310, connect the battery 360 to communication device 364. In various implementations, the communication device 364 is used to provide electrical power from the battery to the exoskeleton 350 via a direct connection, such as a socketed connection, or wirelessly, such as via a set of induction coils. In one or more implementations, the electrical components of the exoskeleton 350 include a controller, an actuator, a battery, a sensor, and / or other electrical components that may draw power or charge from the battery 360.

[0073] In various implementations, a clamshell fastener may be secured using mechanical latching mechanisms such as spring-loaded latches, cam locks, snap-fit connectors, hook-and-loop straps, buckles, ratcheting straps, or cable-driven tightening systems. Some embodiments may employ electrically actuated locking mechanisms such as solenoid-driven latches, motor-driven clasps, or linear actuators that move locking elements between open and closed configurations. In other implementations, a magnetic locking mechanism may be used in whichpermanent magnets or controllable electromagnets draw opposing clamshell portions together and hold the portions in a closed configuration until a release command is issued. In still other embodiments, pneumatic or hydraulic actuators may be used to close or secure clamshell elements around a limb of the user.

[0074] Unlocking of the clamshell fasteners or grippers may occur through various mechanisms. For example, a controller may command a motor or solenoid to release a latch, retract a locking pin, or loosen a tensioning cable in response to user input or detection of a seated posture. In some implementations, a release mechanism may include a manual button, switch, pull tab, lever, or mechanical trigger accessible to the user or caregiver. In other embodiments, unlocking may occur automatically when sensors detect that the user has returned to a seated position or when tension sensors indicate that load on the exoskeleton has decreased below a threshold. In some implementations, safety-release mechanisms may be included that automatically unlock the clamshell or gripper in response to detection of abnormal loads, emergency conditions, or loss of electrical power.

[0075] In one or more embodiments, the exoskeleton can self-adjust its level of securement to the user, depending on the state of the user or the system. For example, when the user is seated, the system can detect this position and “relax” the securing means (e.g., strap-tension or clamshell closure) and / or fully disengage the connection means to the user’s limb for a more comfortable fit. Similarly, when the user is ready to stand, the system can automatically attach itself to the user to an appropriately secure level (e.g., straps tightened such that the user can stand and use the device as intended).

[0076] In some embodiments, the exoskeleton itself can act as the supporting member for the limb. For example, rather than (or in addition to) the wheelchair having its own actuated leg supports, the lower limb exoskeleton can act as the actuated leg supports when the user is using the combined system as a wheelchair. The same logic can be applied to the upper limb, in which an arm exoskeleton can also be used as an actuated armrest.

[0077] In any of the embodiments, the exoskeleton can facilitate rehabilitation and exercise activities both as a subsystem itself (when not connected to the wheelchair) and also as part of the overall system. For example, when a user is seated, they may employ the leg exoskeleton for stretching and strengthening exercises.

[0078] 6. SENSOR-EQUIPPED EXOSKELETON

[0079] Figure 4 illustrates a wearable assistive subsystem with sensors. In Figure 4, the wearableassistive subsystem includes at least one exoskeleton 400.

[0080] In the example, the exoskeleton 400 includes an upper frame portion 402 and a lower frame portion 404. An upper gripper 412 is attached to the upper frame portion 402 and is configured to removably secure the exoskeleton 400 to a user’s leg. A lower gripper 414 is attached to the lower frame portion 404 and is also configured to removably secure the exoskeleton 400 to a user’s leg. The upper frame portion 402 and the lower frame portion 404 are connected via an actuated joint 405. In the example, the actuated joint 405 is aligned with the user’s knee joint so that the user’s knee joint and the actuated joint 405 maintain the same angle across the joints (e.g., so that the user’s upper leg remains aligned with the upper frame portion 402 and the user’s lower leg portion remains aligned with the lower frame portion 404).

[0081] As illustrated in Figure 4, the upper frame portion 402 includes electrical components 415, a communication device 416, and a connective feature 418 integrated into the upper frame portion 402. The upper frame portion 402 also includes a display 432 and a button 434.

[0082] In the example, the exoskeleton 400 also includes an upper gripper sensor 422 located on the upper gripper 412, a lower gripper sensor 424 located on the lower gripper 414, an upper frame sensor 426 located on the upper frame portion 402, a lower frame sensor 428 located on the lower frame portion 404, and an actuated joint sensor 425 located on the actuated joint 405.

[0083] The sensors 422, 424, 425, 426, 428 are configured to collect positional, inertial, and / or biometric data associated with the user. In this example, the electrical components 415 include one or more batteries used to power the sensors 422, 424, 425, 426, 428 and / or the actuated joint 405. The electrical components 415 may include a battery and / or an external power jack and / or an induction coil configured to receive electrical power used to charge the exoskeleton battery and / or to power the sensors 422, 424, 425, 426, 428 and / or the actuated joint 405.

[0084] The electrical components 415 also include a controller that is configured to receive sensor data from the sensors 422, 424, 425, 426, 428 and transmit sensor data to an onboard computing device of a wheeled mobility unit, to an offboard computing device, and / or to a cloud database. In some implementations, the controller is configured to execute one or more rehabilitation programs, such as by controlling the torque applied by the actuated joint 405 according to a predetermined sequence and / or data received from the sensors 422, 424, 425, 426, 428. In various implementations, one or more of the sensors 422, 424, 425, 426, 428 may be omitted, combined, or otherwise positioned. In some implementations, additional sensors may be present on the exoskeleton.

