EP3606703A1 - Articulation de hanche d'exosquelette à force variable - Google Patents

Articulation de hanche d'exosquelette à force variable

Info

Publication number
EP3606703A1
EP3606703A1 EP18801352.8A EP18801352A EP3606703A1 EP 3606703 A1 EP3606703 A1 EP 3606703A1 EP 18801352 A EP18801352 A EP 18801352A EP 3606703 A1 EP3606703 A1 EP 3606703A1
Authority
EP
European Patent Office
Prior art keywords
hip joint
exoskeleton
body link
link
coupled
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP18801352.8A
Other languages
German (de)
English (en)
Other versions
EP3606703A4 (fr
Inventor
Gavin A. BARNES
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Lockheed Martin Corp
Original Assignee
Lockheed Corp
Lockheed Martin Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from US15/597,213 external-priority patent/US10518404B2/en
Application filed by Lockheed Corp, Lockheed Martin Corp filed Critical Lockheed Corp
Publication of EP3606703A1 publication Critical patent/EP3606703A1/fr
Publication of EP3606703A4 publication Critical patent/EP3606703A4/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0004—Braking devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/12—Program-controlled manipulators characterised by positioning means for manipulator elements electric
    • B25J9/126—Rotary actuators

Definitions

  • the embodiments relate to exoskeletons and, in particular, to a variable force exoskeleton hip joint.
  • An exoskeleton is often used by an individual to support a workload, such as a tool or other device, directly in front of or behind the individual.
  • An exoskeleton may have a counterbalance mechanism that allows adjustable counterweights to be applied to offset the workload.
  • the individual moves the exoskeleton, the individual must also move the combined weight of the workload and the weight of the counterweights. For relatively heavy workloads, and consequently relatively heavy counterweights, the total amount of weight that must necessarily be manipulated can contribute to user discomfort and can become a safety risk.
  • variable force exoskeleton hip joint having a rotation axis.
  • the variable force exoskeleton hip joint includes an adjustable force mechanism that is configured to apply an adjustable force to an upper body link of an upper body exoskeleton with respect to a lower body link of a lower body exoskeleton to hinder rotation of the upper body exoskeleton with respect to the lower body exoskeleton in a rotational direction.
  • the variable force exoskeleton hip joint counters the weight of an item carried in front of or behind the exoskeleton without a need for
  • a system includes a hip joint.
  • the hip joint includes a first member rotatable about a hip joint rotation axis, the first member configured to be coupled to one of a lower body link or an upper body link.
  • the hip joint further includes a second member rotatable about the hip joint rotation axis, the second member configured to be coupled to the other of the lower body link or the upper body link.
  • the system further includes an adjustable force mechanism coupled to at least one of the first member and the second member.
  • the adjustable force mechanism includes an actuator coupled to the first member, the actuator including a motor configured to selectively apply an adjustable force to the second member to inhibit rotation of the first member with respect to the second member.
  • a method of operating a hip joint of an exoskeleton includes determining, by a controller, a torque associated with a hip joint of an exoskeleton.
  • the hip joint includes a first member configured to be coupled to one of a lower body link or an upper body link and a second member rotatable with respect to the first member.
  • the second member is configured to be coupled to the other of the lower body link or the upper body link.
  • the method further includes operating a motor coupled to one of the first member or the second member to selectively apply an adjustable force to the other of the first member or the second member in response to the determined torque to inhibit rotation of the upper body connection location with respect to the lower body connection location.
