Electrolaminate clutches for an exosuit system

Patent metadata

Field	Value
Publication number	US-10906168-B2
Application number	US-201816117053-A
Country	US
Kind code	B2
Filing date	Aug 30, 2018
Priority date	Mar 15, 2013
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

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;
at least one spring member coupled to the flexible suit;
an electrolaminate clutch coupled to the at least one spring member and the flexible suit, wherein the electrolaminate clutch comprises:
a first electrolaminate layer; and
a second electrolaminate layer disposed adjacent to the first electrolaminate layer, wherein the first and second electrolaminate layers are decoupled when the electrolaminate clutch is in a first state and are coupled together when the electrolaminate clutch is in a second state; and

control circuitry operative to control transitions between the first and second states to control charge and release of potential energy stored in the at least one spring member.

2. The human body augmentation system of claim 1 , further comprising:
at least one inertial movement unit (IMU) sensor operative to monitor movement of the human body; and
wherein the control circuitry is operative to control the transitions between the first and second states based on the monitored movement.

3. The human body augmentation system of claim 2 , wherein the portion of the human body comprises a foot.

4. The human body augmentation system of claim 3 , wherein the control circuitry is operative to:
transition to the second state when the foot makes contact with a ground surface; and
transition to the first state when the foot leaves contact with the ground surface.

5. The human body augmentation system of claim 4 , wherein the control circuitry is operative to remain in the second state while the foot is in contact with the ground surface.

6. The human body augmentation system of claim 2 , wherein the portion of the human body comprises a knee or hips, wherein the at least one IMU obtains data related to movement of a foot.

7. The human body augmentation system of claim 6 , wherein the control circuitry is operative to:
transition to the second state when the foot makes contact with a ground surface; and
transition to the first state when the foot leaves contact with the ground surface.

8. The human body augmentation system of claim 7 , wherein the electrolaminate clutch is coupled in series with the at least one spring.

9. The human body augmentation system of claim 8 , wherein the electrolaminate clutch is a first electrolaminate clutch and the at least one spring is a first spring, wherein the first electrolaminate clutch is coupled in series with the first spring, the system further comprising:
a second electrolaminate clutch; and
a second spring coupled in series with the second electrolaminate clutch, wherein the second electrolaminate clutch is coupled in series with the second spring, wherein the second electrolaminate clutch and the second spring are in parallel with the first electrolaminate clutch and the first spring.

10. The human body augmentation system of claim 9 , 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.

11. The human body augmentation system of claim 10 , 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.

12. A clutched spring apparatus, comprising:
at least one spring member; and
an electrolaminate clutch coupled to the at least one spring member, wherein the electrolaminate clutch comprises:
a first electrolaminate layer; and
a second electrolaminate layer disposed adjacent to the first electrolaminate layer, wherein the first and second electrolaminate layers are decoupled when the electrolaminate clutch is in a first state and are coupled together when the electrolaminate clutch is in a second state.

13. The clutched spring apparatus of claim 12 , wherein the electrolaminate clutch is coupled in series with the at least one spring.

14. The clutched spring apparatus of claim 12 , wherein in the second state, potential energy is stored by the at least one spring.

15. The clutched spring apparatus of claim 14 , wherein in the first state, the potential energy stored by the at least one spring is released.

16. The clutched spring apparatus of claim 12 , further comprising:
a first attachment point coupled to the at least one spring member, the first attachment point configured to be secured to a flexible suit configured to be worn over at least a portion of a human body; and
a second attachment point coupled to the electrolaminate clutch, the second attachment point configured to be secured to the flexible suit.

17. The clutched spring apparatus of claim 12 , 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.

18. The clutched spring apparatus of claim 17 , 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.

19. A method for operating a clutched spring apparatus comprising at least one spring member and an electrolaminate clutch coupled in series to the at least one spring member, wherein the electrolaminate clutch comprises a first electrolaminate layer and a second electrolaminate layer disposed adjacent to the first electrolaminate layer, the method comprising:
decoupling the first and second electrolaminate layers when the electrolaminate clutch is in a first state;
coupling the first and second electrolaminate layers when the electrolaminate clutch is in a second state; and
transitioning between the first and second states to control release and storage of potential energy in the at least one spring.

20. The method of claim 19 , further comprising:
monitoring at least one inertial movement unit (IMU) sensor operative to monitor movement of a human body; and
wherein the transitioning comprises transitioning between the first and second states based on the monitored movement.

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

• G16Z99/00

  Subject matter not provided for in other main groups of this subclass · CPC title

• B25J9/0006 Primary

  Exoskeletons, i.e. resembling a human figure · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• Y10S901/02

  Arm motion controller · CPC title

• G05B2219/39345

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