[0085] In the example, the display 432 and the button 434 are electrically connected to theelectrical components 415. The electrical components 415 provide power to the display 432 and / or the button 434. The electrical components 415 may also receive control signals from the button 434 that are used to control operation of the display 432, such as by turning the display 432 on or off, or cycling through graphical user interfaces shown on the display. In various implementations, the display 434 may show battery life information, system status information, and / or sensor-related data. In some implementations, the display 434 includes a touch screen that facilitates interaction with one or more graphical user interfaces shown on the display 434.

[0086] 7. ASSISTIVE MOBILITY SYSTEM DATA AND COMMUNICATION CONNECTIONS

[0087] Figure 5 is a block diagram of the data and communication connections between a wheeled mobility subsystem, a wearable assistive subsystem, and other items, in accordance with one or more implementations. Figure 5 illustrates that subsystems of an assistive mobility system, such as an integrated wheelchair-plus-exoskeleton system, communicate data with each other wirelessly and / or through physical electrical connections.

[0088] In Figure 5, the assistive mobility system 510 includes one or more connectors 515, a wheeled mobility subsystem 520, and a wearable assistive subsystem 530. The connector(s) 515 provide an interface through which the wheeled mobility subsystem 520 and the wearable assistive subsystem 530 exchange at least one of electrical power or data when the wheeled mobility subsystem 520 and the wearable assistive subsystem 530 are coupled. As used herein, the connector(s) 515 may include one or more connective features implemented as one or more connective features configured for mechanical coupling and / or electrical interfacing between the wheeled mobility subsystem 520 and one or more components of the wearable assistive subsystem 530.

[0089] In the example, the wheeled mobility subsystem 520 includes a wheeled mobility unit 521, one or more camera(s) 522, a controller 523, an input / output (I / O) module 524, a battery 526, and one or more actuators 528.

[0090] In various implementations, the wheeled mobility unit 521 is a wheelchair, walker, scooter, hospital bed, or other unit that assists or facilitates mobility of a user.

[0091] The camera(s) 522 capture visual data associated with relative positioning of the wheeled mobility subsystem 520 and the wearable assistive subsystem 530. In some implementations, the wheeled mobility subsystem 520 includes one or more sensors, including a proximity sensor and / or pressure sensor, that are used to determine the presence of a user in the wheeled mobilityunit 521 and / or a proximity of a user to the wheeled mobility unit 521, in addition to or instead of the camera(s) 522.

[0092] The I / O module 524 transfers data to and / or from the controller 523, external devices, such as the cloud database 540, the offboard computing device 550, and / or the wearable assistive subsystem 530. For example, the I / O module 524 receives sensor data from one or more sensors 532 and transfers the sensor data to the controller 523 for processing and / or for transmission to the cloud database 540 and / or the offboard computing device 550.

[0093] The controller 523 coordinates operation of the wheeled mobility subsystem 520 based on data received via the I / O module 524. For example, the controller 523 transmits control data to the actuator(s) 528 to cause the wheeled mobility unit 521 to change tilt and / or to cause the wheeled mobility unit 521 to actuate a connector or reposition a connective feature toward a position for alignment, coupling, and / or decoupling with the wearable assistive subsystem 530. In some implementations, the wheeled mobility subsystem 520 receives sensor data from the wearable assistive subsystem 530 via the connector(s) 515.

[0094] The battery 526 provides electrical power to components of the wheeled mobility subsystem 520. In some implementations, the battery 526 provides electrical power for transfer to the wearable assistive subsystem 530 via the connector(s) 515 when the wheeled mobility subsystem 520 is coupled to the wearable assistive subsystem 530.

[0095] The actuator(s) 528 perform actuation under control of the controller 523. In the example, the actuator(s) 528 perform mobility -related actuation of the wheeled mobility unit 521 and / or other powered functions of the wheeled mobility subsystem 520, such as tilting the wheeled mobility unit and / or repositioning the connector(s) 515.

[0096] In the example, the wearable assistive subsystem 530 includes a wearable device 531, one or more sensors 532, a controller 533, an VO module 534, one or more batteries 536, and one or more actuators 538.

[0097] In various implementations, the wearable device(s) 531 include an upper-limb exoskeleton, a lower-limb exoskeleton, another exoskeleton, and / or another type of assistive wearable device.

[0098] The sensor(s) 532 generate sensor data associated with the user and operation of the wearable assistive subsystem 530. In the example, the sensor(s) 532 generate biometric data and / or user motion data and transfer the sensor data, via the I / O module 534, to the wheeled mobility subsystem 520, the cloud database 540, and / or the offboard computing device 550.

[0099] The controller 533 coordinates operation of the wearable assistive subsystem 530 basedon manual input, data received from the sensor(s) 532, and / or data received from the wheeled mobility subsystem 520 via the connector(s) 515. In some implementations, the controller 533 transmits sensor data to the wheeled mobility subsystem 520 for presentation on a display associated with the wheeled mobility subsystem 520.

[0100] The I / O module 534 transfers data, via the connector(s) 515, between the controller 533, and the wheeled mobility subsystem 520, the cloud database 540, and / or the offboard computing device 550. For example, the I / O module 534 transfers control data received from the wheeled mobility subsystem 520 to the controller 533 and / or transfers sensor data from the controller 533 to the wheeled mobility subsystem 520. In some implementations, the I / O module includes a wired or wireless transmission interface for transferring data to the wheeled mobility subsystem 520, the cloud database 540, and / or the offboard computing device 550.

