Self contained powered exoskeleton walker for a disabled user

Abstract

A walker by a mobility impaired disabled user while moving through a set of movements correlating to a walking motion. The walker comprises an exoskeleton, a power source in the form of a battery pack or other similar onboard power pack together with its associated power supply cables, and a control system The exoskeleton comprises a rigid pelvic support member including a pelvic harness and a pair of leg structures Each of the leg structures comprise an upper leg structural member, a lower leg structural member, a foot member, a main hip actuator, a knee actuator and a main foot actuator.

1 . A self contained powered exoskeleton walker for a disabled user that at least substitutes fully disabled functions of a user required for walking, said walker comprising:
 i) an exoskeleton comprising:
 a. a rigid pelvic support member carrying a user securing arrangement for securely fastening a user to at least the pelvic support member and to vertically support said user relative to said exoskeleton, 
 b. a first leg structure and a second leg structure, each of the first leg structure and the second leg structure being coupled to and extending from said pelvic support member for operational location adjacent a respective leg of a user, each of the first leg structure and second leg structure comprising
 an upper leg structural member for engagement with the upper leg of the user, the upper leg structural member being pivotally engaged at a first end thereof to the pelvic support member by a hip joint, wherein the hip joint is configured for facilitating the multi axis rotational movement of said upper leg structural member relative to said pelvic support member (i) towards and way from the coronal plane of the body of the user and (ii) toward and away from the sagittal plane of the body of the user for adduction and abduction; 
 a lower leg structural member for engagement with the lower leg of the user, the lower leg structural member being pivotally engaged at a first end thereof to a second end of the upper leg structural member by a knee joint, 
 a foot member for engagement with the foot of a user, the foot member being pivotally engaged to a second end of the lower leg member by a foot joint, 
 a main hip actuator configured for actuating pivotal movement of said upper leg structural member relative to said pelvic support member about said hip joint, to in use pivot the upper leg structural member towards and away from the coronal plane of the body of the user, 
 a secondary hip actuator, configured for actuating pivotal movement of said upper leg structural member relative the pelvic support member about said hip joint towards and away from the sagittal plane of the body of the user for adduction and abduction, 
 a knee actuator configured for actuating pivotal movement of said lower leg structural member relative said upper leg structural member about said knee joint, 
 a main foot actuator configured for actuating pivotal movement of said foot member relative said lower leg structural member about said foot joint about an axis of rotation substantially parallel to the axis of rotation of the knee joint; 
 
   ii) a power source configurable for providing power to at least one or more selected from said main hip actuators, knee actuators, and main foot actuators,   iii) a control system configurable for controlling movement of at least one or more selected from said main hip actuators, knee actuators, and main foot actuators, thereby to move the exoskeleton relative to the ground on which the walking aid is positioned, for at least the purposes of effecting a walking motion to said user.   
     
     
         2 . A walker as claimed in  claim 1  wherein said secondary hip actuator is configured for actuating said pivotal movement of said upper leg structural member to either side of a plane parallel to the sagittal plane and passing through said hip joint and preferably in a range of about ten degrees each side. 
     
     
         3 . A walker as claimed in  claim 1  wherein said hip joint is one selected from a rose joint, universal joint or ball and socket joint, configured for facilitating the multi axis rotational capability of said upper leg structural member relative to said pelvic support member. 
       Preferably said walker is configured to at least partially prevent pivoting movement of the upper leg structural member about its longitudinal axis. 
     
     
         4 . A walker as claimed in  claim 1  wherein pivotal movement of the upper leg structural member towards and way from the coronal plane of the body of the user is about an axis of rotation extending downwardly away from said sagittal plane at an angle of between 1 and 6 degrees and preferably 4 degrees to the transverse plane. 
     
     
         5 . A walker as claimed in  claim 1 , wherein the knee joint is offset rearwardly from the upper leg structural member to align substantially with an axis of rotation of a user's knee in operation. 
     
     
         6 . A walker as claimed in  claim 1  wherein the knee joint is a polycentric knee joint. 
     
     
         7 . A walker as claimed in  claim 1  wherein said foot joint is a rose joint, a universal joint or ball and socket joint, configured for facilitating the multi axis rotational capability of said foot member relative said lower leg structural member. 
     
     
         8 . A walker as claimed in  claim 1 , wherein said exoskeleton comprises, for each of the first leg structure and second leg structure, a secondary foot actuator, configured for actuating rotation of said foot member in towards and away from said sagittal plane about said foot joint. 
     
     
         9 . A walking aid as claimed in  claim 1 , wherein each foot joint is configured with its axis of rotation about the anterior/posterior plane extending downwardly in a lateral direction at an angle of between zero and 6 degrees. 
     
