Methods of operating an exoskeleton for gait assistance and rehabilitation

Abstract

A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.

What is claimed is: 
     
         1 . A method of operating an exoskeleton device, the method comprising:
 obtaining information from a sensor connected to a structural frame with joints that are connected to a pulley system via cables,
 wherein the pulley system is connected to an actuation system that includes multiple drive train systems, each drive train system being driven by a separate motor; 
   determining, based on the information, that engagement of a given drive train system is necessary to cause motion of a given joint; and   supplying power to a first motor so as to engage the given drive train system, thereby tensioning a corresponding cable to cause motion of the given joint.   
     
     
         2 . The method of  claim 1 , wherein said supplying causes a clutch system to engage a pulley drift shaft corresponding to the given drive drain. 
     
     
         3 . The method of  claim 1 , wherein the multiple drive train systems are arranged such that a main drive train is able to independently actuate pulley drive shafts corresponding to the joints of the structural frame. 
     
     
         4 . The method of  claim 3 , further comprising
 supplying power to a main motor connected to the main drive train so that the main drive train engages the given drive train system; and   causing a clutch system to engage a pulley drive shaft corresponding to the given drive train system; and   wherein engagement of the pulley drive shaft by the clutch system causes a tension to be applied to the corresponding cable.   
     
     
         5 . The method of  claim 4 , wherein an amount of power supplied to the main motor is based on the information from the sensor. 
     
     
         6 . The method of  claim 1 , wherein the first motor is connected to the actuation system via a clutch system, and wherein the method further comprises:
 actuating a pawl so as to open or close a pawl engagement opening of a clutch of the clutch system.   
     
     
         7 . The method of  claim 1 , further comprising:
 controlling extension and flexion of the given joint by supplying power to a second motor.   
     
     
         8 . The method of  claim 1 , wherein each joint of the multiple joints is connected to the pulley system with a respective cable of the multiple cables. 
     
     
         9 . The method of  claim 1 , wherein the sensor is either embedded in the given joint or embedded in a textile located proximate to the given joint. 
     
     
         10 . An exoskeleton device comprising:
 a skeleton joint system that is designed to provide external support to a human body,
 wherein the skeleton joint system includes joints, each of which is representative of a location at which at least two segments of the skeleton joint system are able to move in relation to one another; and 
   a detachable actuation system configured to actuate the joints of the skeleton joint system.   
     
     
         11 . The exoskeleton device of  claim 10 , wherein the detachable actuation system includes a cam profile system that is configured to actuate to linear cam follower to actuate cables of a pulley system to actuate the joints. 
     
     
         12 . The exoskeleton device of  claim 10 , wherein the detachable actuation system includes a worm gear, a planetary gear, a sun gear, or a combination spur gear that is coupled to a motor. 
     
     
         13 . The exoskeleton device of  claim 10 , wherein the detachable actuation system includes a clutch system for engaging a pulley system that includes cables connected to the joints. 
     
     
         14 . The exoskeleton device of  claim 10 , further comprising:
 a flexible textile that at least partially envelops the skeleton joint system;   a pulley system with cables that are selectively engageable by the detachable actuation system; and   a sensor system attached to the skeleton joint system.   
     
     
         15 . The exoskeleton device of  claim 14 , wherein the sensor system includes a sensor that is embedded within a joint of the skeleton joint system. 
     
     
         16 . The exoskeleton device of  claim 14 , wherein the sensor system includes a sensor that is embedded within the flexible textile. 
     
     
         17 . A system for controlling motion of an exoskeleton device, the system comprising:
 a pulley system that includes a series of pulleys,
 wherein each pulley is connected to a corresponding cable that is secured to the exoskeleton device; 
   an actuation system that includes a series of drive train systems,
 wherein each drive train system has a drive shaft that engages a corresponding pulley of the series of pulleys; 
   a control system that is configured to selectively supply power to the series of drive trains so as to control motion of the exoskeleton device.   
     
     
         18 . The system of  claim 17 , wherein the actuation system further includes:
 a series of motors that are responsible for controlling the series of drive train systems,
 wherein each motor is able to independently control a corresponding drive train system of the series of drive train systems. 
   
     
     
         19 . The system of  claim 17 , wherein the actuation system is detachable from the pulley system. 
     
     
         20 . The system of  claim 17 , further comprising:
 a clutch system that includes a clutch with openings that are engageable by a pawl,
 wherein when the clutch is engaged by the pawl, the actuation system is able to control the exoskeleton device, and 
 wherein when the clutch is disengaged from the pawl, the exoskeleton device is in free swing.