[0101] The battery(ies) 536 provide electrical power to the wearable device(s) 531 and / or other components of the wearable assistive subsystem 530. In various implementations, the battery(ies) 536 may receive charge through an external power jack and / or may receive charge via the connector(s) 515 when the wearable assistive subsystem 530 is coupled to the wheeled mobility subsystem 520.

[0102] The actuator(s) 538 actuate the wearable device 531 under control of the controller 533. In the example, the actuator(s) 538 actuate one or more joints of an exoskeleton included in the wearable device 531 to assist user movement and / or to perform seated exercise operations such as rehabilitation or stretching exercises.

[0103] Figure 5 further illustrates data transfer between the assistive mobility system 510, a cloud database 540, and / or an offboard computing device 550. In the example, the wheeled mobility subsystem 520 transfers (e.g., sends and / or receives) data between the wheeled mobility subsystem 520, the cloud database 540, and / or the offboard computing device 550. For example, data can be transferred either wirelessly or via a wired connection to, from, and / or within the subsystems 520, 530, such as to a display, indicator, or on-board computing device, to an offboard laptop or mobile device, and / or the cloud-based database 540 or another networked location. Example data includes subsystem and / or system health parameters (e.g., actuator positions, maintenance data, battery life), user biometric data (e.g., heart rate, blood pressure), user motions (e.g., knee flexion, posture), emergency condition data (e.g., user has fallen, actuator has failed), and / or error codes.

[0104] 8. OPERATIONS FOR ASSISTIVE MOBILITY SYSTEM USE

[0105] Figure 6 is a flow chart illustrating example operations for using an assistive mobilitysystem, according to one or more implementations. The operations of Figure 6 demonstrate aligning and coupling a wearable assistive subsystem with a wheeled mobility subsystem of an assistive mobility system. The operations describe how connective features of the exoskeleton and the wheelchair are positioned, aligned, and coupled to enable electrical power transfer and data communication between the subsystems. One or more operations illustrated in Figure 6 may be modified, rearranged, or omitted altogether. Accordingly, the particular sequence of operations illustrated in Figure 6 should not be construed as limiting the scope of implementations.

[0106] The system determines that an exoskeleton connective feature is proximate to a wheelchair connective feature (Operation 602). For example, a user wearing a lower-limb exoskeleton approaches and sits in a wheelchair such that a connective structure of the exoskeleton moves toward a corresponding connective structure located adjacent to the seat portion of the wheelchair. In some implementations, mechanical guide structures positioned on the wheelchair and / or the exoskeleton direct the exoskeleton connective feature toward an alignment region near the seat of the wheelchair. In some implementations, sensors, such as proximity sensors, cameras, or inertial measurement sensors detect the relative position of the exoskeleton connective feature and the wheelchair connective feature to determine, for example, an alignment position for the connective feature of the wheelchair, and / or that the two connective features are within a predefined alignment range and / or brought within a threshold proximity.

[0107] The system automatically aligns the wheelchair connective feature and the exoskeleton connective feature (Operation 604). For example, alignment features, such as a guide rail, a tapered or funnel-shaped surface, and / or a magnetic connective feature guide the connective features into an aligned configuration as the user sits in the wheelchair. In one example, the wheelchair controller processes sensor data representing the relative orientation and position of the exoskeleton and the wheelchair. The controller drives actuators to reposition the wheelchair seat and / or to reposition a connective feature of the wheelchair to reduce positional offset between the connective features of the wheelchair and exoskeleton. In implementations including a controllable seat system, actuators may adjust the position and orientation of the seat. In implementations including actuated connective features, actuators may adjust a connective feature of the wheelchair to align a wheelchair connective feature with an exoskeleton connective feature.

[0108] The system couples the exoskeleton connective feature and the wheelchair connective feature (Operation 606). In one example, once alignment is detected, a coupling mechanism engages to establish a mechanical connection between the exoskeleton and the wheelchair. In oneor more implementations, the coupling mechanism includes mechanical latching structures, magnetic connectors, and / or electromechanical locking elements. In other implementations, the exoskeleton and the wheelchair may be manually coupled. In implementations with automatic coupling, one or more controllers activate a coupling mechanism to secure the exoskeleton connective feature to the wheelchair connective feature. Engagement sensors may detect completion of the coupling operation and provide feedback to the controller confirming that the connection has been established.

[0109] The system transfers power and / or data between the exoskeleton and the wheelchair (Operation 608). In one example, the wheelchair battery supplies electrical power to the exoskeleton through an electrical interface formed by the coupled connective features. Electrical contacts, conductive pins, and / or wireless charging interfaces (e.g., induction coils) enable power transfer from the wheelchair power system to an exoskeleton battery or exoskeleton power distribution system. In addition to power transfer, communication modules exchange data between controllers of the wheelchair and the exoskeleton. Data transmitted between the subsystems may include actuator status information, sensor measurements, system diagnostics, and / or control signals used to coordinate operation of the two subsystems. In some implementations, the electrical interface includes current limiting circuitry, isolation circuitry, or contact detection sensors configured to prevent electrical transfer unless the connective features are properly aligned and coupled.