  • Figure 1 is a side view of an exoskeleton according to one
  • Figure 3 is a second exploded view of the hip joint illustrated in Figure 2;
  • Figure 9 illustrates an internal view of an adjustable force mechanism for a hip joint, according to another embodiment
  • Figure 10 illustrates an actuator suitable for use as part of an adjustable force mechanism, according to another embodiment
  • Figure 12 is a perspective view of the adjustable force mechanism of the exoskeleton of Figure 1 1 ;
  • Figures 13A-13C are side views of an adjustable force mechanism for a hip joint in different positions during rotation of the hip joint, according to another embodiment
  • Figures 14A-14C are side views of the adjustable force mechanism for the hip joint of Figures 13A-13C including a housing for enclosing the adjustable force mechanism and portions of the hip joint; and
  • Figure 15 is a block diagram of a controller configured to operate an adjustable force mechanism for a hip joint, according to another embodiment.
  • variable force exoskeleton hip joint having a rotation axis.
  • the variable force exoskeleton hip joint includes an adjustable force mechanism that is configured to apply an adjustable force to an upper body link of an upper body exoskeleton with respect to a lower body link of a lower body exoskeleton to hinder rotation of the upper body exoskeleton with respect to the lower body exoskeleton in a rotational direction.
  • the variable force exoskeleton hip joint counters the weight of an item carried in front of or behind the exoskeleton without a need for
  • FIG. 1 is a side view of an exoskeleton 10 according to one embodiment.
  • the exoskeleton 10 includes an upper body exoskeleton 12 and a lower body exoskeleton 14.
  • the upper body exoskeleton 12 includes an upper body link 16, sometimes referred to as a hip arc, that is coupled to a hip joint 18.
  • the hip joint 18 includes a rotation axis 19 that is perpendicular to a sagittal plane of a user about which the upper body link 16, and the upper body exoskeleton 12, can at least partially rotate.
  • the lower portion of the upper body exoskeleton 12 includes the upper body link 16, and the lower body exoskeleton 14 is that portion of the exoskeleton 10 that is below the upper body link 16.
  • the upper body link 16 at least partially encloses the hips of the user (not illustrated for purposes of clarity) and, in operation, is generally in a substantially horizontal plane.
  • the hip joint 18 is also coupled to a lower body link 20 of the lower body exoskeleton 14.
  • the lower body link 20, in this example, is a thigh link, but in other embodiments, the lower body link 20 may a pelvic link.
  • the lower body link 20, in the orientation illustrated in Figure 1 in operation is generally in a vertical plane.
  • the lower body link 20 and the lower body exoskeleton 14 can at least partially rotate in the sagittal plane about the rotation axis 19 of the hip joint 18.
  • the lower body exoskeleton 14 includes a knee joint 22.
  • the knee joint 22 is also connected to a calf link 24 that extends a distance along a calf of the user, and terminates at or near a floor.
  • the calf link 24 may terminate in a foot rocker 26 that, in operation, contacts the floor.
  • the foot rocker 26 comprises a foot link, which is positioned under a foot of the user.
  • the exoskeleton 10 may also include a tool assembly connector 28 that is configured to support a tool 30 for operation by the user.
  • the tool assembly connector 28, in this example, is illustrated as being integrated with the hip joint 18.
  • the weight of the tool 30 creates a moment of force about the rotation axis 19. In conventional exoskeletons, this moment of force is countered by placing one or more weights on a weight extension 32 that is coupled to the upper body link 16. Heavy tools 30 require heavy weights on the weight extension 32, can make the exoskeleton 10 difficult to manipulate for the user, and in some circumstances may become a safety concern.
  • the hip joint 18 may reduce or eliminate the need for weights by allowing the user to manipulate a user adjustable force mechanism of the hip joint 18 to hinder rotation of the upper body link 16 about the rotation axis 19 with respect to the lower body link 20 in a rotational direction 34.
  • the hip joint 18 may be arranged to hinder rotation of the upper body link 16 about the rotation axis 19 with respect to the lower body link 20 in a rotational direction 36.
  • FIG. 2 is a first exploded view of a hip joint 18-1 comprising an adjustable force mechanism according to one embodiment.
  • the hip joint 18-1 has the rotation axis 19 about which a first member 38 rotates.
  • the first member 38 has a cup shape, and a lower body connection location 40 for connection or direct coupling with the lower body link 20 ( Figure 1 ).
