Leg exoskeleton system and method

Abstract

A fluidic actuator unit that includes a joint, a first arm coupled to the joint, a second arm coupled to the joint; and an inflatable bellows actuator extending between a first and second plate associated with the joint, the inflatable bellows actuator defining a bellows cavity, the inflatable bellows actuator configured to extend along a length of the bellows actuator when inflated by introducing fluid into the bellows cavity.

What is claimed is: 
     
         1 . A wearable pneumatic exoskeleton system that comprises:
 a left and right pneumatic leg actuator unit configured to be respectively associated with a left and right leg of a user wearing the pneumatic exoskeleton system, the left and right pneumatic actuator units each including:
 a rotatable joint configured to be aligned with a rotational axis of a knee of the user wearing the pneumatic exoskeleton system, 
 an upper arm coupled to the rotatable joint and extending along a length of an upper leg portion above the knee of the user wearing the pneumatic exoskeleton system, 
 a lower arm coupled to the rotatable joint and extending along a length of a lower leg portion below the knee of the user wearing the pneumatic exoskeleton system, 
 a first and second plate extending from the rotatable joint, and 
 an inflatable bellows actuator extending between the first and second plate and defining a bellows cavity, the inflatable bellows actuator configured to extend along a length of the bellows actuator when pneumatically inflated by introducing pneumatic fluid into the bellows cavity; 
   a pneumatic system configured to introduce pneumatic fluid to the bellows actuators of the pneumatic leg actuator units to independently actuate the bellows actuators; and   an exoskeleton computing device including:
 a plurality of sensors, 
 a memory storing at least a control program, and 
 a processor that executes the control program to control the pneumatic system based at least in part on data obtained by the exoskeleton computing device including sensor data obtained from the plurality of sensors. 
   
     
     
         2 . The wearable pneumatic exoskeleton system of  claim 1 , wherein a distal end of the lower arms of the pneumatic leg actuator units are respectively coupled to ski boots of a skiing assembly including the ski boots and skis. 
     
     
         3 . The wearable pneumatic exoskeleton system of  claim 1 , wherein the bellows actuators each further comprise:
 an internal first layer that defines the bellows cavity, the internal first layer being substantially impermeable to the pneumatic fluid; and   an outer second layer comprising an inextensible planar material that is substantially inextensible along the plane axes of the planar material while being flexible in other directions.   
     
     
         4 . The wearable pneumatic exoskeleton system of  claim 3 , wherein the internal first layer and outer second layer are bonded together to define a single planar structure. 
     
     
         5 . The wearable pneumatic exoskeleton system of  claim 3 , wherein the bellows actuators each further comprise a third layer disposed between the first and second layers that acts as an anti-abrasive and/or low-friction intermediate layer between the first and second layers. 
     
     
         6 . The wearable pneumatic exoskeleton system of  claim 1 , wherein the left and right pneumatic leg actuator units are configured to be respectively associated with the left and right leg of a user wearing the pneumatic exoskeleton system by being disposed directly adjacent to respective lateral sides of the left and right knees of the user. 
     
     
         7 . A wearable pneumatic exoskeleton system that comprises:
 a leg actuator unit configured to be worn on a leg of a user wearing the exoskeleton system, the leg actuator unit including:
 a joint configured to be aligned with a knee of the user wearing the exoskeleton system; 
 an upper arm coupled to the joint and extending along a length of an upper leg portion above the knee of the user wearing the exoskeleton system; 
 a lower arm coupled to the joint and extending along a length of a lower leg portion below the knee of the user wearing the exoskeleton system; 
 a first and second plate extending from the joint; and 
 an inflatable bellows actuator extending between the first and second plate and defining a bellows cavity, the inflatable bellows actuator configured to extend along a length of the bellows actuator when inflated by introducing fluid into the bellows cavity. 
   
     
     
         8 . The wearable pneumatic exoskeleton system of  claim 7 , wherein a distal end of the lower arm of the leg actuator unit is respectively coupled to a ski boot of a skiing assembly including the ski boot and a ski. 
     
     
         9 . The wearable pneumatic exoskeleton system of  claim 7 , wherein the bellows actuator further comprises:
 a layer comprising an inextensible planar material that is substantially inextensible along one or more plane axes of the planar material while being flexible in other directions.   
     
     
         10 . A fluidic actuator unit comprising:
 a joint;   a first arm coupled to the joint;   a second arm coupled to the joint; and   an inflatable bellows actuator extending between a first and second plate associated with the joint, the inflatable bellows actuator defining a bellows cavity, the inflatable bellows actuator configured to extend along a length of the bellows actuator when inflated by introducing fluid into the bellows cavity.   
     
     
         11 . The fluidic actuator unit of  claim 10 , wherein the fluidic actuator unit is configured to be worn about a body joint of a user. 
     
     
         12 . The fluidic actuator unit of  claim 11 , wherein the joint is configured to be aligned with a knee of the user wearing the fluidic actuator unit. 
     
     
         13 . The fluidic actuator unit of  claim 12 , wherein the joint is configured to be aligned with a rotational axis of the knee of the user wearing the fluidic actuator with the joint disposed on a lateral side of the knee of the user. 
     
     
         14 . The fluidic actuator unit of  claim 11 , wherein the first arm is configured to extend along a length of an upper leg portion above a knee of the user wearing fluidic actuator unit; and wherein the second arm is configured to extend along a length of a lower leg portion below the knee of the user wearing the fluidic actuator unit. 
     
     
         15 . The fluidic actuator unit of  claim 10 , wherein the first and second plate extend from the joint. 
     
     
         16 . The fluidic actuator unit of  claim 10 , wherein a distal end of the second arm is configured coupled to a ski boot of a skiing assembly including one or more skis. 
     
     
         17 . The fluidic actuator unit of  claim 10 , wherein the bellows actuator comprises a layer that defines the bellows cavity, the layer being substantially impermeable to a fluid used to inflate the bellows. 
     
     
         18 . The fluidic actuator unit of  claim 10 , wherein the bellows actuator comprises a layer comprising an inextensible planar material that is substantially inextensible along one or more plane axes of the planar material while being flexible in other directions. 
     
     
         19 . The fluidic actuator unit of  claim 10 , wherein the bellows actuator comprises a third layer disposed between a first and second layer of the bellows, the third layer being an anti-abrasive and/or low friction intermediate layer between the first and second layers.