Lower-leg exoskeleton system and method

Patent metadata

Field	Value
Publication number	US-2016278948-A1
Application number	US-201615082824-A
Country	US
Kind code	A1
Filing date	Mar 28, 2016
Priority date	Mar 27, 2015
Publication date	Sep 29, 2016
Grant date	—

Abstract

A lower-leg exoskeleton including an inflatable actuator that is configured to be worn over a front portion of a foot of a user; a rigid foot structure coupled to the inflatable actuator that is configured to surround a portion of a foot of the user; and a rigid shin structure coupled to the inflatable actuator and configured to engage the shin of the user. When worn by a user, the lower-leg exoskeleton can receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure which is forward of the heel of a user. Inflation of the inflatable actuator can generate a moment about the ankle of a user to cause flexion of the foot of the user.

First claim

What is claimed is:

1 . An exoskeleton system comprising:
an actuation system that includes:
a fluidic system; and
a control system operably coupled to and configured to control the fluidic system, and
a first and second lower-leg exoskeleton that each comprises:
an inflatable actuator that is operably coupled to and configured to be inflated by the fluidic system and configured to be worn over a front portion of a foot of a user;
a rigid foot structure coupled to a first actuator end of the inflatable actuator, configured to surround a portion of a foot of the user; and
a rigid shin structure coupled to a second actuator end of the inflatable actuator and configured to engage the shin of the user;
wherein, the inflatable actuator, rigid foot structure, and rigid shin structure are configured to, when worn by a user, receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure and forward of the heel of the user; and wherein inflation of the inflatable actuator generates a moment about the ankle of a user to cause flexion of the foot of the user.

2 . The system of claim 1 , wherein the rigid foot structure comprises:
a pair of sidewalls configured to extend around the foot of a user and including first and second sidewall attachment points respectively on the sidewalls for attachment with a removable base portion, and a removable flat base portion configured to reside at the base of the foot of the user that includes first and second base attachment points configured for removably coupling with the first and second sidewall attachment points, the removable flat base portion integrally disposed within and extending through the sole of a footwear article with the first and second base attachment points disposed on respective external sides of the footwear article.

3 . The system of claim 1 , wherein the rigid foot structure further comprises an inflatable structure.

4 . The system of claim 3 , wherein the inflatable structure is positioned at the sole of a foot of a user and configured to evenly spread a load on a surface generated while the user is walking on the surface.

5 . The system of claim 1 , wherein the rigid shin structure further comprises an inflatable structure.

6 . The system of claim 1 , wherein the inflatable actuator comprises a plurality of stacked bladder segments.

7 . The system of claim 6 , wherein the inflatable actuator further comprises a plurality of rigid collars disposed between respectively stacked bladder segments and configured to support the bladder segments.

8 . The system of claim 1 , wherein the inflatable actuator is configured to surround a portion of a foot of a user and configured for larger expansion at a front portion of the actuator when the inflatable actuator is inflated relative to a first and second rear portion of the inflatable actuator.

9 . The system of claim 1 , wherein the control system is configured to generate a portion of a walking gait for a user wearing the first and second lower-leg exoskeleton by at least actuating the respective inflatable actuators.

10 . A lower-leg exoskeleton comprising:
an inflatable actuator that is configured to be worn over a front portion of a foot of a user; a rigid foot structure coupled to a first actuator end of the inflatable actuator, configured to surround a portion of a foot of the user; and a rigid shin structure coupled to a second actuator end of the inflatable actuator and configured to engage the shin of the user; wherein, the inflatable actuator, rigid foot structure, and rigid shin structure are configured to, when worn by a user, receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure and forward of the heel of the user; and wherein inflation of the inflatable actuator generates a moment about the ankle of a user to cause flexion of the foot of the user.

11 . The lower-leg exoskeleton of claim 10 , wherein the inflatable actuator is operably coupled with a fluidic system and is configured to be inflated by the fluidic system to generate the moment about the ankle of the user to cause flexion of the foot of the user.

12 . The lower-leg exoskeleton of claim 10 , wherein the rigid foot structure comprises:
a pair of sidewalls configured to extend around the foot of a user and including first and second sidewall attachment points for a removable base portion, and a removable base portion configured to reside at the base of the foot of the user that includes first and second base attachment points configured for removably coupling with the first and second sidewall attachment points.

13 . The lower-leg exoskeleton of claim 10 , wherein the rigid foot structure further comprises an inflatable structure.

14 . The lower-leg exoskeleton of claim 13 , wherein the inflatable structure is positioned at the sole of a foot of a user and configured to evenly spread a load on a surface generated while the user is walking on the surface.

15 . The lower-leg exoskeleton of claim 10 , wherein the rigid shin structure further comprises an inflatable structure.

16 . The lower-leg exoskeleton of claim 10 , wherein the inflatable actuator comprises a plurality of stacked bladder segments.

17 . The lower-leg exoskeleton of claim 16 , wherein the inflatable actuator further comprises a plurality of rigid collars disposed between respectively stacked bladder segments and configured to support the bladder segments.

18 . The lower-leg exoskeleton of claim 10 , wherein the inflatable actuator is configured to surround a portion of a foot of a user and configured for larger expansion at a front portion of the actuator when the inflatable actuator is inflated relative to a first and second rear portion of the inflatable actuator.

Assignees

• Other Lab Llc

Inventors

• Piercy Brenton
• Swift Tim
• Nucci Giancarlo
• Lamb Callum
• Lynn Pete
• Griffith Saul
• Luce Leanne

Classifications

• A61F5/0127 Primary

  for the feet (A61F5/0111 takes precedence) · CPC title

• A61F2/70

  electrical · CPC title

• A43B13/20

  Pneumatic soles {filled with a compressible fluid, e.g. air, gas (inflatable linings for skiboots A43B5/0407)} · CPC title

• A61H2201/1238

  with hydraulic or pneumatic drive · CPC title

• A61H2205/12

  Feet · CPC title