  • the lower body connection location 40 and the lower body link 20 are integrated with one another and formed together during manufacturing.
  • the lower body connection location 40 is separate from the lower body link 20 and is subsequently coupled to the lower body link 20 after manufacture.
  • the first member 38 comprises a planar face 42 on which a plurality of angled pawl teeth 44 are annularly disposed.
  • the first member 38 forms a void 46 in which a ratchet drum 48 resides.
  • the ratchet drum 48 forms a void 50 configured to receive a portion of a torsion spring 52 and a first spring leg 54.
  • the torsion spring 52 has a rotation axis that is collinear with the rotation axis 19.
  • the first spring leg 54 is rotationally coupled to the first member 38 via the ratchet drum 48 to thereby impart torque upon the first member 38 when twisted.
  • a stop 56 is positioned or otherwise formed in the void 50 and is configured to limit rotation of the first spring leg 54 in the void 50.
  • the second member 58 forms an interior void (illustrated in Figure 3) in which a cup 62 is positioned.
  • the cup 62 includes a planar face 64 and a plurality of extensions 66 extending therefrom.
  • the first member 38, ratchet drum 48, torsion spring 52, cup 62, and second member 58 each form respective openings in which a shaft 68 is positioned, and about which the various components can at least partially rotate.
  • FIG 3 is a second exploded view of the hip joint 18-1 .
  • the ratchet drum 48 includes a planar face 70 on which a plurality of angled ratchet teeth 72 are disposed.
  • the angled ratchet teeth 72 and angled pawl teeth 44 ( Figure 2) are configured to allow rotation in a first rotational direction 74 of the angled ratchet teeth 72 with respect to the angled pawl teeth 44 when in contact with one another, and to prohibit rotation in a second rotational direction 76 of the angled ratchet teeth 72 with respect to the angled pawl teeth 44 when in contact with one another.
  • the cup 62 is coupled between the torsion spring 52 and the second member 58.
  • the cup 62 forms an interior void 80 configured to receive a second spring leg 78 of the torsion spring 52, and a stop 82 positioned in the interior void 80 configured to limit rotation of the second spring leg 78.
  • the second spring leg 78 is rotationally coupled to the second member 58 via the cup 62 to thereby impart torque upon the second member 58 when twisted.
  • the second member 58 has a planar face 84 and a plurality of openings 86 configured to receive the plurality of extensions 66 ( Figure 2) to prevent rotation of the cup 62 with respect to the second member 58.
  • a tool such as a key 88
  • a tool may be inserted into a slotted opening 90 and may be rotated, which in turn rotates the ratchet drum 48.
  • the torsion spring 52 rotates, increasing the torsional force imparted by the torsion spring 52.
  • the key 88 may be withdrawn, and the ratchet drum 48 is prevented from rotating in the second rotational direction 76 by the pawl teeth 44.
  • an adjustable force may be applied to the first member 38 and the second member 58 to inhibit rotation of the first member 38 and the second member 58 in a particular rotational direction.
  • the amount of torsional force provided differs depending on the pre-loaded torsional force, and upon characteristics of the torsion spring 52. For applications wherein relatively heavy tools 30 may be used, a relatively thick torsion spring 52 that can apply relatively high torsional forces may be utilized in the hip joint 18-1 .
  • an elongated tool (not illustrated) may be inserted into a release opening 92 to disengage the ratchet teeth 72 from the pawl teeth 44, and thereby allow the torsion spring 52 to rapidly unwind.
  • FIG 4 is a perspective view of the hip joint 18-1 in an operational state according to one embodiment.
  • a bolt 94 or other structure holds the hip joint 18-1 together.
  • the key 88 ( Figure 3) or other tool may be inserted into slots 96 to variably adjust the rotational forces provided by the hip joint 18-1 to counter the weight of the tool 30.
