Electrolaminate clutches for an exosuit system

Patent metadata

Field	Value
Publication number	US-10105839-B2
Application number	US-201514865047-A
Country	US
Kind code	B2
Filing date	Sep 25, 2015
Priority date	Mar 15, 2013
Publication date	Oct 23, 2018
Grant date	Oct 23, 2018

Abstract

A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer.

First claim

What is claimed is:

1. A human body augmentation system, comprising:
a flexible suit configured to be worn over at least a portion of a human body;
a twisted string actuator coupled to the flexible suit; and
an electrolaminate clutch coupled to the flexible suit, wherein the electrolaminate clutch is configured to couple the twisted string actuator to at least one segment of the human body, wherein the electrolaminate clutch comprises:
a first electrolaminate layer; and
a second electrolaminate layer disposed adjacent the first electrolaminate layer, wherein the first and second electrolaminate layers are mechanically decoupled when the electrolaminate clutch is in a first state and are mechanically coupled together when the multilayer electrolaminate clutch is in a second state.

2. The human body augmentation system of claim 1 , wherein the first and second electrolaminate layers include respective electrodes, and wherein the electrolaminate clutch transitions from the first state to the second state, causing the first and second electrolaminate layers to clutch together, in response to a voltage applied to the electrodes.

3. The human body augmentation system of claim 2 , wherein the electrolaminate clutch transitions from the second state to the first state, causing the first and second electrolaminate layers to un-clutch from each other, in response to removing a voltage that was being applied to the electrodes.

4. The human body augmentation system of claim 3 , wherein the first and second electrolaminate layers un-clutch from each other in less than 20 milliseconds after the applied voltage is removed.

5. The human body augmentation system of claim 1 , wherein the twisted string actuator comprises:
a motor comprising a rotor and a stator, wherein the motor is configured to generate a rotational motion of the rotor; and
at least one twisted string comprising a plurality of strands twisted together, wherein the at least one twisted string has a first end coupled to the rotor and a second end opposite the first end.

6. The human body augmentation system of claim 5 , wherein the second end of the at least one twisted string is coupled to the electrolaminate clutch.

7. A human body augmentation system, comprising:
a flexible suit configured to be worn over at least a portion of a human body; and
an electrolaminate clutch coupled to the flexible suit and to at least one segment of the human body, wherein the electrolaminate clutch comprises:
a first electrolaminate layer; and

a second electrolaminate layer disposed adjacent the first electrolaminate layer, wherein the first and second electrolaminate layers are mechanically decoupled when the electrolaminate clutch is in a first state and are mechanically coupled together when the multilayer electrolaminate clutch is in a second state,
wherein the first and second electrolaminate layers include respective electrodes, and wherein the electrolaminate clutch transitions from the first state to the second state, causing the first and second electrolaminate layers to clutch together, in response to a voltage applied to the electrodes, and
wherein the electrolaminate clutch transitions from the second state to the first state, causing the first and second electrolaminate layers to un-clutch from each other, in response to removing a voltage that was being applied to the electrodes, and the first and second electrolaminate layers un-clutch from each other in less than 20 milliseconds after the applied voltage is removed.

Assignees

• Stanford Res Inst Int

Inventors

• Kornbluh Roy David
• Kernbaum Alexander Steele
• Low Thomas
• Witherspoon Katherine Goss
• Mccoy Brian Keith
• Ziemba Adam Arnold Edward
• Birkmeyer Paul Michael
• Mahoney Richard M

Classifications

• G05B2219/39345

  Active compliance control, control tension of spring with DC motor · CPC title

• G05B2219/36429

  Power assisted positioning · CPC title

• G05B2219/40305

  Exoskeleton, human robot interaction, extenders · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• A41D1/005

  with embedded cable or connector · CPC title