HK1188750A - Locomotion assisting apparatus with integrated tilt sensor - Google Patents

Abstract

A locomotion assisting exoskeleton device includes a plurality of braces, including a trunk support for affixing to the part of the torso of a person and leg segment braces each leg segment brace for connecting to a section of a leg of the person. The device further includes at least one motorized joint for connecting two of the braces and for providing relative angular movement between the two braces. The device includes at least one tilt sensor mounted on the exoskeleton device for sensing a tilt of the exoskeleton, and a controller for receiving sensed signals from the tilt sensor and programmed with an algorithm with instructions for actuating the motorized joints in accordance with the sensed signals.

Description

Exercise assisting device with integrated tilt sensor

Technical Field

The invention relates to a walking assisting device. In particular, the present invention relates to a motion assistance device with an integrated tilt sensor.

Background

The electric motion-assisting exoskeleton device can assist a person with lower limb disability to move. For example, such devices may assist disabled users in walking or performing other tasks that typically require the use of legs. Such devices have been described, for example, in US 7153242 to Goffer, and in US 2010/0094188 to Goffer.

The described apparatus is generally designed to be attached to a portion of a person's lower limb or a portion of the person's torso. Such devices typically include motorized joints and actuators for flexion and extension of the portion of the body to which they are attached. Such systems typically include sensors for determining the state of the device and the state of the body while moving. For example, the system may include one or more sensors for measuring joint angle, tilt sensors for measuring body tilt angle, and pressure sensors for measuring forces exerted on the ground or other surface.

Such systems may include various controllers for controlling the devices. For example, such devices typically include mode selection means for selecting an operating mode, e.g., gait. Typically, a controller for controlling the operation of the apparatus is adapted to receive signals from the sensors of the device and to control the operation of the device based on the received sensor signals. For example, the sensor signal may indicate whether a gait or action performed by the device is proceeding as expected. Additionally, a user to which the device is connected may intentionally perform an action that may affect one or more sensor readings. The controller can be programmed to initiate, continue, or interrupt performance of an action based on the sensor readings. In this way, the person can at least partially control the operation of the device by tilting or performing other actions that may affect the sensor readings.

Continued research and experience in the design and use of motorized locomotion assistance exoskeleton devices will enhance the understanding of their operation. It is an object of the present invention to provide a motorized locomotion assisting exoskeleton device having an innovative design based on this enhanced understanding.

Other objects and advantages of the invention will become apparent upon reading the present invention and upon reference to the accompanying drawings.

Disclosure of Invention

Accordingly, there is provided, in accordance with some embodiments of the present invention, a motion assisted exoskeleton device. The apparatus includes a plurality of cradles including a torso support for securing to a portion of the torso of the person and leg segment cradles each for connecting to a segment of a leg of the person. The apparatus further comprises: at least one motorized joint for connecting two of the plurality of carriages and providing relative angular movement between the two carriages; at least one tilt sensor mounted on the exoskeleton device for sensing a tilt of the exoskeleton; and a controller for receiving a sensed signal from the tilt sensor, the controller having programmed therein an algorithm with instructions for driving the motorized joint in accordance with the sensed signal.

Further, in accordance with some embodiments of the invention, the apparatus includes a remote controller.

Further, in accordance with some embodiments of the invention, the algorithm comprises: operating the motorized joint to step a trailing leg (trailing leg) forward when the inclination sensed by the inclination sensor exceeds a threshold.

Further, in accordance with some embodiments of the invention, the algorithm comprises: operating the motorized joint to extend a leading leg (leading leg) rearward when the inclination sensed by the inclination sensor exceeds a threshold.

Further, in accordance with some embodiments of the invention, the tilt sensor is mounted on the torso support.

Further, in accordance with some embodiments of the present invention, the incline sensor is mounted on a component of the exoskeleton device having an incline substantially equal to an incline of the torso support.

Further, in accordance with some embodiments of the invention, the joint is provided with an angle sensor for sensing an angle between two brackets connected by the joint.

Further, corresponding to some embodiments of the invention, the algorithm includes instructions for driving the motorized joint according to the sensed angle.

Further, corresponding to some embodiments of the invention, the algorithm includes stopping forward motion of the leg when the sensed angle is within a predetermined range of angles.

Drawings

For a better understanding of the present invention, and its applications, reference is made to the following drawings. It should be noted that these drawings are given by way of example only and do not limit the scope of the invention. Similar parts are provided with the same reference numerals.