  • an elongated tool (not illustrated) may be inserted into the release opening 92 to disengage the ratchet teeth 72 from the pawl teeth 44, and thereby allow the torsion spring 52 to rapidly unwind, such that the hip joint 18-1 provides no rotational force.
  • the hip joint 18-1 has a preloaded mode and a non-preloaded mode.
  • the upper body connection location 60 is at about a 90 degree orientation with respect to the lower body connection location 40.
  • FIG. 5 is a diagram of a hip joint 18-2 wherein the hip joint 18-2 is integrated with the lower body link 20 and the upper body link 16 during manufacturing.
  • the lower body link 20 is at least partially rotatable about the rotation axis 19 ( Figure 4), and includes a lower body link hip joint end 61 and a lower body link distal end 63.
  • the upper body link 16 is also at least partially rotatable about the rotation axis 19.
  • the upper body link 16 has an upper body link hip joint end 65.
  • the hip joint 18-2 is otherwise identical to the hip joint 18-1 as discussed above.
  • Figure 6 illustrates a hip joint 18-3A according to another embodiment.
  • the tool assembly connector 28 is not illustrated for purposes of clarity.
  • parts of an adjustable force mechanism 98 are housed in either the upper body link 16 or the lower body link 20.
  • the upper body link 16 includes a shaft 100.
  • the lower body link 20 includes a ring member 102 that is fixed with respect to the lower body link 20 and that is capable of at least partial rotation about the shaft 100.
  • a rod 104 is coupled at one end 106 to the ring member 102 via a hinge 108. Another end 1 10 of the rod 104 is coupled to an extension spring 1 12.
  • the extension spring 1 12 is also coupled to a disk 1 14 that has a perimeter shaped to fit snugly within a chamber 1 16 of the upper body link 16, but is capable of movement along a longitudinal axis of the upper body link 16.
  • the disk 1 14 forms a threaded opening that receives a threaded rod 1 18.
  • a rotation mechanism 120 is configured to rotate the threaded rod 1 18 to slide the disk 1 14 with respect to the upper body link 16 and thereby apply tension to the extension spring 1 12. Increases in tension of the extension spring 1 12 increase the amount of force necessary to rotate the upper body link 16 with respect to the lower body link 20 in a rotational direction 122.
  • the rotation mechanism 120 comprises a ratchet and pawl mechanism, and includes a user-selectable quick release mechanism which, when activated, allows the extension spring 1 12 to rapidly return to a non- tensioned state.
  • the adjustable force mechanism 98 is depicted as being housed in the upper body link 16, it will be apparent that the adjustable force mechanism 98 could alternatively be housed in the lower body link 20.
  • the lower body link 20 may include the shaft 100
  • the upper body link may include the ring member 102.
  • FIG. 7 illustrates a hip joint 18-3B according to another embodiment.
  • the hip joint 18-3B is substantially similar to the hip joint 18-3A illustrated in Figure 6, except that the hip joint 18-3B includes an actuator 97.
  • the actuator 97 includes an actuator motor 99 and an actuator arm 101 .
  • the motor 99 is housed within and fixed with respect to the upper body link 16.
  • the motor 99 is configured to selectively extend or retract the actuator arm 101 in response to actuation of a switch 103 by the user.
  • the position of the actuator arm 101 determines the force imparted upon the ring member 102 via the rod 104 and the extension spring 1 12.
  • Figure 8 illustrates a hip joint 18-4 according to another embodiment.
  • the tool assembly connector 28 is not illustrated for purposes of clarity.
  • parts of an adjustable force mechanism 124 are housed in either the upper body link 16 or the lower body link 20.
  • the upper body link 16 includes the shaft 100.
  • the lower body link 20 includes the ring member 102 that is fixed with respect to the lower body link 20 and that is capable of at least partial rotation about the shaft 100.
  • a rod 126 is coupled at one end 128 to the ring member 102 via a hinge 130. Another end 132 of the rod 126 is hingedly coupled to an actuator arm 134 of an actuator 140.
