Ekso Bionics Holdings, Inc.

Parker-hannifin Corporation

Vanderbilt University

Spencer Murray

Ryan J Farris

Michael Goldfarb

Scott Morrison

Skyler Ashton Dalley

Don Truex

Steven Etheridge

Steven Jefferson-Shawn Etheridge

Geoffrey W Kennard

Skyler Dalley

Scott Andrew Morrison

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

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

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

A method of controlling a mobility device and related device including at least one drive 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 sensor information from sensors corresponding to a state and/or mode of the mobility device; analyzing the sensor information and determining a control mode of operation based on the sensor information; generating a control signal to output an alert via electronic indicators corresponding to the determined control mode; and controlling at least one drive component of the mobility device to selectively configure and modulate at least one joint component in accordance with the determined control mode of operation. Different alerts may be outputted by the electronic indicators depending on the nature or severity of the alert condition, accompanied by respective device control operations in accordance with the alert condition.

Safety monitoring and control system and methods for a legged mobility exoskeleton device

An exoskeleton for applying force to at least one lower limb of a user includes a control system with a sensor interface for sensor signals; a power interface for transmitting control signals to the powered joint; a processor coupled to the sensor and the power interfaces; and a computer-readable medium storing a computer program executable on the processor with code sections for: estimating a configuration of a body of the user with respect to a gravity vector based on the sensor signals; computing a control torque for the powered joint that compensates gravitational dynamics of the user based on the configuration; calculating a gravitational energy gradient for the powered joint; attenuating the control torque based on the gravitational energy gradient; computing a final control torque based on the attenuated control torque, and configuring the control signals based on the attenuated control torque.

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University Heights, OH, United States of America

Spencer Murray