FIG. 1 is a side view of a motion-assisting exoskeleton device according to some embodiments of the present invention;

FIG. 1B is a front view of the apparatus of FIG. 1A;

FIG. 1C is a control block diagram of the apparatus of FIG. 1A;

FIG. 2A illustrates a method for controlling a motion-assisted exoskeleton device to enable a user to take a step, in accordance with some embodiments of the invention;

FIG. 2B is a flow chart of a stepping method according to an embodiment of the present invention.

Detailed Description

In the following detailed description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, it will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known methods, procedures, components, modes, units and/or circuits have not been described in detail so as not to obscure the present invention.

Embodiments of the invention may include an article, such as a computer or processor readable medium, or a computer or processor storage medium, such as a memory, disk drive or USB flash, encoder, containing or having stored thereon instructions, such as computer executable instructions, which when executed by a processor or controller, implement the methods disclosed herein.

Motion assisted exoskeleton devices corresponding to embodiments of the present invention typically include one or more brackets or supports. Each bracket may be tied or attached to a portion of a person's body. Typically, one or more torso supports may be connected to the torso, in particular to the lower torso of the person. Other brackets may be connected to the segments of the person's leg. Each bracket or support of the device is typically connected to one or more components of the device by a joint or other connection. The joint allows relative movement between the engagement members. For example, the joint may allow relative movement between one carriage and an adjacent carriage.

The motion assist exoskeleton device can include one or more motorized actuation components. The motorized actuation assembly is operable to move one or more portions of the user's body. For example, the motorized actuation assembly may bend a joint. The coordinated bending of one or more joints may urge one or more limbs of the user's body.

Typically, the joint may be equipped with one or more sensors for sensing the relative position and orientation of the components of the device. The relative positions of the components of the device may represent the relative positions of the body parts to which the components are attached. For example, a sensor may measure and generate a signal indicative of an angle between the brackets engaged, for example, by a shutdown.

The locomotion assisting exoskeleton device includes one or more tilt sensors. With the walker aid having an exoskeleton device, the experience obtained shows that the forward tilt of the user wearing the exoskeleton device can be effectively used for the operation of the device. For example, a user's forward tilt may indicate that the user wants to walk forward. For example, when the user is leaning forward, the apparatus may be operated to begin a forward step. For example, forward walking may include a repetitive series of leg strides. A step of the leg may include a series of operations including raising the trailing leg, extending the raised leg forward, and lowering the leg. Typically, the user's hand can be moved forward to cause a forward tilt (or "fall prevention") to lift the trailing leg from the ground. When the trailing leg is off the ground, the exoskeleton device can begin the series of operations described above. Thus, the sequence of operations described above may be to take a step forward with the trailing leg at the beginning, resting on the ground at a point forward of the leading leg at the beginning. In this way, the device may assist the user in walking forward.

Thus, the tilt sensor of the locomotion assisting exoskeleton device corresponding to an embodiment of the present invention is located on a portion of the apparatus that tilts with the device. For example, the tilt sensor may be located on a cradle of the device designed to connect to the lower or upper torso of the user. For example, the tilt sensor may be mounted on a side, rear or front panel of a torso support designed to be connected to the lower torso of a user. The tilt sensor may alternatively be mounted on any part of the exoskeleton device that is substantially rigidly connected to such a bracket. For example, the backpack of the exoskeleton device may be rigidly connected to the torso support, or connected by a substantially rigid link that is only capable of a small amount of bending. In this case, the tilt sensor may be mounted on or in the backpack.

Fig. 1A is a side view of a motion-assisting exoskeleton device, in accordance with some embodiments of the present invention. FIG. 1B is a front view of the apparatus shown in FIG. 1A. FIG. 1C is a control block diagram of the apparatus of FIG. 1A.

The components of the exoskeleton device 10 can be connected to the body of the user. For example, torso support 12 may be connected to the lower torso of the user above the pelvis. The leg segment carrier 14 is connectable to a segment of a user's leg. A trapping strap or tie, such as tie 22, connected to torso support 12 and leg segment carrier 14 may at least partially wrap around a portion of the user's body. Thus, the straps 22 ensure that the brackets of each component of the exoskeleton device 10 are connected to the appropriate corresponding part of the user's body. Thus, movement of the component carrier may move the attached body part. Typically, the components of the exoskeleton device 10 can be adjustable to optimally fit the exoskeleton device 10 to a particular user's body.

The brackets of the components of the exoskeleton device 10, such as the torso support 12 and leg segment brackets 14, may be connected to each other by joints 16. For example, two leg segment braces 14 may be connected at the knee joint 16 a. Leg segment carrier 14 and torso support 12 may be connected at hip joint 16 b. Each joint 16 may include an actuator 32 for performing relative angular movement between the components connected by each joint 16.

