Exoskeleton load handling system and method of use

Patent metadata

Field	Value
Publication number	US-9504623-B2
Application number	US-201113639984-A
Country	US
Kind code	B2
Filing date	Apr 8, 2011
Priority date	Apr 9, 2010
Publication date	Nov 29, 2016
Grant date	Nov 29, 2016

Abstract

An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.

First claim

We claim:

1. An exoskeleton including a load handling system configured to be coupled to a person, said exoskeleton comprising:
first and second leg supports configured to be coupled to the person's lower limbs and rest on a support surface during a stance phase;
an exoskeleton trunk configured to be coupled to the person's upper body, said exoskeleton trunk being interconnected to each of the first and second leg supports at respective hip joints to allow for flexion and extension between the first and second leg supports and the exoskeleton trunk about respective hip axes;
a human power amplifier including:
a first load shifting device including a first powered reel mechanism connected to a first line;
a first end-effector located on the first line and configured to connect to a load;
a first guide supporting the first end-effector in a position in front of the exoskeleton trunk; and
a load shifting actuator for selectively operating the first powered reel mechanism to selectively raise or lower the first line with respect to the exoskeleton trunk; and

a counterweight device including an auxiliary mass connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk, wherein said actuator is selectively actuated to shift a center of gravity of the auxiliary mass with respect to the exoskeleton trunk.

2. The exoskeleton of claim 1 , further comprising:
at least one hip torque generator configured to create torque between said exoskeleton trunk and one of the first and second leg supports.

3. The exoskeleton of claim 1 , wherein the human power amplifier further comprises:
a first handle on the first end-effector configured to be grasped by the person;
a first human interaction sensor configured to sense a force applied by the person to the first handle; and
a controller that acts to apply a force on the load through the first powered reel mechanism based at least in part on the force sensed by the first human interaction sensor.

4. The exoskeleton of claim 1 , wherein the human power amplifier further comprises:
a first load sensor configured to sense a force applied by a load supported by the first end-effector; and
a controller in communication with the first load sensor and the actuator, wherein the controller operates the actuator to shift the center of gravity of the auxiliary mass based at least in part on the force sensed by the first load sensor.

5. The exoskeleton of claim 4 , wherein the first load sensor is located in the first end-effector.

6. The exoskeleton of claim 4 , wherein the first load sensor is located in the first load shifting device.

7. The exoskeleton of claim 4 , wherein the controller operates the actuator to shift the center of gravity of the auxiliary mass to a position to balance the exoskeleton due to the load.

8. The exoskeleton of claim 1 , wherein the first guide is in the form of a load-bearing shoulder strap configured to extend over a shoulder of a wearer of the exoskeleton.

9. The exoskeleton of claim 1 , wherein the human power amplifier further comprises:
a second load shifting device including a second powered reel mechanism connected to a second line;
a second end-effector located on the second line and configured to connect to a load;
a second guide supporting the second end-effector in a position in front of the exoskeleton trunk; and
wherein the load shifting actuator selectively operates the first and second powered reel mechanism to selectively raise or lower the first and second lines with respect to the exoskeleton trunk.

10. The exoskeleton of claim 9 , wherein the human power amplifier further comprises:
a first handle on the first end-effector configured to be grasped by the person;
a second handle on the first end-effector configured to be grasped by the person;
a first human interaction sensor configured to sense a force applied by the person to the first handle;
a second human interaction sensor configured to sense a force applied by the person to the second handle; and
a controller that acts to apply a force on the load through the second powered reel mechanism based at least in part on forces sensed by the first and second human interaction sensors.

11. The exoskeleton of claim 9 , wherein the human power amplifier further comprises:
a first load sensor configured to sense a force applied by a load supported by the first end-effector;
a second load sensor configured to sense a force applied by a load supported by the second end-effector; and
a controller in communication with the first and second load sensors and the actuator, wherein the controller operates the actuator to shift the center of gravity of the auxiliary mass based at least in part on forces sensed by the first and second load sensors.

12. The exoskeleton of claim 11 , wherein the second load sensor is located in the second end-effector.

13. The exoskeleton of claim 11 , wherein the second load sensor is located in the second load shifting device.

14. The exoskeleton of claim 11 , wherein the controller operates the actuator to shift the center of gravity of the auxiliary mass to a position to balance the exoskeleton.

15. The exoskeleton of claim 9 , wherein the second guide is in the form of a load-bearing shoulder strap configured to extend over a shoulder of a wearer of the exoskeleton.

16. An exoskeleton including a load handling system and configured to be coupled to a person, said exoskeleton comprising:
first and second leg supports configured to be coupled to the person's lower limbs and rest on a support surface during a stance phase;
an exoskeleton trunk configured to be coupled to the person's upper body, said exoskeleton trunk being interconnected to each of the first and second leg supports at respective hip joints to allow for flexion and extension between the first and second leg supports and the exoskeleton trunk about respective hip axes;
a load bearing device attached to said exoskeleton trunk and configured to support a load in front of a wearer of the exoskeleton; and
a counterweight device including an auxiliary mass connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk, wherein said actuator is selectively actuated to shift a center of gravity of the auxiliary mass with respect to the exoskeleton trunk.

17. The exoskeleton of claim 16 , further comprising:
at least one hip torque generator configured to create torque between said exoskeleton trunk and one of the first and second leg supports.

18. The exoskeleton of claim 16 , wherein the load bearing device includes a load-bearing shoulder strap configured to extend over a shoulder of a wearer of the exoskeleton.

19. The exoskeleton of claim 16 , wherein the load bearing device includes at least one sensor adapted to sense a force applied by a load on the load bearing device, and the exoskeleton further comprises:
a controller in communication with the at least one sensor and the actuator, wherein the controller operates the actuator to shift the center of gravity of the auxiliary mass based at least in part on the force sensed by the at least one sensor.

20. The exoskeleton of claim 16 , further comprising;
a controller in communication with the actuator of the auxiliary mass, wherein the controller is configured to operate the actuator of the auxiliary mass to shift the center of gravity of the auxiliary mass with respect to t

Assignees

• Angold Russdon
• Zoss Adam
• Burns Jon
• Amundson Kurt
• Harding Nathan
• Ekso Bionics Inc

Inventors

• Angold Russdon
• Zoss Adam
• Kazerooni Homayoon
• Burns Jon
• Amundson Kurt
• Harding Nathan

Classifications

• B25J9/0006 Primary

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

• A61H2203/0406

  Standing on the feet · CPC title

• 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

• A61H3/008

  using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses · CPC title

• A61H2201/1207

  with electric or magnetic drive · CPC title