Parker-hannifin Corporation

Ekso Bionics Holdings, Inc.

Other

Park-hannifin Corporation

Cleveland State University

Ryan J Farris

Mike Clausen

Edgar Wilson

Spencer Murray

Scott Morrison

Steven Etheridge

Michael Goldfarb

Skyler Ashton Dalley

Steven Jefferson-Shawn Etheridge

Don Truex

Geoffrey W Kennard

Jerzy T Sawicki

Curt A Laubscher

Steven J-s Etheridge

Geoff Kennard

Samuel K Westgard

Spencer A Murray

Skyler Dalley

Scott Andrew Morrison

Steven J-S Etheridge

A biomechanical motion device employs a plurality of actuator cylinders to generate forces representative of human gait loading. The biomechanical motion device includes a crosshead that is manipulated vertically by a set of two vertical pneumatic cylinders, and the crosshead is mounted to two vertical shafts on linear bearings that guide the crosshead in the vertical direction. The biomechanical motion device further includes a horizontal slide system that incorporates a linear carriage rail mounted flush to the bottom of the crosshead. The linear carriage rail guides a sliding carriage, and a custom bracket is mounted to the sliding carriage. Attached to the bracket is a pivot shaft, and the shaft serves as a simulated knee joint about which a lower leg assembly can be rotated. Horizontal motion colinear with the carriage rail of the simulated knee joint connection is generated using a set of two horizontal pneumatic cylinders. This horizontal motion causes the lower leg assembly to pivot about where a prosthetic foot contacts a bottom contact plate during gait to rotate about the pinned knee joint.

Biomechanical motion device for human gait load replication

An integrated functional electrical stimulation (FES) system includes a component of a mobility assistance device, and an FES system mounted within the component. The FES system includes an FES stimulator that is embedded within the component, and a plurality of FES jacks that are electrically connected to the FES stimulator and are located on the component. The FES jacks are configured to receive a plurality of FES electrodes, and an electrical stimulation output from the FES stimulator is conducted through the FES jacks to the FES electrodes. In a wireless embodiment, the FES stimulator is configured to wirelessly transmit a control signal for applying an electrical stimulation output to the plurality of FES electrodes, and the FES jacks are eliminated. The FES stimulator may be embedded within a back portion of the hip component of an exoskeleton device, and in the wired embodiment the FES jacks are located on wing portions of the hip component.

Structural integration and enhanced control of functional electrical stimulation in an exoskeleton device

A leg component includes a central carrier, and first and second housings that are located on opposite sides of the central carrier. An adjustment mechanism including a drive shaft that drives driven shafts, such as by a worm/worm gear interaction, implements movement of the first housing to relative to the second housing to adjust a length of the leg component.

Legged mobility exoskeleton device with enhanced adjustment mechanisms

A hip component for a legged mobility device has a hip body, and a hip insert assembly for adjusting a size of the hip component. The hip insert assembly includes a carrier assembly mounted to the hip body, and a main insert assembly spaced apart from the carrier assembly. Adjustment screws are connected to the carrier assembly and the main insert assembly. The carrier assembly includes an adjustment mechanism including a drive shaft and an adjustment chain to effect translational movement of the adjustment screws to move the main insert assembly to adjust both width and depth of the hip component simultaneously. The hip component includes an abduction/adduction control mechanism that includes elastomeric bushings that are selective as to resistance level and shape to control a degree of abduction and adduction, and to preset an initial angle. A leg component includes a central carrier, and first and second housings that are located on opposite sides of the central carrier. An adjustment mechanism including a drive shaft that drives driven shafts, such as by a worm/worm gear interaction, effects movement of the first housing to relative to the second housing to adjust a length of the leg component.