Each actuator may be controlled by a controller 26. For example, the controller 26 may be located on the backpack 18 of the exoskeleton device 10. Alternatively, the components of the controller 26 may be incorporated within the torso support 12, the leg stage carrier 14, or other components of the exoskeleton device 10. For example, the controller 26 may include a plurality of electronic devices that communicate with each other. These intercommunications may be wireless or wired. Similarly, communication between the controller 26 and components of the exoskeleton device 10, such as the actuators 32 or sensors or controllers, may be wireless or wired.

The controller 26 may be driven by a power source 28. For example, the power supply 28 may include one or more rechargeable batteries, and appropriate circuitry for recharging the batteries (e.g., by connecting to an external power source). The power source 28 may be located on the backpack 18.

Each joint 16 may be equipped with an angle sensor 30 for sensing the relative angle between the components connected by the joint 16. The output signal from each angle sensor 30 may be input to the controller 26. The output signal may be indicative of the current relative angle between the connected components.

The tilt sensor 24 may be mounted on the torso support 12. Alternatively, the tilt sensor 24 may be located on any other component of the exoskeleton device 10 whose tilt angle reflects the tilt angle of the torso support of the exoskeleton device 10. The output signal from the tilt sensor 24 may be input to a controller 26. The output signal may be indicative of, for example, an angle between the torso support 12 and the longitudinal direction.

Corresponding to some embodiments of the present invention, the exoskeleton device 10 can include one or more additional auxiliary sensors 31. For example, the auxiliary sensor 31 may include one or more pressure sensitive sensors. For example, the pressure sensitive sensors may measure the ground force exerted by the ground on the exoskeleton device 10. For example, the ground force sensor may be included within a surface for attachment to the sole of a user's foot.

The exoskeleton device 10 can be equipped with one or more controllers for enabling user input or other external input. For example, the exoskeleton device 10 can include a remote control assembly 20. The remote control assembly 20 may include one or more buttons, switches, touch pads or other similar manually operated controls. Typically, the remote control assembly 20 may include one or more controls for selecting the mode of operation. For example, operation of a controller of the remote control assembly 20 may generate an output signal for communication with the controller 26. The communication signal may represent a user request to initiate or continue a mode of operation. For example, when an appropriate sensor signal is received, the communication signal indicates to the controller that a forward walking operation is to be initiated or continued. As another example, the remote control assembly 20 may include a controller for turning the exoskeleton device 10 on or off.

Typically, the remote control assembly 20 may be designed to be mounted in a location that is operable by a user. For example, the remote control assembly 20 may be provided with a strap or tie. The tether can connect the remote control assembly 20 to the wrist or arm of a user (as shown in fig. 1A and 1B). In this manner, the remote control assembly 20 may be conveniently operated using a finger mounted on the other arm opposite the arm on which it is mounted. Alternatively, the remote control assembly 20, or a portion thereof, may be mounted on a crutch, in front of the user's torso, in front of the torso support 12, or in other operable positions. Alternatively, the remote control assembly 20 may include several separate controllers, each in separate communication with the controller 26 and each mounted in a separate location.

A sport-assisted exoskeleton device corresponding to an embodiment of the invention is operable to assist a disabled user in walking. For example, one or more joints 16 and leg segment brackets 14 may be controlled to move the leg in a manner that enables the selected activity to be performed. For example, the joint 16 and leg segment carrier 14 may be controlled to enable the user to walk. Control of the joint 16 may depend on the previous action taken and on input from at least one of the angle sensor 30 and the tilt sensor 24.

Figure 2A illustrates a method for controlling a motion-assisted exoskeleton device to enable a user to take a step, in accordance with an embodiment of the invention. FIG. 2B is a flow chart of a stepping method according to an embodiment of the present invention. The method includes advancing leg 44a, which is initially (step 40 a) the trailing leg, forward. At the conclusion of this step (step 40 j), leg 44a is located behind leg 44b, which was initially the leading leg. The method is then repeated with the roles of legs 44a and 44b reversed. The method assumes that the user is equipped with and able to operate a pair of crutches. In the following description, reference is still made to the components shown in fig. 1A to 1C.

To more effectively assist with the illustrated method, the user may need to train and practice. For example, training may include exercises that use exoskeleton devices with other implements, such as parallel bars or walking frames. The various stages of the training program may teach the user how to maintain balance and how to walk while using the exoskeleton device. Additionally, in a training program, the control program stored in the memory associated with the controller 26 (FIG. 1C) may be adapted for a particular user. For example, parameters representing threshold tilt angles or joint flexion angles may be adjusted to suit the capabilities and preferences of a particular user. The user may learn how to coordinate the operation of the crutches with the exoskeleton device to optimize the effectiveness of the assistive walking device.

