Devices and methods for improving the utility of an exoskeleton mobility base

Patent metadata

Field	Value
Publication number	US-10245204-B2
Application number	US-201615260577-A
Country	US
Kind code	B2
Filing date	Sep 9, 2016
Priority date	Sep 11, 2015
Publication date	Apr 2, 2019
Grant date	Apr 2, 2019

Abstract

A mobility system includes an energy module, an exoskeleton and a mobile base. The exoskeleton has an exoskeleton energy module receptacle that can receive the energy module, and the mobile base has a mobile base energy module receptacle that can also receive the energy module. In addition, the mobile base has an exoskeleton support that can support the exoskeleton on the mobile base so that the mobile base can transport the exoskeleton across a support surface.

First claim

The invention claimed is:

1. A mobility system comprising:
an energy module;
an exoskeleton including an exoskeleton energy module receptacle configured to receive the energy module; and
a mobile base configured to transport the exoskeleton across a support surface, the mobile base including an exoskeleton support configured to support the exoskeleton on the mobile base and a mobile base energy module receptacle configured to receive the energy module, wherein a range of the exoskeleton is extendable by uncoupling the energy module from the mobile base energy module receptacle and coupling the energy module to the exoskeleton energy module receptacle.

2. The mobility system of claim 1 , wherein at least one of the exoskeleton and mobile base energy module receptacles includes an automated energy module transfer mechanism configured to automatically transfer the energy module between the exoskeleton and mobile base energy module receptacles.

3. The mobility system of claim 1 , wherein:
the exoskeleton energy module receptacle is configured to automatically and selectively couple the energy module thereto; and
the mobile base energy module receptacle is configured to automatically and selectively couple the energy module thereto.

4. The mobility system of claim 3 , wherein:
the exoskeleton further includes an exoskeleton control system configured to control coupling of the energy module to the exoskeleton energy module receptacle; and
the mobile base further includes a mobile base control system configured to control coupling of the energy module to the mobile base energy module receptacle.

5. The mobility system of claim 4 , wherein the exoskeleton and mobile base control systems are configured to coordinate whether the energy module is coupled to the exoskeleton energy module receptacle or the mobile base energy module receptacle.

6. The mobility system of claim 5 , wherein:
the exoskeleton is configured to determine a remaining power of the energy module when the energy module is received in the exoskeleton energy module receptacle;
the mobile base is further configured to determine the remaining power of the energy module when the energy module is received in the mobile base energy module receptacle; and
the exoskeleton and mobile base control systems are configured to coordinate whether the energy module is coupled to the exoskeleton energy module receptacle or the mobile base energy module receptacle based on the remaining power of the energy module.

7. The mobility system of claim 1 , wherein:
the exoskeleton further includes an exoskeleton power system;
the exoskeleton further includes actuators configured to cause movement of the exoskeleton;
the exoskeleton energy module receptacle is configured to transfer power from the energy module to the exoskeleton power system when the energy module is received in the exoskeleton energy module receptacle; and
the exoskeleton power system is configured to transfer power to the actuators.

8. The mobility system of claim 7 , wherein:
the mobile base further includes a mobile base power system;
the mobile base further includes propulsive motors configured to cause movement of the mobile base across the support surface;
the mobile base energy module receptacle is configured to transfer power from the energy module to the mobile base power system when the energy module is received in the mobile base energy module receptacle; and
the mobile base power system is configured to transfer power to the propulsive motors.

9. The mobility system of claim 8 , wherein:
the mobile base is further configured to receive power from an external energy supply; and
the mobile base energy module receptacle is further configured to transfer power to the energy module when the energy module is received in the mobile base energy module receptacle, thereby charging the energy module.

10. The mobility system of claim 9 , wherein:
the exoskeleton is configured to receive power from the mobile base; and
the exoskeleton energy module receptacle is further configured to transfer power to the energy module when the energy module is received in the exoskeleton energy module receptacle, thereby charging the energy module.

11. The mobility system of claim 10 , wherein the exoskeleton is further configured to transfer power to the mobile base.

12. The mobility system of claim 9 , wherein the mobile base further includes a docking interface configured to connect to a docking port, wherein the docking port is configured to receive power from the external energy supply and transfer the energy to the mobile base through the docking interface when the docking interface is connected to the docking port.

13. The mobility system of claim 9 , wherein the external energy supply is an electric generator mounted on the mobile base.

14. The mobility system of claim 1 , further comprising a central server, wherein the mobile base further includes a mobile base control system configured to receive data from the central server and cause movement of the mobile base based on the data.

15. The mobility system of claim 1 , wherein:
the exoskeleton further includes an exoskeleton control system; and
the mobile base further includes a mobile base control system configured to receive data from the exoskeleton control system and cause movement of the mobile base based on the data.

16. The mobility system of claim 15 , wherein:
the exoskeleton further includes a user interface configured to receive commands from a user and pass the commands to the mobile base control system through the exoskeleton control system; and
the mobile base control system is configured to cause movement of the mobile base based on the commands.

17. The mobility system of claim 1 , further comprising a wheelchair accessible vehicle including a wheelchair accessible vehicle power system and a docking port configured to connect the mobile base to the wheelchair accessible vehicle, wherein:
the mobile base further includes a mobile base power system
the docking port is configured to transfer power from the wheelchair accessible vehicle power system to the mobile base power system; and
the mobile base energy module receptacle is further configured to transfer power from the mobile base power system to the energy module when the energy module is received in the mobile base energy module receptacle, thereby charging the energy module.

18. The mobility system of claim 1 , wherein the energy module is a battery.

19. The mobility system of claim 1 , wherein the exoskeleton is an ambulatory exoskeleton including a foot support, a lower leg support, an upper leg support, a leg brace, a torso brace, a knee actuator and a hip actuator.

20. The mobility system of claim 19 , wherein the ambulatory exoskeleton further includes a back support, and the back support includes the exoskeleton energy module receptacle.

21. The mobility system of claim 1 , wherein the mobile base further includes a wheel configured to contact the support surface, and rotation of the wheel causes movement of the mobile base across the support surface.

22. The mobility system of claim 1 , wherein the mobile base further includes a track configured to contact the support surface, and movement of the track causes movement of the mobile base across the support surface.

23. The mobility system of claim 22 , wherein the mobile base is configured to transport the exoskeleton across the support surface

Assignees

• Ekso Bionics Inc

Inventors

• Sandler Reuben
• Smith Renata
• Meadows Chris
• Rea Rochelle
• Jones Jared
• Sweeney Matt

Classifications

• H01M50/296

  characterised by terminals of battery packs (terminals of batteries H01M50/543) · CPC title

• H01M50/247

  specially adapted for portable devices, e.g. mobile phones, computers, hand tools or pacemakers · CPC title

• A61H2201/163

  holding means therefor · CPC title

• A61H2201/0107

  modular · CPC title

• H01M2/1072

  Electricity · mapped topic