Methods and apparatuses for exoskeleton attachment

Abstract

In some embodiments, an exoskeleton device for providing gait/movement assistance to users, and more particularly, methods and apparatuses for attaching such devices to a limb of the users, are presented. In some embodiments, the apparatus may comprise a support, a support holder, and a retaining element for retaining the support secured to the support holder at least when the apparatus is in use. In some embodiments, the attachment of the support to the support holder may be configured so as to allow the support a range of translational and/or rotational degrees of motion.

What's claimed is: 
     
         1 . A harness apparatus for attaching an exoskeleton device to a limb, comprising:
 a support holder including a first end and a second end, the first end and the second end defining a support holder axis therebetween;   a limb support coupled to a support lock element, the limb support configured to rotate about the support holder axis; and   a connection element configured to pivotably connect to the support holder along a common axis of rotation, wherein
 the support lock element is configured to reversibly slide along the support holder axis so as to shift a position of the limb support. 
   
     
     
         2 . The apparatus of  claim 1 , further comprising a retaining element extending along the support holder axis, the retaining element providing an anchor for the reversible sliding of the support lock element along the support holder axis. 
     
     
         3 . The apparatus of  claim 1 , wherein at least a portion of the limb support includes a curved portion configured to correspond to a curvature of a limb when adjacent the limb. 
     
     
         4 . The apparatus of  claim 1 , wherein at least a portion of the limb support includes a curved portion and a curvature of the limb support curved portion is in the range from about 30 degrees to about 180 degrees. 
     
     
         5 . The apparatus of  claim 1 , wherein the limb support is malleable to adapt a shape of a limb when placed adjacent to the limb. 
     
     
         6 . The apparatus of  claim 1 , wherein the support lock element includes a tubular body with a hollow core configured to receive a retaining element for securing the limb support to the support holder. 
     
     
         7 . The apparatus of  claim 1 , wherein the support holder further includes at least partial loop shaped and sized to receive the support lock element within a space defined by the at least partial loop. 
     
     
         8 . The apparatus of  claim 1 , further including an articulation member for establishing the connection between the connection element and the support holder. 
     
     
         9 . The apparatus of  claim 8 , wherein the articulation member includes a projection on one of the connection element and the support holder and a recess for receiving the projection on the other of the connection element and the support holder. 
     
     
         10 . The apparatus of  claim 8 , wherein the articulation member includes a recess on one of the connection element and the support holder and the connection between the connection element and the support holder is established with at least one of a screw, bolt, and stud traversing the recess and securing the support holder to the connection element. 
     
     
         11 . The apparatus of  claim 1 , further including a fastener for controlling a rotation of the connection element and/or the support holder about the common axis of rotation. 
     
     
         12 . The apparatus of  claim 1 , wherein the support lock element includes a hollow conduit configured to receive a retaining element running between the first end and the second end so as to lock the support lock element to the support holder. 
     
     
         13 . The apparatus of  claim 1 , further including padding to at least a surface of the limb support configured to face a limb when the limb support is worn by a user. 
     
     
         14 . The apparatus of  claim 1 , wherein the connection element is further configured to establish a connection with an exoskeleton device. 
     
     
         15 . The apparatus of  claim 14 , wherein the connection established between the connection element and the exoskeleton device allows for translation of the connection element about the connection with the exoskeleton device.