For example, in step 40a of the illustrated method, it is assumed that leg 44b begins with the leading leg and leg 44a begins with the trailing leg. Both legs 44a and 44b initially rest on the ground or other support surface, and both legs 44a and 44b support approximately equally the weight of the user's body. The user may issue a desire to walk forward, for example, by operating remote control 20 (step 48 in FIG. 2B), and the user may begin a step by advancing cane 42. (although cane 42 is illustrated only as a segment of a line, it should be clear that a pair of canes is often referred to). Crutches are generally located on opposite sides of the user's body, with relative movement generally parallel. As the crutch 42 advances, the exoskeleton device 1 tilts forward with the user.

At this point, the controller monitors the tilt sensor 24 (step 50 in fig. 2B) to determine if the indicated tilt is sufficient (e.g., greater than a threshold tilt angle value) to step the leg 44a forward (step 52). If the indicated tilt angle is not sufficient, the time of the timer is compared to a threshold time (step 53), which may be started, for example, when the control operation of the remote controller 20 indicates a desire to start a walking sequence, or when the tilt sensor 24 indicates a desire to start tilting. Alternatively, multiple timers (or timing functions) may monitor elapsed time after multiple triggering events. If the elapsed time indicates a timeout, the exoskeleton device 10 can begin a sequence to exit the walking mode (step 55). For example, the exoskeleton device 10 can begin a "stance" mode to bring the user to a standing position. Alternatively, operation may cease until a further control signal is received.

If a timeout is not sensed, the tilt signal continues to be monitored (return to step 50).

At step 40b, the user continues to advance the crutch 42 and the exoskeleton device 10 continues to tilt forward with the user. The weight of the user's body begins to shift toward leg 44b, which is the leading leg.

At step 40c, cane 42 is in a forward position. The user's elbows begin to bend so that the exoskeleton device 10 continues to tilt forward. Leg 44a begins to rise to break contact with the ground. The weight of the user's body begins to be supported by leg 44b and cane 42.

At step 40d, continued bending of the user's elbow may cause the exoskeleton device 10 to tilt forward enough to trigger the exoskeleton device 10 to begin a swing. At this point, for example, the tilt sensor 24 may generate a tilt signal. The resulting tilt signal is processed (e.g., by controller 26) to indicate that the tilt angle of the exoskeleton device 10 is equal to or greater than a threshold angle. A tilt angle equal to the threshold angle may trigger the start of the step sequence (step 52). Subsequently, the controller 26, upon receiving the generated tilt signal, initiates a control routine to operate the exoskeleton device 10 to begin a step by advancing the leg 44 a. At step 40e, the exoskeleton device 10 begins to swing the leg 44a forward. For example, the controller 26 may flex the knee joint 16a of the leg 44a by a predetermined angle. At the same time, controller 26 may initiate forward flexion of hip joint 16b of leg 44a, thereby advancing leg 44a forward (step 54). As leg 44a moves, controller 26 may monitor the output signals of one or more angle sensors 30 (step 56) to verify that leg 44a is moving corresponding to a predetermined dimension. Monitoring the output signal may also indicate whether the step is complete or whether to continue moving leg 44a forward (step 58).

At step 40f, the exoskeleton device 10 continues to swing the leg 44a forward. For example, controller 26 may continue to flex hip joint 16b of leg 44a to step leg 44a forward. At the same time, hip joint 16 b' of leg 44b is extended to raise torso 46 toward an upright position (similar to its position at step 40 a). The user may push the crutch 42 downward to assist in this operation.

At step 40g, the exoskeleton device 10 continues to move leg 44a forward and leg 44b backward to bring the two closer together. For example, controller 26 may continue to operate hip joint 16b of leg 44a to step leg 44a forward and operate hip joint 10 b' and leg 44b to extend and straighten leg 44 b.

At step 40h, exoskeleton device 10 continues to advance leg 44a in front of leg 44b and extends leg 44 b. For example, controller 26 may continue to operate hip joint 16b of leg 44a to step leg 44a forward and operate hip joint 10 b' of leg 44b to straighten leg 44 b.

At step 40i, the exoskeleton device 10 continues to move leg 44a forward and leg 44b backward. For example, controller 26 may continue to operate hip joint 16b of leg 44a and extend hip joint 16 b' of leg 44b to step leg 44a forward. At the same time, the exoskeleton device 10 can extend the knee joint 16a to straighten the leg 44 a. For example, the controller 26 may receive signals from the angle sensors 30 of the hip joints 16b and 16 b'. The sensed signal may indicate that the sensed angle is within a predetermined range of angles, indicating a complete step (step 58). Controller 26 may then operate knee joint 16a of leg 44 to extend and straighten leg 44 a. In straightening operations, the controller 26 may monitor the signal from the angle sensor 30 of the knee joint 16a of the leg 44a to verify when the leg is sufficiently straight to stop the operation of the knee joint 16 a.