[0110] The system decouples the exoskeleton connective feature from the wheelchair connective feature responsive a decoupling action (Operation 610). In one example, the system decouples the exoskeleton connective feature from the wheelchair connective feature responsive to the user moving away from the wheelchair. In another example, sensors detect that the user has initiated a standing motion or has moved away from the seated position. In response to detection of the motion event, the controller disengages the coupling mechanism by releasing mechanical latching elements or deactivating magnetic connectors. Electrical connections between the subsystems are disconnected during the decoupling sequence, allowing the exoskeleton to operate independently of the wheelchair. In some implementations, a user may decouple the exoskeleton from the wheelchair by activating a decoupling feature (e.g., a button or switch), or by manually separating latching, fastening, or coupling elements of the exoskeleton and wheelchair.[OHl] The system performs an action with the decoupled exoskeleton (Operation 612). In one example, the exoskeleton controller transitions to an operational mode in which actuators provide assistive torque to one or more joints of the user. In another example, the actuators assist with astretching or rehabilitation exercise. In some implementations, sensors, such as inertial measurement sensors and / or joint angle sensors generate data describing limb orientation and movement. The exoskeleton controller processes the sensor data to transmit the sensor data to the wheeled mobility subsystem (e.g., an onboard computing device of the wheelchair), an offboard computing device, or a cloud database. In various embodiments, the exoskeleton controller may generate actuator control signals that assist walking, standing, or rehabilitation exercises performed by the user while the exoskeleton operates independently from the wheelchair.

[0112] The system receives sensor data at the wheelchair (Operation 614). In one example, one or more sensors integrated with the exoskeleton (and / or the wheelchair) generate sensor data that includes measurements representing joint angles, actuator positions, inertial measurements, user biometric measurements, diagnostic information relating to system operation or status and / or other user activity data. Sensor data may be transmitted from the exoskeleton to the wheelchair controller through wireless communication modules or through a wired interface when the subsystems are coupled. Data may be transferred from the wheelchair controller to one or more offboard computing devices and / or to a cloud database.

[0113] The system displays sensor data on a wheelchair display (Operation 616). In one example, the wheelchair controller processes the sensor data received from an exoskeleton and generates graphical or numerical information for presentation to the user. In other implementations, the display may also present battery status or error code information. For example, a display mounted to or integrated into the wheelchair (e.g., integrated into a top, rear, or armrest panel of the wheelchair) presents information representing operating status of the exoskeleton and / or the wheelchair. Displayed information may include actuator status, battery charge level, rehabilitation metrics, and / or alerts generated in response to detected system conditions. The display enables the user or a caregiver to monitor operation of the assistive mobility system during or after use.

[0114] 9. OPERATIONS FOR EXO SKELETON USE

[0115] Figure 7 is a flow chart illustrating example operations for using an exoskeleton, in accordance with one or more embodiments.

[0116] The system receives a user on a seat of a wheelchair (Operation 702). For example, an assistive mobility system including a wheelchair (or other wheeled mobility unit) receives a user when the user sits down on a seat of the system. In some implementations, the system includes sensors that detect when a user is seated, for example, by detecting a weight of the user or byusing a camera to determine a position of the user.

[0117] The system receives a limb in an exoskeleton shell coupled to the wheelchair (Operation 704). In one or more implementations, a lower-limb exoskeleton that includes a clamshell fastener is initially positioned adjacent to or on the wheelchair and coupled to the wheelchair. In various implementations, the exoskeleton shell includes a proximity sensor, optical sensors, and / or a mechanical switch or pressure plate that detects insertion of the limb within a cavity of the exoskeleton shell.

[0118] The system automatically closes the exoskeleton shell responsive to receiving the limb (Operation 706). In some implementations, once the system detects that a limb is properly inserted into the exoskeleton (e.g., into a cavity of a clamshell fastener), a controller actuates one or more tensioning mechanisms that close the exoskeleton shell, such as by closing a clamshell fastener or by tightening grippers of the exoskeleton shell. For example, an actuator drives left and right clamshell portions to transition from an open configuration to a closed, secured configuration. In implementations including electronically controlled grippers, the controller generates a tension control signal that causes an actuator to tighten the exoskeleton grippers to a predefined securement level. In other implementations, a user may interact with a mechanical switch that actuates left and right portions of upper and lower clamshells to cause the clamshells to close around the user’s limb. In still other implementations, a user may manually close the exoskeleton clamshell and secure the left and right portions with a clip, buckle, or other securing mechanism. In some implementations, the system closes the exoskeleton responsive to a closing criterion being satisfied. The closing criterion may include detection that the limb of the user has been positioned within the limb-receiving cavity and / or that that the system is set to automatically close the exoskeleton shell in response to the detection that the limb of the user has been positioned within the limb-receiving cavity. In some implementations, the user may select whether the exoskeleton shell closes automatically, such that the system may or may not be set to automatically close the exoskeleton shell. In such implementations, the exoskeleton shell may be closed manually or may be closed automatically once the setting has been changed by the user, for example by interacting with a button, switch, or touch display.

[0119] The system decouples the exoskeleton from the wheelchair responsive to a decoupling action (Operation 708). In one example, motion sensors, proximity sensors, and / or inertial data indicate that the user is transitioning from a seated posture to a standing posture and / or that the exoskeleton connective feature is being moved away from the wheelchair connective feature. Responsive to the indication of the transition, the wheelchair and / or exoskeleton controlled s) initiate a decoupling sequence that releases mechanical connectors between the exoskeleton andthe wheelchair. For example, the system deactivates electrical connectors or magnetic coupling features. In implementations employing alignment and / or coupling features between subsystems, the controller may retract locking elements or disengage magnetic or mechanical latching mechanisms to allow independent operation of the exoskeleton. In other implementations, a user may interact with a decoupling feature, such as a button or switch, to cause the system to decouple the exoskeleton from the wheelchair. In still other implementations, the system may manually decouple the exoskeleton from the wheelchair by unfastening a mechanical connector such as a clip or buckle.