     
         10 . A walking aid as claimed in  claim 9 , wherein pivotal movement of the foot member towards and way from the coronal plane of the body of the user is about an axis of rotation extending downwardly away from said sagittal plane at an angle of between 1 and 6 degrees and preferably 4 degrees to the transverse plane. 
     
     
         11 . A walker as claimed in  claim 1  wherein each of said upper leg structural member and lower leg structural member include a fastener to fasten to the legs of a user. 
     
     
         12 . A walker as claimed in  claim 11  wherein each said fastener comprise an orthotic device affixed to a said upper leg structural member and lower leg structural member and that is shaped to receive the rear part of the users legs and a strap to hold said leg to said orthotic device. 
       Preferably said fasteners comprises an adjustable webbing or strapping for securing at least partially about a user's leg. 
       Preferably said adjustable webbing includes an adjustable fastening arrangement. 
     
     
         13 . A walker as claimed in  claim 1  wherein each of said upper leg structural members has engaged thereto an upper leg orthotic device to facilitate the upper leg of a user, in use, being rigidly held relative a respective said upper leg structural member and wherein each said lower leg structural member has engaged thereto a lower leg orthotic device to facilitate the lower leg of a user, in use, being rigidly held relative a respective said lower leg structural member. 
     
     
         14 . A walker as claimed in  claim 13  wherein each of said upper leg orthotic devices each carry at least one strap to secure said upper leg to said orthotic device and each said lower leg orthotic device carries at least one strap to secure said lower leg to said orthotic device. 
     
     
         15 . A walker as claimed in  claim 13  wherein said orthotic devices are C-shaped, and said pelvic support member is substantially C-shaped and presented to allow engagement of the exoskeleton with a person by relative movement in a direction normal to the coronal plane. 
     
     
         16 . A walker as claimed in  claim 1  wherein the length of each upper leg structural members can be varied to vary the distance between the hip joint and knee joint. 
     
     
         17 . A walker as claimed in  claim 1  wherein each said upper leg structural member comprises at least two parts that are movable relative each other to extend and contract the effective length of the upper leg structural member. 
     
     
         18 . A walker as claimed in  claim 17  wherein the two parts of said upper leg structural member are, by virtue of (a) a threaded relationship, (b) a telescopic relationship or (c) sliding relationship to each other, adjustable in length. 
     
     
         19 . A walker as claimed in  claim 1  wherein the upper leg structural member is configured for removably receiving an upper leg lengthening insert to allow an extending and contracting of the effective length of the upper leg structural member. 
     
     
         20 . A walker as claimed in  claim 19  wherein the upper leg lengthening insert is securable to the upper leg structural member by one or more selected from a thread formation, a bayonet-type formation, a snap fit formation, or the like. 
     
     
         21 . A walker claimed in  claim 1  wherein the length of each lower leg structural members can be varied to vary the distance between the foot joint and knee joint. 
     
     
         22 . A walker as claimed in  claim 1  wherein each said lower leg structural member comprises at least two parts that are movable relative each other to extend and contract the effective length of the lower leg structural member. 
     
     
         23 . A walker as claimed in  claim 22  wherein the two parts of said lower leg structural member are, by virtue of (a) a threaded relationship, (b) a telescopic relationship or (c) sliding relationship to each other, adjustable in length. 
     
     
         24 . A walker as claimed in  claim 1  wherein the lower leg structural member is configured for removably receiving a lower leg lengthening insert to allow an extending and contracting of the effective length of the lower leg structural member. 
     
     
         25 . A walker as claimed in  claim 24  wherein the lower leg lengthening insert is securable to the lower leg structural member by one or more selected from a thread formation, a bayonet-type formation, a snap fit formation, or the like. 
     
     
         26 . A walker as claimed in  claim 1  wherein a user is fully supported by a user securing arrangement at or towards the pelvic region of the user, so that that the user's legs do not support the weight of the user. 
     
     
         27 . A walker as claimed in  claim 26  wherein the user securing arrangement includes one or more selected from
 i) a pelvic harness suitable for securing a user's pelvis to the pelvic support member; 
 ii) a packing arrangement for snugly fitting a user's hips against the pelvic support member; and 
 iii) a fastener arrangement for securing each of the user's legs to an associated leg structure. 
 
       Preferably the packing arrangement is an inflatable pressure vessel. 
       Preferably the packing arrangement is at least one foam cushion. 
     
     
         28 . A walker as claimed in  claim 27  wherein said exoskeleton includes a torso support that, in use engages to a user above said user securing arrangement. 
     
     
         29 . A walker as claimed in  claim 28  wherein the torso support is secured to said rigid pelvic support member and includes a rigid member extending upward from said rigid pelvic support member and at least one fastener (preferably a fastener strap) to capture the torso of the user to or toward the rigid member. 
     
