Elastic element exoskeleton and method of using same

Patent metadata

Field	Value
Publication number	US-9682005-B2
Application number	US-201313774774-A
Country	US
Kind code	B2
Filing date	Feb 22, 2013
Priority date	Feb 24, 2012
Publication date	Jun 20, 2017
Grant date	Jun 20, 2017

Abstract

Running in a mammal, such as a human, is augmented by adaptively modulating anticipation of maximum leg extension of a mammal when running, and actuating an exoskeletal clutch linked in series to at least one elastic element, wherein the clutch and elastic element form an exoskeleton and are attached in parallel to at least one muscle-tendon unit of a leg of the mammal and span at least one joint of the mammal fitted with the exoskeleton. The exoskeletal clutch is actuated in advance of a predicted maximum extension of the exoskeletal clutch to thereby cause the exoskeletal clutch to lock essentially simultaneously with ground strike by the leg of the mammal. The elastic element is thereby engaged during stance phase of the gait of the mammal while running, and subsequently is disengaged prior to or during the swing phase of the gait of the mammal, thereby augmenting running of the mammal.

First claim

What is claimed is:

1. A clutched elastic element exoskeleton, comprising:
a) a longitudinal harness, including
i) a proximal component, and
ii) a distal component;

b) at least one elastic element linking the proximal and distal components; and
c) a rotary clutch assembly linked in series to one end of each elastic element, wherein the rotary clutch assembly and the elastic element span the proximal and distal components, and wherein the elastic element is rotatable about a center of rotation at the rotary clutch.

2. The exoskeleton of claim 1 , wherein the elastic element is selected from at least one member of the group consisting of a leaf spring, a compression spring and a tension spring.

3. The exoskeleton of claim 2 , wherein the elastic element includes at least one leaf spring.

4. The exoskeleton of claim 3 , wherein the elastic element includes at least two leaf springs.

5. The exoskeleton of claim 4 , wherein at least one of the leaf springs is linked to the proximal component, at least another of the leaf springs is linked to the distal component, and the rotary clutch assembly links the proximal and distal leaf springs in series.

6. The exoskeleton of claim 5 , wherein the proximal leaf spring is linked to the proximal component at a proximal hinge that is proximal to the rotary clutch assembly, whereby the proximal leaf spring can rotate at the hinge about an axis that is substantially parallel to an axis of rotation of the rotary clutch assembly.

7. The exoskeleton of claim 6 , wherein the distal leaf spring is linked to the distal component at a distal hinge that is distal to the rotary clutch assembly, whereby the distal leaf spring can rotate at the hinge about an axis that is substantially parallel to an axis of rotation of the rotary clutch assembly.

8. The exoskeleton of claim 5 , wherein the rotary clutch assembly includes an interference clutch.

9. The exoskeleton of claim 8 , wherein the rotary clutch assembly includes a gear box.

10. The exoskeleton of claim 9 , wherein the interference clutch includes mating castle teeth.

11. The exoskeleton of claim 9 , wherein the interference clutch includes mating saw teeth.

12. The exoskeleton of claim 11 , wherein the angled saw teeth are asymmetrical.

13. The exoskeleton of claim 12 , wherein the gear box further includes a planetary gear.

14. The exoskeleton of claim 13 , wherein the actuator is a solenoid.

15. The exoskeleton of claim 14 , wherein the rotary clutch assembly includes a distal mount and the planetary gear includes a ring gear, wherein the ring gear is fixedly connected to the distal mount and the distal mount is fixedly connected to one end of the distal leaf spring.

16. The exoskeleton of claim 15 , wherein the planetary gear further includes a sun gear, and a plurality of planet gears linking the ring gear to the sun gear.

17. The exoskeleton of claim 16 , wherein the interference clutch includes a rotary clutch plate and a translating clutch plate, the rotary clutch plate being fixedly linked to the sun gear and the translating clutch plate being mated to the rotary clutch plate at the saw teeth.

18. The exoskeleton of claim 17 , wherein the translating clutch plate is fixedly linked to the solenoid, whereby the translating clutch plate and the rotary clutch plate engage by actuation of the solenoid, thereby engaging the rotary clutch assembly.

19. The exoskeleton of claim 18 , wherein the rotary clutch assembly includes a proximal mount fixedly connected to one end of the proximal leaf spring, wherein the solenoid is fixedly linked to the translating clutch plate and rotationally fixed to the proximal mount.

20. The exoskeleton of claim 19 , further including a spring that biases the translating plate away from the rotary clutch plate, thereby causing the translating clutch plate to disengage from the rotary clutch plate when the solenoid is not actuated.

21. The exoskeleton of claim 20 , further including an optical encoder on at least one planet gear to detect the rate of rotation of the planet gear.

22. The exoskeleton of claim 21 , wherein the ratio of rotation of the ring gear to the sun gear is less than 1:1.

23. The exoskeleton of claim 21 , wherein the ratio of rotation of the ring gear to the sun gear is about 1:2.2.

24. The exoskeleton of claim 23 , wherein the rotary clutch assembly is self-contained.

25. The exoskeleton of claim 24 , wherein the rotary clutch assembly further includes at least one of:
a) an inertial measurement unit;
b) a solenoid driver;
c) a reflective optical encoder;
d) an optical break-beam;
e) a microcontroller;
f) an LED driver;
g) a USB interface;
h) a micro SD card;
i) a real-time clock;
j) a switching power supply; and
k) a battery protection unit.

26. The exoskeleton of claim 1 , wherein a major longitudinal axis of the elastic element extends through and is rotatable about the center of rotation at the rotary clutch.

27. A clutched elastic element exoskeleton, comprising:
a) a longitudinal harness, including
i) a proximal component, and
ii) a distal component;

b) an elastic element and clutch assembly, including
i) a proximal elastic element,
ii) a distal elastic element, and
iii) a rotary clutch linked in series to one end of each elastic element, wherein the rotary clutch and the elastic elements span the proximal and distal components, and wherein the elastic elements are rotatable about a center of rotation of the clutch.

Assignees

• Massachusetts Inst Technology

Inventors

• Herr Hugh M
• Elliott Grant
• Marecki Andrew
• Briner Hazel

Classifications

• B25J9/104 Primary

  with cables, chains or ribbons · CPC title

• A61F2002/2825

  Femur · 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

• A61F2002/7887

  for connecting limb exoprostheses to the stump bone · CPC title

• A61F2002/5018

  for adjusting angular orientation · CPC title