[0120] The system performs an action with the decoupled exoskeleton (Operation 710). In this operation, the exoskeleton operates in an assistive or rehabilitative mode. In this operation, the user wears the decoupled exoskeleton and performs one or more actions using the decoupled exoskeleton. While the exoskeleton is in use, one or more actuators may apply an amount of torque to a joint of the exoskeleton based on sensor measurements of joint angle and / or orientation and / or based on a rehabilitation exercise program. For example, the exoskeleton operates in a rehabilitation mode in which an actuator applies torque to facilitate strengthening or stretching exercises or in assistive mode in which an actuator applies torque to augment user strength.

[0121] The system automatically couples the exoskeleton to the wheelchair responsive to the user sitting on the wheelchair (Operation 712). In one example, passive alignment features, such as tapered or funnel-shaped mechanical guides, aid in positioning connective features of the exoskeleton into alignment with connective features of the wheelchair. In some implementations, a camera mounted to the wheelchair captures visual information that indicates a position of the exoskeleton connective features relative to the wheelchair connective features. In such implementations, the wheelchair controller adjusts seat position, wheelchair chassis position, arm support position, and / or connective feature position to align the wheelchair connective feature(s) to the exoskeleton connective feature(s). Upon alignment, mechanical latching elements engage and electrical connectors establish power and data connections, including wired or wireless charging interfaces.

[0122] The system uses the coupled exoskeleton as wheelchair support (Operation 714). In one example, the exoskeleton functions as an actuated leg support while the user is seated, replacing or augmenting conventional wheelchair leg rests, arm rests, or limb supports. The exoskeleton actuators may maintain a predefined or configurable joint angle to support the user’s limb. In implementations including an actuated wheelchair seat, coordinated control between wheelchair seat actuators and exoskeleton actuators facilitate alignment of the user’s limbs with seat tilt tomaintain stable and comfortable seating.

[0123] The system automatically opens the exoskeleton shell responsive to activation of a release mechanism (Operation 716). In one example, activation of a release control such as a button or switch generates a control signal to reduce tension in grippers of the exoskeleton shell. For example, a controller commands an actuator to decrease tension from an operational level to a relaxed level, facilitating removal of the limb. In some implementations, detection of a seated posture causes the controller to relax securement tension to a predefined comfort level prior to full opening. In some implementations, the system opens the exoskeleton shell responsive to a user manually unfastening a buckle or other fastening means.

[0124] The user removes a limb from the exoskeleton shell (Operation 718). In one example, after the shell transitions to an open configuration, the user withdraws the limb from the receiving cavity. Sensors detect a reduction in contact or tension and generate data indicating removal. The exoskeleton controller transitions to a standby state upon detection of limb removal and may deactivate joint actuators or switch to a passive mode.

[0125] The user moves away from the assistive mobility system (Operation 720). For example, the user exits the vicinity of the wheelchair while the wheelchair remains stationary. In some implementations, an exoskeleton may remain coupled to (e.g., docked onto) the assistive mobility system in an open configuration to subsequently receive a user’s limb for subsequent use when the system subsequently receives the user on the seat of the wheelchair. While the exoskeleton is docked onto the wheelchair, the exoskeleton may draw power from the wheelchair’s battery to recharge a battery of the exoskeleton.

[0126] 10. HARDWARE OVERVIEW

[0127] Figure 8 illustrates a block diagram of a computing system.

[0128] Embodiments of the above-described system may be implemented in a computing environment including a network, a cloud database, one or more onboard computing devices integrated into an assistive mobility system and / or one or more offboard computing devices that execute an application that interacts with the assistive mobility system and / or the cloud database to enable the user experience described herein. Other embodiments may include additional or different components.

[0129] The network enables communication among the entities connected to it through one or more local-area networks and / or wide-area networks. In one embodiment, the network includesthe Internet and uses standard wired and / or wireless communications technologies and / or protocols or may use custom and / or dedicated data communications technologies instead of, or in addition to, the ones described above.

[0130] The cloud database includes components for facilitating various functions described herein. The cloud database may host data accessible by the assistive mobility system and / or by an application executing on the offboard computing device. For example, the cloud database includes a database server hosting data uploaded from the assistive mobility system. The cloud database may perform various backend processing to facilitate tasks such as obtaining information, presenting information to the user, and / or generating content. The cloud database may include an application programming interface (API) that enables it to interface with various third-party databases or servers for storing and / or retrieving information described herein.

[0131] In one or more implementations, one or more onboard or offboard client computing devices interface with the cloud database to transmit user inputs and data from the assistive mobility system and / or to receive and display information transmitted from the cloud database. Example computing devices may include, for example, a mobile device, a tablet, a laptop computer, a desktop computer, a system-on-a-chip, or another computing device capable of communicating and displaying information. The devices may execute a browser or an application that interacts with the cloud database to facilitate the functions of the respective devices described herein.

[0132] Embodiments of the described computing environment and corresponding processes may be implemented by one or more computing systems. The one or more computing systems include at least one processor and a non-transitory computer-readable storage medium storing instructions executable by the at least one processor for carrying out the processes and functions described herein. The computing system may include distributed network-based computing systems in which functions described herein are not necessarily executed on a single physical device but may be distributed across multiple devices. For example, some implementations may utilize cloud processing and storage technologies, virtual machines, or other technologies.