  • the actuator 140 includes a motor 142.
  • the actuator arm 134 may have a neutral position, such that no force is applied to the ring member 102 and such that the upper body link 16 may rotate unhindered with respect to the lower body link 20.
  • a user-selectable variable switch 148 may allow the user to operate the motor 142 to extend the actuator arm 134 to a desired position, retract the actuator arm 134 to a desired position, or place the actuator arm 134 in the neutral position.
  • the adjustable force mechanism 124 is depicted as being housed in the upper body link 16, it will be apparent that the adjustable force mechanism 124 could alternatively be housed in the lower body link 20.
  • the lower body link 20 may include the shaft 100
  • the upper body link may include the ring member 102.
  • Figure 9 illustrates an internal view of a system 150 including a hip joint 152 having an adjustable force mechanism, according to another
  • the piston 166 is selectively movable by the piston mechanism 162 to increase or decrease an amount of tension in the extension spring 164, thereby increasing or decreasing a resistance to rotation of the lower body link 156 with respect to the hip joint 152.
  • the adjustable force mechanism 158 and extension spring 164 are contained within a housing 172 to protect the component parts of the adjustable force mechanism 158 and extension spring 164.
  • a power cable 174 is connected to the motor 160 and is configured to provide a power signal configured to operate the motor 160 in order to selectively move the piston 166.
  • the power signal may be selectively and/or automatically provided by a controller based on a predetermined controller logic.
  • Figure 10 illustrates an actuator 176 suitable for use as part of an adjustable force mechanism, such as the adjustable force mechanism 158 of Figure 9 above, for example.
  • the actuator 176 includes a motor 178 coupled to a screw mechanism 180 via a drive belt 182.
  • the screw mechanism 180 is configured to extend or retract a screw piston 184 in response to rotation of the drive belt 182 by the motor 178.
  • the actuator 176 in this embodiment is configured to be coupled to a lower body link of an exoskeleton.
  • a bolt aperture 186 is disposed at the distal end of the screw piston 184 for engaging with a hip link of the exoskeleton to facilitate or inhibit rotation of the lower body link with respect to the hip link.
  • a power cable 187 is configured to provide electrical power and/or signals to the motor 178 for selectively or automatically driving the motor 178.
  • Figure 1 1 is a side view of an exoskeleton 188 being worn by a user 190, according to another embodiment.
  • the exoskeleton 1 88 includes an upper body link 192 configured to support equipment, such as the tool 30, and a lower body link 194 rotatably coupled to the upper body link 1 92 via a hip link 196.
  • the lower body link 194 is rotatable with respect to the hip link 196 via a hip joint 198 having a rotation axis 200.
  • the hip joint 198 is manually lockable via a locking lever 201 , to selectively inhibit or facilitate rotation of the lower body link 194 with respect to the hip link 196.
  • the lower body link 194 also includes thigh link 202, knee joint 204, calf link 206, a rocker mechanism 208, and a foot link 210 similar to the lower body link 20 of Figure 1 above, for example.
  • An adjustable force mechanism 212 is coupled to the hip link 196, and configured to selectively or automatically facilitate or inhibit rotation of the lower body link 194 with respect to the hip link 196.
  • the adjustable force mechanism 212 may also be connected to one or more sensors 215.
  • the sensors 215 may be in communication with a controller to provide input for the controller for controlling the operation of the adjustable force mechanism 212.
  • the sensors 215 may be configured to detect a force being applied to a portion of the exoskeleton 188 and/or the user 190, and generate a force signal indicative of a torque being applied thereto.
  • the sensor 215 may be connected to a back interface 216 configured to interface with a lower back 217 of the user
  • the controller may be configured to determine the torque being applied to the lower back 217 of the user 190.
