Wearable exoskeleton system and method

Abstract

A fluidic exoskeleton system that comprises a fluidic actuator unit configured to be associated with a user wearing the fluidic exoskeleton system, the fluidic actuator unit including: a rotatable joint a first and second plate coupled to the rotatable joint and an inflatable actuator extending between the first and second plate.

What is claimed is: 
     
         1 . A fluidic exoskeleton system that comprises:
 a left and right fluidic leg actuator unit configured to be respectively associated with a left and right leg of a user wearing the fluidic exoskeleton system, the left and right fluidic leg actuator units each including:
 a rotatable joint disposed laterally and adjacent to a respective knee of the user with a rotational joint axis of the rotatable joint being disposed coincident with a rotational axis of the respective knee of the user wearing the fluidic exoskeleton system, 
 an upper arm coupled to the rotatable joint and extending along a length of an upper leg portion above the respective knee of the user wearing the fluidic exoskeleton system, 
 a lower arm coupled to the rotatable joint and extending along a length of a lower leg portion below the respective knee of the user wearing the fluidic exoskeleton system, 
 a first and second plate extending from the rotatable joint, and 
 an inflatable actuator extending between the first and second plates, the inflatable actuator comprising:
 a fluid-impermeable tube that includes a woven fabric material and that is inextensible along a first length from the first plate to the second plate and inextensible circumferentially about the fluid-impermeable tube, and 
 a cavity defined by the fluid-impermeable tube, the fluid-impermeable tube configured to extend along the first length of the fluid-impermeable tube when the fluid-impermeable tube is fluidically inflated by introducing fluid into the cavity, the fluid-impermeable tube configured to extend and direct force axially by pressing on the first and second plates, the fluid-impermeable tube configured to extend to a maximum length defined by the inextensibility of the fluid-impermeable tube along the first length, 
 
   a fluidic system configured to introduce the fluid to the cavities of the inflatable actuators of the fluidic leg actuator units to independently actuate the inflatable 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 fluidic 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 fluidic exoskeleton system of  claim 1 , wherein the fluid-impermeable tube comprises an impermeable polyurethane polymer film inner first layer and wherein the woven fabric material comprises a woven nylon braid as an outer second layer. 
     
     
         3 . The fluidic exoskeleton system of  claim 1 , wherein the fluid-impermeable tube is flexible and configured to fold and bulge radially when the fluid-impermeable tube is in a compressed configuration. 
     
     
         4 . A fluidic exoskeleton system that comprises:
 a fluidic leg actuator unit configured to be associated with a leg of a user wearing the fluidic exoskeleton system, the fluidic leg actuator unit including:
 a rotatable joint disposed laterally and adjacent to a knee of the user with a rotational joint axis of the rotatable joint being disposed coincident with a rotational axis of the knee of the user wearing the fluidic exoskeleton system, 
 a first and second plate extending from the rotatable joint, and 
 an inflatable actuator extending between the first and second plate, the inflatable actuator comprising:
 a fluid-impermeable tube that is inextensible along a first length from the first plate to the second plate, and 
 a cavity defined by the fluid-impermeable tube, the fluid-impermeable tube configured to extend along the first length of the fluid-impermeable tube when the fluid-impermeable tube is fluidically inflated by introducing fluid into the cavity, the fluid-impermeable tube configured to extend and direct force axially by pressing on the first and second plates, the fluid-impermeable tube configured to extend to a maximum length defined by the inextensibility of the fluid-impermeable tube along the first length. 
 
   
     
     
         5 . The fluidic exoskeleton system of  claim 4 , further comprising a fluidic system configured to introduce the fluid to the cavity of the inflatable actuator of the fluidic leg actuator unit to actuate the inflatable actuator. 
     
     
         6 . The fluidic exoskeleton system of  claim 4 , further comprising an exoskeleton computing device that includes:
 one or more sensors,   a memory storing at least a control program, and   a processor that executes the control program to control a fluidic system based at least in part on data obtained by the exoskeleton computing device including sensor data obtained from the one or more sensors.   
     
     
         7 . The fluidic exoskeleton system of  claim 4 , wherein the fluid-impermeable tube comprises a woven fabric material. 
     
     
         8 . The fluidic exoskeleton system of  claim 4 , further comprising:
 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 fluidic exoskeleton system, and   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 fluidic exoskeleton system.   
     
     
         9 . A fluidic exoskeleton system that comprises:
 a fluidic actuator unit configured to be associated with a user wearing the fluidic exoskeleton system, the fluidic actuator unit including:
 a rotatable joint, 
 a first and second plate coupled to the rotatable joint, and 
 an inflatable actuator extending between the first and second plate. 
   
     
     
         10 . The fluidic exoskeleton system of  claim 9 , wherein the rotatable joint is disposed laterally and adjacent to a body joint of the user. 
     
     
         11 . The fluidic exoskeleton system of  claim 10 , wherein a rotational joint axis of the rotatable joint is disposed coincident with a rotational axis of the body joint of the user wearing the fluidic exoskeleton system. 
     
     
         12 . The fluidic exoskeleton system of  claim 9 , wherein the fluidic actuator unit is configured to be associated with a limb of the user wearing the fluidic exoskeleton system. 
     
     
         13 . The fluidic exoskeleton system of  claim 9 , wherein the inflatable actuator comprises a fluid-impermeable member that is inextensible along a first length from the first plate to the second plate. 
     
     
         14 . The fluidic exoskeleton system of  claim 13 , wherein the fluid-impermeable member comprises a fluid-impermeable sheet that defines a fluid-impermeable tube. 
     
     
         15 . The fluidic exoskeleton system of  claim 13 , wherein the fluid-impermeable member is configured to extend to a maximum length defined by the inextensibility of the fluid-impermeable member along the first length. 
     
     
         16 . The fluidic exoskeleton system of  claim 9 , wherein the inflatable actuator defines a fluid cavity, and wherein the inflatable actuator is configured to extend along the first length of the inflatable actuator when the inflatable actuator is fluidically inflated by introducing fluid into the fluid cavity. 
     
     
         17 . The fluidic exoskeleton system of  claim 16 , wherein the inflatable actuator is configured to extend and direct force axially by pressing on the first and second plates. 
     
     
         18 . The fluidic exoskeleton system of  claim 9 , further comprising:
 an upper arm coupled to the rotatable joint and extending along a length of an upper portion above a body joint of the user wearing the fluidic exoskeleton system, and   a lower arm coupled to the rotatable joint and extending along a length of a lower portion below the body joint of the user wearing the fluidic exoskeleton system.   
     
     
         19 . The fluidic exoskeleton system of  claim 9 , further comprising an exoskeleton computing device that includes:
 one or more sensors,   a memory storing at least a control program, and   a processor that executes the control program to control a fluidic system based at least in part on data obtained by the exoskeleton computing device including sensor data obtained from the one or more sensors.