Adaptive exoskeleton, control system and methods using the same

Patent metadata

Field	Value
Publication number	US-9775763-B2
Application number	US-201213719336-A
Country	US
Kind code	B2
Filing date	Dec 19, 2012
Priority date	Dec 19, 2012
Publication date	Oct 3, 2017
Grant date	Oct 3, 2017

Abstract

Exoskeleton technology is described herein. Such technology includes but is not limited to exoskeletons, exoskeleton controllers, methods for controlling an exoskeleton, and combinations thereof. The exoskeleton technology may facilitate, enhance, and/or supplant the natural mobility of a user via a combination of sensor elements, processing/control elements, and actuating elements. User movement may be elicited by electrical stimulation of the user's muscles, actuation of one or more mechanical components, or a combination thereof. In some embodiments, the exoskeleton technology may adjust in response to measured inputs, such as motions or electrical signals produced by a user. In this way, the exoskeleton technology may interpret known inputs and learn new inputs, which may lead to a more seamless user experience.

First claim

What is claimed is:

1. An exoskeleton system, comprising:
a sensor;
a controller;
a muscle actuation interface; and
a mechanical actuator;

wherein:
said sensor is operable to detect, from a spinal column or a region proximate a joint of a person, a neuronal action potential produced by said person to elicit a first muscle response from at least one muscle in a body region of said person, and to transmit a data signal representative of said neuronal action potential to said controller, the data signal comprising response information indicative of a degree to which said at least one muscle responds to said neuronal action potential;
said controller is operable to receive said data signal, to compare said response information to a threshold value, and to determine whether to transmit at least one of a muscle actuation signal to said muscle actuation interface and a mechanical actuation signal to said mechanical actuator based at least in part on the comparison of said response information to said threshold value;
said controller is configured to only transmit said muscle actuation signal to said muscle actuation interface when said response information is less than said threshold value by more than a first predetermined amount;
when said response information is less than said threshold value by more than a second predetermined amount, said controller is configured to transmit only said mechanical actuation signal to said mechanical actuator or to transmit said mechanical actuation signal to said mechanical actuator and said muscle actuation signal to said muscle actuation interface, said second predetermined amount being greater than said first predetermined amount;
said muscle actuation interface is operable to electrically stimulate said at least one muscle with said muscle actuation signal, said muscle actuation signal configured to elicit a second muscular response of said body region that is proportional to said first muscular response; and
said mechanical actuator is coupled to at least one frame member, and is operable in response to said mechanical actuation signal to emulate at least a portion of said first muscle response with said at least one frame member.

2. The exoskeleton system of claim 1 , wherein:
said controller is further configured to adjust at least one of the power and amplitude of at least one of said muscle actuation signal and said mechanical actuation signal based at least in part on a degree of difference between said response information and said threshold value.

3. The exoskeleton system of claim 2 , wherein:
said controller is configured to dynamically adjust at least one of a power and amplitude of said mechanical actuation signal and muscle actuation signal based at least in part on said response information.

4. The exoskeleton system of claim 1 , wherein said threshold value is a threshold muscle action potential value, and said response information comprises a muscle action potential detected by said sensor from said muscles in said body region.

5. The exoskeleton system of claim 4 , wherein said first predetermined amount is greater than or equal to about +/−5% of said threshold muscle action potential value.

6. The exoskeleton system of claim 5 , wherein said first predetermined amount is greater than or equal to about 25% of said threshold muscle action potential value.

7. An exoskeleton control method, comprising:
detecting, from a spinal column or a region proximate a joint of a person, a neuronal action potential produced by said person to elicit a first muscle response from at least one muscle in a body region of said person;
stimulating, in response to detection of said neuronal action potential, said at least one muscle with a muscle actuation potential;
detecting response information from said at least one muscle, said response information indicative of a degree to which said at least one muscle responds to said stimulating with said muscle actuation potential;
transmitting a data signal to a controller, wherein the data signal includes said response information;
with said controller, comparing the response information to a threshold value and, based at least in part on that comparison, determining whether to transmit at least one of a muscle actuation signal to a muscle actuation interface of said exoskeleton or a mechanical actuation signal to a mechanical actuator of said exoskeleton;

wherein:
said determining results in only the transmission of said muscle actuation signal to said muscle actuation interface only when said response information is less than said threshold value by more than a first predetermined amount;
when said response information is less than said threshold value by more than a second predetermined amount, said determining results in the transmission of only said mechanical actuation signal to said mechanical actuator or the transmission of said mechanical actuation signal to said mechanical actuator and said muscle actuation signal to said muscle actuation interface, said second predetermined amount being greater than said first predetermined amount;
said muscle actuation interface is operable to electrically stimulate said at least one muscle with said muscle actuation signal to elicit a second muscle response from said body region, the second muscle response being proportional to the first muscle response; and
said mechanical actuator is coupled to at least one frame member of said exoskeleton and is operable in response to said mechanical actuation signal to emulate at least a portion of said first muscle response with said at least one frame member.

8. The exoskeleton control method of claim 7 , wherein:
said first muscle response includes at least one of flexion, extension, and rotation of said body region; and
said second muscle response enhances, emulates, or enhances and emulates at least one of said flexion, extension, and rotation of said body region.

9. The exoskeleton control method of claim 8 , wherein said body region is a joint of a human body.

10. The exoskeleton control method of claim 7 , wherein said neuronal action potential comprises first and second neuronal signals targeting first and second muscles within said body region, the method further comprising:
processing said data signal to distinguish said first and second neuronal signals and determine their respective muscular targets;
transmitting first and second muscle actuation signals to first and second electrical communication pathways within said muscle actuation interface, said first and second electrical communication pathways being in electrical communication with said first and second muscles, respectively; wherein said first and second muscle actuation signals are configured to stimulate said first and second muscles and produce said second muscle response.

11. The exoskeleton control method of claim 7 , further comprising applying a user profile to adjust at least one of a power and amplitude of said muscle actuation signal.

12. The exoskeleton control method of claim 7 , wherein said body region is a joint of said person, said first muscle response comprises at least one of flexion of said joint, extension said joint, rotation of said joint, or a combination thereof, and said mechanical actuator is operable in response to said mechanical actuation signal to emulate with said at least one frame member at least a portion of said flexion, said extension, said rotation, or said combination thereof.

13. The exoskeleton control method of claim 12 , wherein said body region is a knee, and said mechanical actuator is operable in response to said mechanical actuation signal t

Assignees

• Intel Corp

Inventors

• Aleksov Aleksandar
• Doyle Brian S
• Mahajan Ravindranath V

Classifications

• A61H2201/1628

  Pelvis · CPC title

• A61H2201/164

  Feet or leg, e.g. pedal · CPC title

• A61H2201/5097

  wireless · CPC title

• A61H2201/1635

  Hand or arm, e.g. handle · CPC title

• A61H2201/5002

  Means for controlling a set of similar massage devices acting in sequence at different locations on a patient · CPC title