[0133] Some aspects of the techniques described herein are implemented by one or more computing devices that may be hard-wired to perform the techniques, that may include digital electronic devices such as one or more application-specific integrated circuits (ASICs), field programmable gate arrays (FPGAs), or network processing units (NPUs) that are persistently programmed to perform the techniques, or that may include one or more general purpose hardware processors programmed to perform the techniques pursuant to program instructions in firmware, memory, other storage, or a combination. Such computing devices may also combinecustom hard-wired logic, ASICs, FPGAs, or NPUs with custom programming to accomplish the techniques. In some implementations, the assistive mobility system may be coupled to one or more external computing devices that may provide various control or command functions, such as, for example, desktop computer systems, portable computer systems, handheld devices, networking devices, or any other device that incorporates hard-wired and / or program logic to implement the techniques.

[0134] For example, Figure 8 is a block diagram that illustrates a computer system 800 upon which one or more aspects of the disclosure may be implemented. For example, one or more client devices include one or more aspects of the example computer system 800. In Figure 8, computer system 800 includes a bus 802 or other communication mechanism for communicating information, and a hardware processor 804 coupled with bus 802 for processing information. Hardware processor 804 may be, for example, a general-purpose microprocessor.

[0135] Computer system 800 also includes a main memory 806, such as a random-access memory (RAM) or other dynamic storage device, coupled to bus 802 for storing information and instructions to be executed by processor 804. Main memory 806 also may be used for storing temporary variables or other intermediate information during execution of instructions to be executed by processor 804. Such instructions, when stored in non-transitory storage media accessible to processor 804, render computer system 800 into a special-purpose machine that is customized to perform the operations specified in the instructions.

[0136] Computer system 800 further includes a read only memory (ROM) 808 or other static storage device coupled to bus 802 for storing static information and instructions for processor 804. A storage device 810, such as a magnetic disk, optical disk, or a Solid-State Drive (SSD) is provided and coupled to bus 802 for storing information and instructions.

[0137] In one or more implementations, computer system 800 may be coupled via bus 802 to one or more input and / or output (I / O) device interfaces 812 that allow for the connection of various I / O devices 814 (e.g., keyboards, displays, mouse devices, pen input, etc.) to the computer system 800.

[0138] Computer system 800 may implement the techniques described herein using customized hard-wired logic, one or more ASICs or FPGAs, firmware, and / or program logic which in combination with the computer system causes or programs computer system 800 to be a specialpurpose machine. According to one implementation, the techniques herein are performed by computer system 800 in response to processor 804 executing one or more sequences of one or more instructions contained in main memory 806. Such instructions may be read into main memory 806 from another storage medium, such as storage device 810. Execution of thesequences of instructions contained in main memory 806 causes processor 804 to perform the process steps described herein. In alternative implementations, hard-wired circuitry may be used in place of or in combination with software instructions.

[0139] Storage media associated with the described system may include any non-transitory media that store data and / or instructions that cause a machine to operate in a specific fashion. Such storage media may include non-volatile media and / or volatile media. Non-volatile media includes, for example, optical or magnetic disks, such as storage device 810. Volatile media includes dynamic memory, such as main memory 806. Common forms of storage media include, for example, a hard disk, solid state drive, optical data storage medium, random-access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), FLASH-EPROM, non-volatile random-access memory (NVRAM), any other memory chip or cartridge, content-addressable memory (CAM), and ternary content-addressable memory (TCAM).

[0140] Storage media is distinct from but may be used in conjunction with transmission media. Transmission media participates in transferring information between storage media. For example, transmission media includes coaxial cables, copper wire, and fiber optics, including the wires of bus 802. Transmission media can also take the form of acoustic or light waves, such as those generated during radio-wave and infrared data communications.

[0141] Various forms of media may be involved in carrying one or more sequences of one or more instructions to processor 804 for execution. For example, the instructions may initially be carried on a storage medium of a remote computer. The remote computer can load the instructions into its dynamic memory and send the instructions over a network. Bus 802 carries the data to main memory 806, from which processor 804 retrieves and executes the instructions. The instructions received by main memory 806 may optionally be stored on storage device 810 either before or after execution by processor 804.

[0142] In one or more implementations, computer system 800 also includes a network interface 816 coupled to bus 802. This may enable the described assistive mobility system to connect to an external local device (such as a mobile device or personal computer) and / or to one or more remote servers that may support various operations of the described system. Network interface 816 provides a two-way data communication coupling to a network link 818 that is connected to a local network 822. For example, network interface 816 may include a local area network (LAN) interface to provide a data communication connection to a compatible LAN. Wireless links may also be implemented. In implementations, network interface 816 sends and / or receives electrical, electromagnetic, and / or optical signals that carry digital data streams representingvarious types of information. In one or more implementations the network interface 816 may be used to load configuration parameters and / or to update firmware associated with one or more controllers or microcontrollers deployed by the system.

[0143] Network link 818 typically provides data communication through one or more networks to other data devices. For example, network link 818 may provide a connection through local network 822 to a host computer 824 or to data equipment operated by an Internet Service Provider (ISP) 826. ISP 826 in turn provides data communication services through the worldwide packet data communication network (e.g., the Internet) 828. Local network 822 and / or Internet 828 use electrical, electromagnetic, and / or optical signals that carry digital data streams. The signals through various networks and the signals on network link 818 and through network interface 816, which carry the digital data to and from computer system 800, are example forms of transmission media.