  • the adjustable force mechanism 212 may be configured to maintain a force on the hip joint 198 such that the torque being applied to the lower back 217 of the user 190 is maintained within a predetermined range corresponding to an acceptable level of exertion and/or fatigue for the user 190.
  • the senor 217 may be connected to a leg interface 218 coupled to the thigh link 202, wherein the sensor 215 is connected to the leg interface 218 and configured to detect movement of the thigh link 202 corresponding to movement of a leg of the user 190.
  • the adjustable force mechanism 212 includes a housing 214 having an actuation switch 219.
  • operation of the actuation switch 219 by the user 190 operates the adjustable force mechanism 212 to facilitate or inhibit rotation of the lower body link 194 with respect to the hip link 196.
  • the actuation switch 219 can be used to manually calibrate the controller to maintain the maintain a force on the hip joint 198 such that the torque being applied to the lower back 217 of the user 190 is maintained within a predetermined range corresponding to an acceptable level of exertion and/or fatigue for the user 190.
  • FIGS 13A-13C are side views of a portion of an exoskeleton 220 having a hip link 221 with a hip joint 222 for rotating a lower body link 224 with respect to the hip link 221 about a rotation axis 225, according to another embodiment.
  • the adjustable force mechanism 226 is fixed with respect to the lower body link 224 and is rotatably coupled to a piston joint 228 having a rotation axis 230 that is fixed with respect to the hip link 221 .
  • the adjustable force mechanism 226 may be disposed in a housing 232 and may include a motor 234 configured to selectively or automatically drive a piston 236 that is rotatably coupled to the piston joint 228.
  • the adjustable force mechanism 226 in this example also includes a spring sensor subassembly 238 configured to deflect in response to forces applied to the hip joint 222. In response to these minor deflections, the spring sensor subassembly 238 may provide a signal to a controller (not shown), which in turn operates the adjustable force mechanism 226 to facilitate or inhibit rotation of the lower body link 224 with respect to the hip link 221 .
  • the amount of force required by a user to maintain the lower body link 224 in a particular position with respect to the hip link 221 can be maintained or adjusted as needed, based on feedback from the spring sensor subassembly 238, thereby reducing fatigue and the risk of accident or injury.
  • FIGS 14A-14C are side views of the adjustable force mechanism 226 for the hip joint 222 of Figures 13A-13C including an upper housing member 240 and a lower housing member 242 for enclosing the adjustable force mechanism 226.
  • the upper housing member 240 is slidable with respect to the lower housing member 242 to accommodate extension or retraction of the piston 236 while keeping the adjustable force mechanism 226 enclosed.
  • a hip joint housing member 244 is also provided to enclose and protect components of the hip joint 222.
  • FIG 15 is a block diagram of a controller 246, such as a computing device for example, suitable for implementing the functionality of various components discussed herein, such as operation of the adjustable force mechanisms described above.
  • a controller 246 such as a computing device for example, suitable for implementing the functionality of various components discussed herein, such as operation of the adjustable force mechanisms described above.
  • such components may be implemented on separate controllers 246.
  • certain of the components may be implemented on a single controller 246.
  • the controller 246 may comprise any computing or processing device capable of including firmware, hardware, and/or executing software instructions to implement the functionality described herein for the respective component.
  • the controller 246 includes a central processing unit 248, sometimes referred to as a processor or micro-processor, a system memory 250, and a system bus 252.
  • the system bus 252 provides an interface for system components including, but not limited to, the system memory 250 and the central processing unit 248.
  • the central processing unit 248 can be any commercially available or proprietary processor.
  • the system bus 252 may be any of several types of bus structures that may further interconnect to a memory bus (with or without a memory controller), a peripheral bus, and/or a local bus using any of a variety of commercially available bus architectures.
  • the system memory 250 may include non-volatile memory 254 (e.g., read only memory (ROM), erasable programmable read only memory (EPROM), electrically erasable programmable read only memory (EEPROM), etc.) and/or volatile memory 256 (e.g., random access memory (RAM)).