An actuator system for an orthotic device includes an actuator assembly and a driven joint member connected remotely from the actuator assembly by flexible cabling to permit flexibility in positioning the driven joint member relative to the actuator assembly. The actuator system includes an actuator assembly having a motor and a first portion of a transmission assembly that provides a speed reduction of a motor speed to an output speed. The driven joint member has an output portion of the transmission assembly and a connector component for connecting the driven joint member to a brace component of the orthotic device. The driven joint member including the output portion of the transmission assembly is connected remotely from the actuator assembly by flexible cabling that runs between the actuator assembly and the driven joint component, to permit flexibility in positioning the driven joint member relative to the actuator assembly.

Remote actuation configuration for powered orthotic devices

An electromagnetic brake assembly includes a solenoid coil; a fixed ferrous brake stator; a ferrous armature having a braking face, wherein the armature is moveable in a translation direction relative to the brake stator between a disengaged position and an engaged position; and a rotating member including a mating surface and that rotates relative to the armature when the armature is in the disengaged position. When the solenoid coil is energized, the armature translationally moves from the disengaged position to the engaged position, and in the engaged position the braking face of the armature interacts with the mating surface of the rotating member to apply a braking force to the rotating member. The braking face and the mating surface may form a conical interface, and the conical interface further may include a friction O-ring positioned within a slot that permits the O-ring to roll along the braking interface when the armature moves between the disengaged position and the engaged position.

Electromagnetic brake for powered mobility assistance device

A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.

Wearable robotic device

A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.

Advanced gait control system and methods enabling continuous walking motion of a powered exoskeleton device

A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user. Automatic adjustments to the device components, including adjusting tension and resistance levels of the joint components, may then be made based the performance metrics.

Mobility assistance devices with automated assessment and adjustment control

Movement assistance device for an orthosis

A joint actuator assembly incudes a motor, a rotating driving member driven by the motor for driving a driven component, and a transmission assembly located between the motor and the rotating driving member that provides speed reduction from the motor to the rotating driving member. The rotating driving member includes a magnetic/electrical coupling comprising a magnetic coupling component configured to magnetically couple with an opposing magnetic coupling of the driven component, and an electrical element configured to provide an electrical connection to an opposing electrical element of the driven component. The actuator and driven component may be combined into a mobility device including a magnetic/electrical coupling system comprising a first magnetic/electrical coupling on the actuator assembly that magnetically and electrically couples to a second magnetic/electrical coupling on the driven component. The magnetic coupling system includes a plurality of magnetic elements located on the first and/or second magnetic/electrical couplings and opposing electrical elements for electrical connection when the actuator assembly and the driven component are joined together.

Legged mobility exoskeleton device with enhanced actuator mechanism employing magnetic/electrical coupling

A joint actuator assembly includes a motor, a rotating driving member driven by the motor for driving a driven component, and a transmission assembly located between the motor and the rotating driving member that provides speed reduction from the motor to the rotating driving member. The rotating driving member comprises a magnetic coupling including a plurality of magnetic elements that are configured to magnetically couple with an opposing magnetic coupling of the driven component. The actuator and driven component may be combined into a mobility device including a magnetic coupling system having a first magnetic coupling on the actuator that magnetically couples to a second magnetic coupling on the driven component. The magnetic coupling system includes plurality of magnetic elements located as part of one or both of the first and second magnetic couplings. The first and second couplings have opposing mating surfaces that join together in a coupled position.

Legged mobility exoskeleton device with enhanced actuator mechanism employing magnetic coupling

An actuating device for orthosis includes a transmission that is operatively connected to a motor such that the motor provides power to the transmission. The transmission includes a first stage, a second stage, and a third stage. Each of these stages includes at least two sprockets and a drive belt tensioned between the two sprockets. The transmission also includes a first shaft and a second shaft. A sprocket of each of the first, second, and third stages of the transmission is attached to the first shaft. An actuating arm is operatively connected to the third stage of the transmission such that the power provided to the transmission by the motor causes the actuating arm to provide an output torque.

Growing community of inventors

Hartville, OH, United States of America

Ryan J Farris