[0144] Computer system 800 can send messages and receive data, including program code, through the network(s), network link 818 and network interface 816. In the Internet example, a server 830 might transmit a requested code for an application program through Internet 828, ISP 826, local network 822 and network interface 816. The received code may be executed by processor 804 as it is received, and / or stored in storage device 810, or other non-volatile storage for later execution.

[0145] 11. MISCELLANEOUS; EXTENSIONS

[0146] The foregoing description of the embodiments has been presented for the purpose of illustration; it is not intended to be exhaustive or to limit the embodiments to the precise forms disclosed. Persons skilled in the relevant art can appreciate that many modifications and variations are possible in light of the above disclosure.

[0147] Some portions of this description describe the embodiments in terms of algorithms and symbolic representations of operations on information, or as modules for executing these operations. Embodiments may also include methods in which steps may be performed in different order than in the example embodiments described and / or illustrated in the figures. Any of the methods described herein may be implemented as a computer program including instructions stored in a tangible non-transitory computer readable storage medium. These instructions may be executed by one or more processors to carry out the functions described.

[0148] The language used in the specification has been principally selected for readability and instructional purposes, and it may not have been selected to delineate or circumscribe the patentrights. It is therefore intended that the scope of the patent rights be limited not by this detailed description, but rather by any claims that issue on an application based hereon. Persons skilled in the relevant art can appreciate that many modifications and variations are possible considering the above disclosure. Accordingly, the disclosure of the embodiments is intended to be illustrative, but not limiting, of the scope of the patent rights, which is set forth in the following claims.

Claims

CLAIMSWhat is claimed is:

1. An assistive mobility system comprising:a wheeled mobility subsystem comprising a first connective feature;a wearable assistive subsystem comprising a wearable exoskeleton and a second connective feature; andan electrical interface configured to transfer at least one of electrical power or data between the wheeled mobility subsystem and the wearable assistive subsystem when the wheeled mobility subsystem and the wearable assistive subsystem are coupled;wherein the first connective feature and the second connective feature are configured to: (i) facilitate coupling the wheeled mobility subsystem and the wearable assistive subsystem in response to the second connective feature being positioned adjacent to the first connective feature and (ii) decouple the wheeled mobility subsystem and the wearable assistive subsystem in response to a decoupling action; andwherein the wearable assistive subsystem is configured to operate independently of the wheeled mobility subsystem when the wheeled mobility subsystem and the wearable assistive subsystem are decoupled.

2. The system of claim 1, wherein:the wheeled mobility subsystem comprises a powered wheelchair.

3. The system of claim 1, wherein:the wearable exoskeleton comprises a lower-limb exoskeleton configured to assist at least one of hip, knee, or ankle movement;the first connective feature of the wheeled mobility subsystem is located proximate an edge of a seat; andthe first connective feature and the second connective feature are configured to be adjacent when a user wearing the wearable exoskeleton is seated on the seat.

4. The system of claim 1, wherein:the wearable exoskeleton comprises an upper-limb exoskeleton configured to assist at least one of shoulder, elbow, or wrist movement;the first connective feature is located proximate an edge of an armrest of the wheeled mobility subsystem; andthe first connective feature and the second connective feature are configured to be adjacent when a user wearing the wearable exoskeleton is seated on a seat of the wheeled mobility subsystem.

5. The system of claim 1, wherein:at least one of the first connective feature or the second connective feature comprises a selfalignment structure, the self-alignment structure including at least one of: a guide surface, a taper, a rail, a bracket, or a funnel.

6. The system of claim 1, wherein:at least one of the first connective feature or the second connective feature comprises a magnetic coupling element.

7. The system of claim 1, wherein:the electrical interface comprises at least one of (i) a wired tether configured to transfer electrical power from the wheeled mobility subsystem to the wearable assistive subsystem or (ii) a wireless power transmitter on the wheeled mobility subsystem and a wireless power receiver on the wearable assistive subsystem; andthe electrical interface is configured to transfer at least one of control data or sensor data between the wheeled mobility subsystem and the wearable assistive subsystem when the wheeled mobility subsystem and the wearable assistive subsystem are coupled.

8. The system of claim 1, wherein:the wheeled mobility subsystem includes a first battery configured to charge a second battery of the wearable assistive subsystem when the wheeled mobility subsystem and the wearable assistive subsystem are coupled.

9. The system of claim 1, further comprising:one or more sensors configured to (i) detect a relative position or orientation between the wheeled mobility subsystem and the wearable assistive subsystem and (ii) facilitate automatic coupling between the wheeled mobility subsystem and the wearable assistive subsystem when the first connective feature and the second connective feature are within a threshold distance.

10. The system of claim 1, further comprising:a first controller of the wheeled mobility subsystem; anda second controller of the wearable assistive subsystem, whereinthe first controller and the second controller are configured to coordinate operation of a wheelchair actuator of the wheeled mobility subsystem and an exoskeleton actuator of the wearable assistive subsystem; andthe first controller and the second controller coordinate actuation of the wearable exoskeleton with movement of a seat of the wheeled mobility subsystem to assist a transition of a user between a seated posture and a standing posture.