At step 40j, leg 44a extends forward and is the leading leg, while leg 44b is the trailing leg. Thus, step 40j is substantially identical to step 40a, except that the roles of leg 44a and leg 44b are reversed. Thus, the exoskeleton device 10 has completed one step. If the operational mode is still selected (step 59), steps 40a through 40j may be repeated with the roles of leg 44a and leg 44b reversed (returning to step 50). Continuing to operate in this manner, the user to which the exoskeleton device 10 is coupled can be caused to walk.

If the walking mode is no longer selected, the walking operation may be stopped. For example, the exoskeleton device 10 may change the user to a standing position (step 60). Alternatively, the device may stop operation and ignore any further tilt signals.

As described above, a user may use the exoskeleton device 10 to associate walking to learn to coordinate limb movements with crutch movements under operation of the exoskeleton device 10. For example, the training program may begin with practicing balance and walking between the parallel bars using the exoskeleton device 10. The user may then learn to use the exoskeleton device 10 with crutches or walking frames to learn balance. Finally, the user may practice walking using the exoskeleton device 10 and crutches to perform the method illustrated in fig. 2A.

Corresponding to some embodiments of the invention, the method of operation may include monitoring the signals generated by the tilt sensor 24, as well as the signals generated by the one or more angle sensors 30. For example, the signal may be of an unexpected morphology only, or a combination of sensor readings. In such a case, the controller 26 may perform one or more actions to verify proper operation, or to prevent further unexpected situations. For example, the controller 26 may generate an audible, visual, or perceptible alarm to the user using a suitable alert device. At the same time, the controller 26 may pause or stop operation of the exoskeleton device 10 until a confirmation signal is received from the user. For example, the user may operate the remote controller 20 to indicate continuation of the operation, or alternatively, to suspend the operation. When the operation is suspended, the controller 26 can operate the exoskeleton device 10 to assist in maintaining the stability of the user. Similarly, if the generated signal is consistent with an emergency, such as a fall, the controller 26 may operate the exoskeleton device 10 in a predetermined manner to minimize the risk of injury to the user.

In accordance with some embodiments of the present invention, the exoskeleton device 10 can be equipped with one or more ground force sensors. For example, a ground force sensor may be located on the foot support for supporting the user's foot. For example, performance of the operation of the exoskeleton device 10 can be dependent on one or more predetermined signals received from a ground force sensor.

It should be clear that the examples and figures given in this description are only for a better understanding of the invention, and do not limit its scope.

It should be understood that variations and modifications to the drawings and the above-described embodiments may occur to persons skilled in the art upon reading the description and are within the scope of the invention.

Claims (9)

1. A locomotion assisting exoskeleton device comprising:

a plurality of braces including a torso support for securing to a portion of a person's torso and leg segment braces each for connecting to a section of a person's leg;

at least one motorized joint for connecting two of the plurality of carriages and providing relative angular movement between the two carriages;

at least one tilt sensor mounted on the exoskeleton device for sensing a tilt of the exoskeleton; and

a controller for receiving a sensed signal from a tilt sensor of the at least one tilt sensor, the controller having been programmed with an algorithm with instructions for driving the motorized joint in accordance with the sensed signal.

2. The apparatus of claim 1, wherein the apparatus comprises a remote controller.

3. The apparatus of claim 1, wherein the algorithm comprises: operating the motorized joint to step the trailing leg forward when the inclination sensed by one of the at least one inclination sensor exceeds a threshold.

4. The apparatus of claim 1, wherein the algorithm comprises: operating the motorized joint to extend the leading leg rearward when the inclination sensed by one of the at least one inclination sensor exceeds a threshold.

5. The apparatus of claim 1, wherein one of the at least one tilt sensor is mounted on the torso support.

6. The device of claim 1, wherein one of the at least one tilt sensor is mounted on a component of the exoskeleton device having an inclination substantially equal to an inclination of the torso support.

7. An apparatus according to claim 1, wherein one of the at least one motorised joints is provided with an angle sensor for sensing the angle between two carriages connected by that joint.

8. The apparatus of claim 7, wherein the algorithm includes instructions for driving a motorized joint as a function of the sensed angle.

9. The apparatus of claim 8, wherein the algorithm comprises stopping forward motion of the leg when the sensed angle is within a predetermined range of angles.