Wearable exoskeleton

Patent metadata

Field	Value
Publication number	US-11918535-B2
Application number	US-202016847380-A
Country	US
Kind code	B2
Filing date	Apr 13, 2020
Priority date	Apr 13, 2020
Publication date	Mar 5, 2024
Grant date	Mar 5, 2024

Abstract

Systems and methods for a powered, robotic exoskeleton, or exosuit, for a user's limbs and body are provided. The exosuit may be equipped with airbag devices mounted at various locations on the suit. The exosuit may include on-board computing equipment that can sense, compute control commands in real-time, and actuate limbs and airbags to restore stability (fall prevention) and minimize injuries due to falls, should they happen (fall protection).

First claim

What is claimed is:

1. A wearable device comprising:
a frame;
at least one robotic joint operatively coupled to the frame;
at least one sensor coupled to the frame, the sensor configured to sense a movement of the frame;
a memory storing a user profile of a user, the user profile including a health condition;
a controller coupled to the at least one robotic joint and the at least one sensor, the controller configured to:
detect an event from the movement of the frame;
classify the event as one of a fall prevention event or a fall protection event when the movement of the frame exceeds a stability envelope defining a normal body position of the user based on the user profile;
in response to detecting a fall prevention event, actuate the at least one robotic joint to counter the movement of the frame; and
in response to detecting a fall protection event, actuate the at least one robotic joint into a protected position.

2. The wearable device of claim 1 wherein actuating the at least one robotic joint comprises returning the frame to a stable position.

3. The wearable device of claim 1 wherein the stability envelope is estimated by a model-based analysis.

4. The wearable device of claim 1 further comprising an airbag coupled to the frame, the controller further configured to deploy the airbag upon detection of the event.

5. The wearable device of claim 1 wherein the frame comprises an exoskeleton configured to be worn by a user.

6. The wearable device of claim 5 further comprising a plurality of robotic joints coupled to the frame, each robotic joint corresponding to a joint to the exoskeleton.

7. The wearable device of claim 1 wherein the controller is further configured to:
detect a second event from the termination of the movement of the frame;
actuate the at least one robotic joint in response to the second event.

8. The wearable device of claim 7 wherein actuating the at least one robotic joint in response to the second event comprises actuating the frame into a recovery position.

9. The wearable device of claim 1 further comprising a communication device configured to transmit an alert upon detection of the event.

10. The wearable device of claim 1 wherein the controller is further configured to:
detect the event and actuate the at least one robotic joint in response to the first event according to the user profile.

11. The wearable device of claim 10 wherein the user profile includes user-specific information related to a physical predisposition.

12. The wearable device of claim 11 wherein the physical predisposition includes a health condition.

13. The wearable device of claim 1 wherein the at least one robotic joint includes one or more of a shoulder joint, elbow joint, wrist joint, waist unit, knee joint, ankle joint, and head/neck unit.

14. A method of countering a fall by a user comprising:
loading a user profile including one or more user preferences including a health condition;
sensing a movement event by a sensor coupled to a frame;
classifying the movement event according to data obtained from the sensor as one of a fall prevention event or a fall protection event when the movement of the frame exceeds a stability envelope defining a normal body position of the user based on the user profile;
in response to detecting a fall prevention event, actuating a robotic joint coupled to the frame to counter the movement of the frame and;
in response to detecting a fall protection event, actuate the at least one robotic joint into a protected position.

Assignees

• Toyota Res Inst Inc

Inventors

• Decastro Jonathan
• Kong Soon Ho
• Arechiga Gonzalez Nikos
• Permenter Frank
• Park Dennis

Classifications

• A61H3/00 Primary

  Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) · CPC title

• A61H2201/0103

  inflatable · CPC title

• A61H2201/0173

  Means for preventing injuries · CPC title

• A61H2201/165

  Wearable interfaces · CPC title

• A61H2201/1659

  Free spatial automatic movement of interface within a working area, e.g. Robot · CPC title