     
         30 . A walker as claimed in  claim 1  wherein the user is suspended from the rigid pelvic support member by a pelvic harness. 
     
     
         31 . A walker as claimed in  claim 30  wherein said pelvic harness is affixed to said pelvic support member. 
     
     
         32 . A walker as claimed in  claim 31  wherein said pelvic harness includes two thigh traps, one for each thigh of the user and to locate about each tight in a snug manner, each said thigh strap including a take-off strap via which an upward support force can be applied to the thigh that is carried by the pelvic support member. 
     
     
         33 . A walker as claimed in  claim 31  wherein said take-off strap projects in use upwardly from said thigh strap at a side of the thigh of the user that is opposite to the sagittal plane of the user in order to provide an upwards support force to the thigh of the user that discourages the thigh strap from migrating up into the crutch of the user. 
     
     
         34 . A walker as claimed in  claim 30  wherein said pelvic harness comprises a buttock cradle that includes two straps, one to locate against the buttocks of a user at a lower region thereof and one to locate against the buttocks of a user at a higher more region thereof. 
     
     
         35 . A walker as claimed in  claim 34  wherein said two buttock straps are affixed to at least two suspension straps that are connected to said pelvic support harness and via which at least some of the weight of the person carried by said pelvic harness can be transferred to said pelvic support member. 
     
     
         36 . A walker as claimed in  claim 30  wherein the pelvic harness includes a waist strap that locates at least partly around the hips or waist of a user and is connected to said pelvic support member to hold said user relative to said pelvic support member and restrict movement of the user in a direction towards and way from the coronal plane relative to said pelvic support member. 
     
     
         37 . A walker as claimed in  claim 1  wherein said pelvic support member includes a C-shaped user interface surface that is presented to locate predominantly about the posterior side of the hip and/or waist region of the user. 
     
     
         38 . A walkers as claimed in  claim 37  wherein said user interface projects to be located at least part of each side of said user also. 
     
     
         39 . A walker as claimed in  claim 37  wherein a pelvic harness is suspended from said pelvic support member, said pelvic harness to locate about the user in a manner to vertically support said user, wherein said pelvic harness includes at least one pocket that can removably receive a packer of an appropriate shape and size to provide packing intermediate of said user and said pelvic support member. 
     
     
         40 . A walker as claimed in  claim 39  wherein the user interface surface is shaped to snugly locate adjacent the user and said packers can fill space between said user and said user interface. 
     
     
         41 . A walker as claimed in  claim 1  wherein a plurality of sensors are provided for providing information to the control system for facilitating the control of movement of the exoskeleton. 
     
     
         42 . A walker as claimed in  claim 41  wherein the plurality of sensors are configured for sensing a characteristic to be sensed, and generating a signal indicative of that characteristic, and transmitting the signal to the control system for facilitating the control of movement of the exoskeleton. 
     
     
         43 . A walking aid as claimed in  claim 40  wherein said sensors are selected from at least one of:
 i) an accelerometer to measure the acceleration of at least one or more selected from said pelvic support member, the upper leg structural members, the lower leg structural members and the foot members, 
 ii) an inclinometer to measure the inclination of at least one or more selected from said pelvic support member, the upper leg structural members, the lower leg structural members and the foot members, 
 iii) distance sensors configured for determining the slope of the ground anteriorly, posteriorly and laterally of the walking aid, 
 iv) pressure sensors disposed on the foot member to determine the pressure being applied by the foot member to the ground, and 
 v) position sensors for determining the position and velocity of the actuators. 
 
     
     
         44 . A walker as claimed in  claim 1  wherein said controller includes a gyroscope configured for defining a reference frame for the purposes of positional control of the or part of the exoskeleton. 
     
     
         45 . A walker as claimed in  claim 1  wherein said walker includes a human interface device that preferably includes at least one of a joystick and a keypad. 
     
     
         46 . A walker as claimed in  claim 1  wherein the exoskeleton is configurable into a sitting position for facilitating the transfer of a user to and from the walker, said exoskeleton comprising support surfaces configured and dimensioned to be engageable by a user for facilitating transfer of the user to and/or from the walker when in the sitting position. 
     
     
         47 . A walker as claimed in  claim 46  wherein the support surfaces are hand holds configured to extend substantially horizontally when the walker is in the sitting position. Preferably the support surfaces are defined by covers that cover at least part of the exoskeleton. 
     
