Methods of exoskeleton communication and control

Patent metadata

Field	Value
Publication number	US-10694948-B2
Application number	US-201615566146-A
Country	US
Kind code	B2
Filing date	Apr 14, 2016
Priority date	Apr 14, 2015
Publication date	Jun 30, 2020
Grant date	Jun 30, 2020

Abstract

A first exoskeleton is in communication with a central server or a peripheral device. The first exoskeleton collects first data and transmits the first data to the central server or peripheral device. The central server or peripheral device generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

First claim

The invention claimed is:

1. A method of communication between a first exoskeleton and a central server or a peripheral device, the method comprising:
collecting first data with the first exoskeleton;
transmitting the first data from the first exoskeleton to the central server or the peripheral device;
generating second data using the first data; and
transmitting the second data from the central server or the peripheral device to the first exoskeleton or a second exoskeleton,

wherein collecting the first data includes collecting data about a wearer of the first exoskeleton, and transmitting the first data includes transmitting the first data from the first exoskeleton to the central server, the method further comprising:
determining whether the wearer is a known wearer or a new wearer based on the first data; and
applying wearer specific settings to the first exoskeleton if the wearer is a known wearer.

2. The method of claim 1 , wherein an amount of the first data collected with and transmitted from the first exoskeleton varies depending on a movement being performed by the first exoskeleton during collection, and wherein:
1) the amount of the first data collected with and transmitted from the first exoskeleton varies depending on a speed of the movement being performed by the first exoskeleton; or
2) the amount of the first data collected with and transmitted from the first exoskeleton varies depending on a complexity of the movement being performed by the first exoskeleton.

3. The method of claim 2 , wherein the amount of first data collected with and transmitted from the first exoskeleton increases when a fall is occurring or likely to occur.

4. The method of claim 1 , wherein transmitting the second data includes transmitting the second data from the peripheral device to the first exoskeleton, the method further comprising adjusting a movement speed or direction of the first exoskeleton based on the second data, wherein transmitting the second data from the peripheral device to the first exoskeleton includes transmitting the second data from a peripheral device belonging to a person other than a wearer of the first exoskeleton, and wherein:
1) adjusting the movement speed or direction of the first exoskeleton includes adjusting the movement speed or direction of the first exoskeleton based on a movement speed or direction of the person; or
2) the peripheral device is another exoskeleton.

5. The method of claim 1 , wherein transmitting the second data includes transmitting the second data from the peripheral device to the first exoskeleton, the method further comprising transmitting the second data from the first exoskeleton to the central server.

6. The method of claim 5 , further comprising displaying the second data to a wearer of the first exoskeleton.

7. The method of claim 5 , wherein the peripheral device constitutes a first peripheral device, the method further comprising:
transmitting third data from a second peripheral device to a third exoskeleton;
transmitting the third data from the third exoskeleton to the central server; and
displaying the second and third data to a person other than a wearer of the first or third exoskeletons, and wherein:
the first and second peripheral devices are weapons;
the first exoskeleton is worn by a first soldier;
the third exoskeleton is worn by a second soldier; and
displaying the second and third data includes displaying the second and third data to a commander of the first and second soldiers.

8. A method of communication between a first exoskeleton and a central server or a peripheral device, the method comprising:
collecting first data with the first exoskeleton;
transmitting the first data from the first exoskeleton to the central server or the peripheral device;
generating second data using the first data; and
transmitting the second data from the central server or the peripheral device to the first exoskeleton or a second exoskeleton,

wherein an amount of the first data collected with and transmitted from the first exoskeleton varies depending on a movement being performed by the first exoskeleton during collection, and wherein:
1) the amount of the first data collected with and transmitted from the first exoskeleton varies depending on a speed of the movement being performed by the first exoskeleton; or
2) the amount of the first data collected with and transmitted from the first exoskeleton varies depending on a complexity of the movement being performed by the first exoskeleton, and

wherein the amount of the first data collected with and transmitted from the first exoskeleton is greater when the first exoskeleton is worn by a wearer than when the first exoskeleton is not worn, greater when the wearer is standing than when the wearer is sitting, greater when the wearer is walking than when the wearer is standing and greater when the wearer stands up or sits down than when the wearer is walking, and wherein the amount of the first data collected with and transmitted from the first exoskeleton increases with increased wearer walking speed.

9. The method of claim 1 , the method further comprising:
modifying movement of the first exoskeleton in real time based on the first data, and wherein:
1) modifying the movement of the first exoskeleton includes providing additional assistance to the wearer if the data indicates that the wearer is fatigued; or
2) modifying the movement of the first exoskeleton includes providing reduced assistance to the wearer or increasing movement speed of the first exoskeleton if the data indicates that a heart rate of the wearer is not sufficiently elevated.

10. The method of claim 1 , wherein:
1) collecting the first data includes collecting data about the wearer with sensors to create sensor data, and determining whether the wearer is a known wearer or a new wearer includes determining whether the wearer is a known wearer or a new wearer based on the sensor data; or
2) collecting the data includes collecting data about a gait of the wearer to create gait data, and determining whether the wearer is a known wearer or a new wearer includes determining whether the wearer is a known wearer or a new wearer based on the gait data.

11. The method of claim 1 , further comprising:
running a first copy of an application on a control system of the first exoskeleton; and
running a second copy of the application on the central server; and further comprising:
1) controlling the first exoskeleton based on the second copy of the application when the first exoskeleton is in communication with the central server, and controlling the first exoskeleton based on the first copy of the application when the first exoskeleton is not in communication with the central server; or
2) controlling the first exoskeleton based on the first copy of the application, and controlling the first exoskeleton based on the second copy of the application if the first copy of the application crashes.

12. The method of claim 1 , further comprising:
causing the first exoskeleton to enter a restricted mode in which the first exoskeleton is prevented from performing at least some movements, movement speed of the first exoskeleton is limited or movement complexity of the first exoskeleton is limited, wherein causing the first exoskeleton to enter the restricted mode includes:
1) causing the first exoskeleton to enter the restricted mode based on a level of disability of a wearer of the first exoskeleton;
2) causing the first exoskeleton to enter the restricted mode based on an environment in which the first exoskeleton is being operated;
3) causing the first exoskeleton t

Assignees

• Ekso Bionics Inc
• Ekso Bionics

Inventors

• Sandler Reuben
• Strausser Katherine
• Fiedler Mark
• Amundson Kurt
• Brown Dan
• Smith Renata
• Sweeney Matthew D
• Angold Russdon
• Mccaffrey Niel
• Edmonds Duane
• Meadows Chris
• Jones Jared
• Mettler Kelly

Classifications

• A61B5/369

  Electroencephalography [EEG] · CPC title

• A61B5/318

  Heart-related electrical modalities, e.g. electrocardiography [ECG] · CPC title

• A61H2230/04

  Heartbeat characteristics, e.g. E.G.C., blood pressure modulation · CPC title

• A61H3/04

  Wheeled walking aids for patients or disabled persons · CPC title

• A61H2230/202

  Glucose · CPC title