11. The system of claim 1, wherein:the wheeled mobility subsystem comprises a wheelchair, a battery, and at least one of a display or an indicator;the wheelchair comprises a seat; andthe first connective feature (i) is located adjacent the seat and proximate to an edge of the seat, (ii) is configured for coupling with the second connective feature when a user wearing the wearable assistive subsystem is seated on the seat, and (iii) is configured for providing electrical power from the battery to the wearable assistive subsystem when coupled to the second connective feature.

12. The system of claim 1, wherein:the wearable assistive subsystem comprises a lower-limb exoskeleton and an exoskeleton battery; the lower-limb exoskeleton comprises an upper portion configured to be worn above a knee of a user wearing the lower-limb exoskeleton and a lower portion configured to be worn below the knee; andthe second connective feature is: (i) attached to the upper portion of the lower-limb exoskeleton, (ii) configured for automatically coupling to the first connective feature when the user is wearing the lower-limb exoskeleton and seated on a seat of the wheeled mobility subsystem, (iii) configured for transmitting data between the lower-limb exoskeleton and the wheeled mobility subsystem; and (iv) is configured for transmitting electrical power between the exoskeleton battery and the wheeled mobility subsystem.

13. The system of claim 1, wherein:the wearable assistive subsystem comprises an upper-limb exoskeleton and a exoskeleton battery;the upper-limb exoskeleton comprises an upper portion configured to be worn above an elbow of a user wearing the upper-limb exoskeleton and a lower portion configured to be worn below the elbow; andthe second connective feature is: (i) attached to the lower portion of the upper-limb exoskeleton, (ii) configured for automatically coupling to the first connective feature when the user is wearing the upper-limb exoskeleton and seated on a seat of the wheeled mobility subsystem, (iii) configured for transmitting data between the upper-limb exoskeleton and the wheeled mobility subsystem; and (iv) is configured for transmitting electrical power between the exoskeleton battery and the wheeled mobility subsystem.

14. The system of claim 1, further comprising:one or more sensors, located on at least one of the wheeled mobility subsystem or the wearable assistive subsystem, configured to collect sensor data comprising at least one of a subsystem health parameter, a user biometric parameter, or a user functional metric, the one or more sensors comprising at least one of: a heart rate sensor, a blood pressure sensor, an oxygen sensor, or a motion sensor; anda communication interface configured to transmit the sensor data to at least one of: an onboard display of the wheeled mobility subsystem, an indicator of the wheeled mobility subsystem, an off-board computing device, or a remote database.

15. The system of claim 1, wherein:the wearable assistive subsystem is configured to actuate a joint of the wearable exoskeleton while a user wearing the wearable exoskeleton is seated on a seat of the wheeled mobility subsystem, to cause performance of at least one of: a stretching exercise, a strengthening exercise, a rehabilitation exercise, or a limb position adjustment.

16. The system of claim 1, further comprising:one or more cameras mounted to the wheeled mobility subsystem and configured to capture visual data representing a position of the wearable assistive subsystem relative to the wheeled mobility subsystem; anda controller of the wheeled mobility subsystem, wherein the controller is configured to process the visual data to determine an alignment offset between the first connective feature and the second connective feature and to actuate at least one movable component of the wheeled mobility subsystem to reduce the alignment offset prior to coupling of the first connective feature and the second connective feature.

17. The system of claim 1, further comprising:a controller, wherein:the wearable exoskeleton includes a limb-receiving cavity and a movable securement structure configured to transition between an open configuration and a closed configuration around a limb of a user; andthe controller is configured to selectively automatically transition the movable securement structure from the open configuration to the closed configuration responsive to a closing criterion being satisfied, the closing criterion including detection that the limb of the user has been positioned within the limb-receiving cavity.

18. The system of claim 1, wherein:the wearable exoskeleton is configured to provide support to a limb of a user when the wheeled mobility subsystem and the wearable assistive subsystem are coupled by acting as at least one of a leg support or an arm support.

19. A coupling assembly for removably connecting a wheeled mobility subsystem and a wearable assistive subsystem, the coupling assembly comprising:a first connective feature configured to be mounted to the wheeled mobility subsystem;a second connective feature configured to be mounted to the wearable assistive subsystem; and an electrical interface configured to transfer at least one of electrical power or data between the first connective feature and the second connective feature when the first connective feature and the second connective feature are coupled, wherein:the first connective feature comprises a first alignment structure configured to guide the first connective feature and the second connective feature into alignment when the first connective feature and the second connective feature are brought into proximity; the second connective feature comprises a complementary alignment structure configured to guide the first connective feature and the second connective feature into alignment when the first connective feature and the second connective feature are brought into proximity; the first connective feature and the second connective feature are configured to facilitate coupling when positionally adjacent and to decouple when separated; andthe electrical interface comprises at least one of a physical electrical connection or a wireless interface.

20. A method of operating an assistive mobility system, the method comprising:positioning a wearable assistive subsystem worn by a user on a seat of a wheeled mobility subsystem such that a first connective feature of the wheeled mobility subsystem is adjacent to a second connective feature of the wearable assistive subsystem; responsive to the first connective feature being adjacent to the second connective feature, mechanically coupling the first connective feature and the second connective feature; transferring at least one of electrical power or data between the wheeled mobility subsystem and the wearable assistive subsystem while the first connective feature and the second connective feature are coupled; andmechanically decoupling the first connective feature and the second connective feature responsive to a decoupling action, whereinthe wearable assistive subsystem operates independently of the wheeled mobility subsystem after decoupling.

Images