Unidirectional actuated exoskeleton device

Abstract

The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.

1 . A foot-ankle exoskeleton for generating torque about an ankle joint, defining a first foot-ankle exoskeleton, comprising:
 a pad configured to be coupled to a lower portion of a leg of a user;   a shank structure, having a first end and a second end; the first end of the shank structure being connected to the pad;   a joint cross member;   a lever arm connected to the joint cross member; the second end of the shank structure being pivotally connected to the joint cross member about a first joint configured to allow dorsiflexion and plantarflexion;   a foot plate configured to be coupled to the foot of a user; the foot plate being connected to the joint cross member about a second joint configured to allow eversion and inversion;   a motor;   an actuator comprising a transmission connected to the lever arm and the motor, which is configured and arranged to convert actuator force to plantarflexing ankle torque upon actuation by the actuator;   a power source to drive actuation of the lever arm;   a controller connected to the foot-ankle exoskeleton;   at least one sensor connected to the foot-ankle exoskeleton; the at least one sensor is selected from the group consisting of an angle sensor, velocity sensor, EMG sensor, magnetometer, accelerometer, gyro sensor and force sensor; the at least one sensor collecting sensor data during gait of the user; the sensor data being configured and arranged to provide control commands to the actuator of the foot-ankle exoskeleton; the control commands instructing the actuator to apply a plantarflexing ankle torque.   
     
     
         2 . The foot-ankle exoskeleton of  claim 1 , wherein the actuator is an electric motor. 
     
     
         3 . The foot-ankle exoskeleton of  claim 1 , wherein the transmission is unidirectional. 
     
     
         4 . The foot-ankle exoskeleton of  claim 1 , further comprising: a motor angle sensor attached to the motor. 
     
     
         5 . The foot-ankle exoskeleton of  claim 1 , wherein the power source is a battery. 
     
     
         6 . The foot-ankle exoskeleton of  claim 1 , further comprising:
 a second foot-ankle exoskeleton configured to be a coupled to another leg of the user;   the first foot-ankle exoskeleton and the second foot-ankle exoskeleton being configured   
       and arranged to communicate with each other wirelessly to share sensed data with each other. 
     
     
         7 . The foot-ankle exoskeleton of  claim 6 , wherein the first foot-ankle exoskeleton and the second foot-ankle exoskeleton communicate wirelessly with each other by Bluetooth, Wi-Fi, RFID, passive or active connection. 
     
     
         8 . The foot-ankle exoskeleton of  claim 3 , wherein the unidirectional transmission is variable. 
     
     
         9 . The foot-ankle exoskeleton of  claim 1 , wherein the pad and the shank structure are connected to each other by a dynamic joint. 
     
     
         10 . The foot-ankle exoskeleton of  claim 1 , wherein the first joint has a first axis of rotation, the second joint has a second axis of rotation, and the first axis of rotation is perpendicular to the second axis of rotation.