  • a basic input/output system (BIOS) 258 may be stored in the nonvolatile memory 254, and can include the basic routines that help to transfer information between elements within the controller 246.
  • the volatile memory 256 may also include a high-speed RAM, such as static RAM for caching data.
  • the controller 246 may further include or be coupled to a computer- readable storage 262, which may comprise, for example, an internal or external hard disk drive (HDD) (e.g., enhanced integrated drive electronics (EIDE) or serial advanced technology attachment (SAT A)), HDD (e.g., EIDE or SAT A) for storage, flash memory, or the like.
  • HDD enhanced integrated drive electronics
  • SAT A serial advanced technology attachment
  • the computer-readable storage 262 and other drives, associated with computer-readable media and computer-usable media, may provide non-volatile storage of data, computer-executable
  • a number of modules can be stored in the computer-readable storage 262 and in the volatile memory 256, including an operating system 260 and one or more program modules 264, which may implement the functionality described herein in whole or in part.
  • the program modules 264 may include algorithms for selectively or automatically operating one of the adjustable force mechanisms 158, 176, 212, 226 of Figures 9-14C above, such as by operating one of the motors 160, 178, 234 for example.
  • All or a portion of the embodiments may be implemented as a computer program product stored on a transitory or non-transitory computer- usable or computer-readable storage medium, such as the computer-readable storage 262, which includes complex programming instructions, such as complex computer-readable program code, configured to cause the central processing unit 248 to carry out the steps described herein.
  • the computer-readable program code can comprise software instructions for implementing the functionality of the embodiments described herein when executed on the central processing unit 248.
  • the central processing unit 248, in conjunction with the program modules 264 in the volatile memory 256, may serve as a controller, or control system, for the controller 246 that is configured to, or adapted to, implement the functionality described herein.
  • the controller 246 may also include a communication interface 266, suitable for communicating with the adjustable force mechanisms described above, and/or for communicating with other computing devices directly or via a network, as desired.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Human Computer Interaction (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Prostheses (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne un système d'articulation de hanche d'exosquelette à force réglable. Le système comprend une articulation de hanche. L'articulation de hanche comprend un premier élément pouvant tourner autour d'un axe de rotation d'articulation de hanche, le premier élément étant conçu pour être accouplé à une liaison de corps inférieure ou à une liaison de corps supérieure. L'articulation de hanche comprend en outre un second élément pouvant tourner autour de l'axe de rotation d'articulation de hanche, le second élément étant conçu pour être accouplé à l'autre liaison parmi la liaison de corps inférieure et la liaison de corps supérieure. Le système comprend en outre un mécanisme de force réglable accouplé au premier élément et/ou au second élément. Le mécanisme de force réglable comprend un actionneur accouplé au premier élément, l'actionneur comportant un moteur conçu pour appliquer sélectivement une force réglable au second élément en vue d'empêcher la rotation du premier élément par rapport au second élément.
EP18801352.8A 2017-05-17 2018-05-16 Articulation de hanche d'exosquelette à force variable Withdrawn EP3606703A4 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US15/597,213 US10518404B2 (en) 2015-07-17 2017-05-17 Variable force exoskeleton hip joint
PCT/US2018/032940 WO2018213427A1 (fr) 2017-05-17 2018-05-16 Articulation de hanche d'exosquelette à force variable

Publications (2)

Publication Number Publication Date
EP3606703A1 true EP3606703A1 (fr) 2020-02-12
EP3606703A4 EP3606703A4 (fr) 2020-06-24

Family

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Family Applications (1)

Application Number Title Priority Date Filing Date
EP18801352.8A Withdrawn EP3606703A4 (fr) 2017-05-17 2018-05-16 Articulation de hanche d'exosquelette à force variable

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CA3063399C (fr) 2021-03-09
EP3606703A4 (fr) 2020-06-24
WO2018213427A1 (fr) 2018-11-22

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