Ensuring operator engagement in an exoskeleton bionic device

Patent metadata

Field	Value
Publication number	US-10730178-B2
Application number	US-201615571201-A
Country	US
Kind code	B2
Filing date	May 4, 2016
Priority date	May 5, 2015
Publication date	Aug 4, 2020
Grant date	Aug 4, 2020

Abstract

An operator supervising a wearer of an exoskeleton is verified by performing a verification routine on the operator using the exoskeleton. If the verification routine is unsuccessful, the exoskeleton is caused to follow a pre-established response routine. If the verification routine is successful, movement of the exoskeleton is allowed.

First claim

The invention claimed is:

1. A method of verifying an operator supervising a wearer of an exoskeleton, the method comprising:
the wearer commanding the exoskeleton to perform a movement;
after commanding the exoskeleton to perform the movement, beginning to perform a verification routine on the operator using the exoskeleton by: prompting the operator to perform an action, sensing that the operator or a remote signaling device is proximate the exoskeleton, or performing a scan on the operator; and
a) responsive to the verification routine being unsuccessful, causing the exoskeleton to follow a pre-established response routine instead of the movement; or
b) responsive to the verification routine being successful, performing the movement.

2. The method of claim 1 , further comprising:
performing the verification routine after the exoskeleton is turned on and before any movement of the exoskeleton takes place.

3. The method of claim 1 , further comprising:
1)
a) commanding the exoskeleton to perform a series of movements, the series of movements including a first movement and a second movement;
b) performing the first movement, wherein performing the verification routine includes performing the verification routine after performing the first movement; and
c) performing the second movement if the verification routine is successful; or

2)
a) commanding the exoskeleton to perform a series of movements, wherein performing the verification routine includes periodically performing the verification routine during the series of movements; and
b) ceasing the series of movements if one of the verification routines is unsuccessful.

4. The method of claim 1 , wherein:
1) the exoskeleton includes a user interface, which is not reachable by a hand of the wearer, the method further comprising performing the verification routine by presenting a notification to the operator on the user interface, wherein dismissal of the notification constitutes a successful verification routine; or
2) the exoskeleton includes a button, which is not reachable by a hand of the wearer, the method further comprising performing the verification routine by prompting the operator to press the button, wherein pressing of the button constitutes a successful verification routine.

5. The method of claim 1 , wherein:
performing the verification routine includes determining whether a key is coupled to the exoskeleton; and
the key being coupled to the exoskeleton constitutes a successful verification routine.

6. The method of claim 4 , wherein:
1) the exoskeleton includes a plurality of buttons, and the button is one of the plurality of buttons, the method further comprising prompting the operator to press the button by prompting the operator to press the plurality of buttons in a defined order, wherein pressing of the plurality of buttons in the defined order constitutes a successful verification routine; or
2)
a) prompting the operator to press the button includes prompting the operator to press the button a specified number of times; and
b) pressing of the button the specified number of times constitutes a successful verification routine.

7. The method of claim 1 , wherein the exoskeleton includes a sensor, the method further comprising:
performing the verification routine by sensing whether the operator is proximate to the exoskeleton using the sensor, wherein a determination that the operator is proximate to the exoskeleton constitutes a successful verification routine.

8. The method of claim 7 , wherein the sensor is a non-contact sensor, the method further comprising:
sensing whether the operator is proximate to the exoskeleton by sensing whether the operator is proximate to the exoskeleton using the non-contact sensor.

9. The method of claim 7 , wherein the sensor is a contact sensor, the method further comprising:
sensing whether the operator is proximate to the exoskeleton by sensing whether the operator is proximate to the exoskeleton using the contact sensor, wherein the exoskeleton includes a handle, and the contact sensor is coupled to or integrated with the handle, the method further comprising:
sensing whether the operator is proximate to the exoskeleton by sensing whether a hand of the operator is in contact with the handle.

10. The method of claim 1 , further comprising:
transmitting data between the exoskeleton and a remote signaling device; and
performing the verification routine by determining whether the remote signaling device is proximate to the exoskeleton, wherein a determination that the remote signaling device is proximate to the exoskeleton constitutes a successful verification routine, and the remote signaling device includes a contact sensor, the method further comprising:
sensing whether a hand of the operator is in contact with the remote signaling device using the contact sensor, wherein a determination that the remote signaling device is proximate to the exoskeleton and that the hand of the operator is in contact with the remote signaling device constitutes a successful verification routine.

11. The method of claim 1 , wherein:
performing the verification routine includes prompting the operator to look at a particular location and measuring a response time of the operator; and
the response time determines whether the verification routine is successful.

12. The method of claim 1 , wherein:
performing the verification routine includes performing a fingerprint, iris or voice scan on the operator to generate first biometric data and comparing the first biometric data to second biometric data corresponding to an authorized operator; and
a determination that the first biometric data matches the second biometric data constitutes a successful verification routine.

13. The method of claim 1 , wherein performing the response routine includes:
1) ceasing movement of the exoskeleton;
2) sounding an alarm;
3) notifying emergency services; or
4) disabling use of the exoskeleton.

14. The method of claim 13 , wherein performing the response routine includes ceasing movement of the exoskeleton and further includes causing the exoskeleton to sit or crouch if a predetermined time passes after movement of the exoskeleton ceases without a successful verification routine.

15. A system for verifying an exoskeleton operator supervising an exoskeleton wearer, the system comprising:
an exoskeleton configured to:
receive a command from the wearer to perform a movement;
starting to perform a verification routine on the exoskeleton operator after receiving the command to perform the movement by: prompting the operator to perform an action, sensing that the operator or a remote signaling device is proximate the exoskeleton, or performing a scan on the operator; and
a) follow a pre-established response routine instead of the movement if the verification routine is unsuccessful; or
b) perform the movement if the verification routine is successful.

16. The system of claim 15 , wherein:
1)
a) the exoskeleton includes a user interface that is not reachable by a hand of the exoskeleton wearer;
b) the exoskeleton is configured to perform the verification routine by presenting a notification to the exoskeleton operator on the user interface; and
c) dismissal of the notification constitutes a successful verification routine; or

2)
a) the exoskeleton includes a button that is not reachable by a hand of the exoskeleton wearer;
b) the exoskeleton is configured to perform the verification routine by prompting the exoskeleton operator to press the button; and
c) pressing

Assignees

• Ekso Bionics Inc

Inventors

• Harding Nathan
• Mccaffrey Niel
• Amundson Kurt
• Sandler Reuben
• Zoss Adam
• Strausser Katherine

Classifications

• A61H3/02

  Crutches · CPC title

• A61H2201/0188

  Illumination related features · CPC title

• A61H1/0255

  Both knee and hip of a patient, e.g. in supine or sitting position, the feet being moved together in a plane substantially parallel to the body-symmetrical plane (A61H1/0214 takes precedence) · CPC title

• A61H2201/5048

  Audio interfaces, e.g. voice or music controlled · CPC title

• A61H2201/5012

  using the internet · CPC title