     
         48 . An exoskeleton device worn by a paraplegic user for device controlled walking of the user, said exoskeleton device comprising:
 a. a rigid pelvic support member carrying a user securing arrangement to engage with the user at their pelvis to vertically support the user relative to said exoskeleton,   b. a first leg structure and a second leg structure, each of the first leg structure and the second leg structure being coupled to and extending from said pelvic support member for operational location adjacent a respective leg of a user, each of the first leg structure and second leg structure comprising
 an upper leg structural member for engagement with the upper leg of the user, the upper leg structural member being pivotally engaged at a first end thereof to the pelvic support member by a hip joint, wherein the hip joint is configured for facilitating the multi axis rotational movement of said upper leg structural member relative to said pelvic support member towards and way from the coronal plane of the body of the user; 
 a lower leg structural member for engagement with the lower leg of the user, the lower leg structural member being pivotally engaged at a first end thereof to a second end of the upper leg structural member by a knee joint, 
 a foot member for engagement with the foot of a user, the foot member being pivotally engaged to a second end of the lower leg member by a foot joint, 
 a main hip actuator configured for actuating pivotal movement of said upper leg structural member relative to said pelvic support member about said hip joint, to in use pivot the upper leg structural member towards and away from the coronal plane of the body of the user, 
 a knee actuator configured for actuating pivotal movement of said lower leg structural member relative said upper leg structural member about said knee joint, 
 a main foot actuator configured for actuating pivotal movement of said foot member relative said lower leg structural member about said foot joint about an axis of rotation substantially parallel to the axis of rotation of the knee joint; 
   
     
     
         49 . An exoskeleton device as claimed in  claim 47  wherein said exoskeleton comprises a power source configurable for providing power to at least one or more selected from said main hip actuators, knee actuators, and main foot actuators. 
     
     
         50 . An exoskeleton device as claimed in  claim 47  wherein the exoskeleton device is worn by a paraplegic user for device controlled and user specified walking motion. 
     
     
         51 . An exoskeleton device as claimed in  claim 47  wherein user securing arrangement vertically supports all of the user relative to said exoskeleton. 
       Preferably the hip joint is configured for facilitating the multi axis rotational movement of said upper leg structural member relative to said pelvic support member toward and away from the sagittal plane of the body of the user for adduction and abduction and a secondary hip actuator is provided, configured for actuating pivotal movement of said upper leg structural member relative the pelvic support member about said hip joint towards and away from the sagittal plane of the body of the user for adduction and abduction. 
       Preferably a power source is provided configurable for providing power to at least one or more selected from said main hip actuators, knee actuators, and main foot actuators, 
       Preferably a control system is provided configurable for controlling movement of at least one or more selected from said main hip actuators, knee actuators, and main foot actuators, thereby to move the exoskeleton relative to the ground on which the walking aid is positioned, for at least the purposes of effecting a walking motion to said user. 
     
     
         52 . An exoskeleton suitable for a walking aid or a medical device, said exoskeleton comprising:
 i) a rigid pelvic support member suitable for snug engagement with a user's hips operationally   ii) a user securing arrangement to securely fastening a user at least to the pelvic support member to support said user operationally;   iii) a first leg structure and a second leg structure, each of the first leg structure and the second leg structure being coupled to and extending from said pelvic support member for operational location adjacent a respective leg of a user, each of the first leg structure and second leg structure comprising
 a. an upper leg structural member for engagement with the upper leg of the user, the upper leg structural member being pivotally engaged at a first end thereof to the pelvic support member by a hip joint wherein the hip joint is configured for facilitating the multi axis rotational capability of said upper leg structural member relative to said pelvic support member for movement towards and away from the coronal plane and for abduction 
 b. a lower leg structural member for engagement with the lower leg of the user, the lower leg structural member being pivotally engaged at a first end thereof to a second end of the upper leg structural member by a knee joint, 
 c. a foot member for engagement with the foot of a user, the foot member being pivotally engaged to a second end of the lower leg member by a foot joint, 
 d. a main hip actuator configured for actuating rotation of said upper leg structural member relative to said pelvic support member about said hip joint, to in use pivot the upper leg structural member towards and away from the coronal plane, 
 e. a secondary hip actuator, configured for actuating rotation of said upper leg structural member for adduction or abduction about said pelvic support member, 
 f. a knee actuator configured for actuating rotation of said lower leg structural member relative said upper leg structural member about said knee joint, and 
 g. a main foot actuator configured for actuating rotation of said foot member relative said lower leg structural member about said foot joint about an axis of rotation substantially parallel to the axis of rotation of the knee joint. 
   
     
     
         53 . An exoskeleton as claimed in  claim 52 , wherein the user securing arrangement includes
 i) a pelvic harness securable about a user's pelvis and affixed to the pelvic support member to suspend the user thereby, and   ii) securing fasteners suitable for securing a user's legs to the leg structures operationally.   
     
     
         54 . An exoskeleton as claimed in  claim 52  wherein the knee joint is a polycentric knee joint. 
     
     
         55 . An exoskeleton as claimed in  claim 52  wherein the exoskeleton is a gait vehicle to carry a bipedal locomotion disabled user.