Trunk supporting exoskeleton and method of use

{
  "publication_number": "US10285843B2",
  "country": "US",
  "kind": "B2",
  "title": "Trunk supporting exoskeleton and method of use",
  "abstract": "A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.",
  "claims": [
    "1. A combination comprising: a coupling device; and an exoskeleton, attached to the coupling device, wherein: the exoskeleton comprises: a supporting trunk, configured to be coupled to a trunk of a wearer, and first and second thigh links configured to move in unison with thighs of the wearer in a manner resulting in flexion and extension of the first and second thigh links relative to said supporting trunk; the coupling device is configured to couple the exoskeleton to the wearer, wherein the coupling device comprises: a human interface system, configured to be worn by the wearer, and a quick release mechanism, comprising at least a first configuration and a second configuration for coupling and uncoupling the human interface system to at least one component of the exoskeleton, in the first configuration, the quick release mechanism is configured to couple the exoskeleton to the human interface system in a manner that prevents the exoskeleton from becoming uncoupled from the human interface system, and in the second configuration, the quick release mechanism is configured in a manner to allow the exoskeleton to be uncoupled from the human interface system.",
    "2. The combination of claim 1, wherein the quick release mechanism comprises a button assembly, a holding bracket, and a cavity, wherein: the button assembly is operable to be coupled to one of the human interface system and at least a component of the exoskeleton, the holding bracket is operable to be coupled to another one of the human interface system and at least the component of the exoskeleton, and the cavity is formed within the holding bracket such that the button assembly is configured to be moved into and removed out of the cavity when the button assembly and the cavity are oriented along a first orientation relative to each other.",
    "3. The combination of claim 2, wherein: for coupling the exoskeleton and the human interface system to each other, after the button assembly is moved into the cavity, the at least one component of the exoskeleton is configurable to be aligned to a second orientation in which the button assembly is configured not to be removed from the cavity, and for uncoupling the exoskeleton and the human interface system from each other, the at least one component of the exoskeleton is configurable to be aligned to the first orientation in which the button assembly is configured to be removed from the cavity.",
    "4. The combination of claim 2, wherein the button assembly comprises a minimum cross section profile, and the cavity comprises an opening profile, and wherein when the button assembly is oriented such that the minimum cross section profile is face to face with the cavity opening profile, the button assembly is configured to be inserted into the cavity and moved out of the cavity and when the button assembly is inserted into the cavity and aligned such that the minimum cross section profile is not face to face with the cavity opening profile, the button assembly is configured not to be removed out of the cavity.",
    "5. The combination of claim 2, wherein the human interface system comprises at least one shoulder strap, and wherein the button assembly is configured to couple to one of the shoulder strap and the exoskeleton and the holding bracket is coupled to another one of the shoulder strap and the exoskeleton.",
    "6. The combination of claim 2, wherein the human interface system comprises a waist belt, and wherein the button assembly is configured to couple to one of the waist belt and the exoskeleton and the holding bracket is coupled to another one of the waist belt and the exoskeleton.",
    "7. The combination of claim 2, wherein the human interface system comprises a thigh strap, and wherein the button assembly is configured to couple to one of the thigh strap and the exoskeleton and the holding bracket is coupled to another one of the thigh strap and the exoskeleton.",
    "8. The combination of claim 1, wherein the human interface system is selected from the group consisting of a safety harness, a fall protection safety harness, a fall prevention harness, a waist belt, a safety belt, a fall protection safety belt, a tool belt harness, a tool belt, a climbing harness, and combinations thereof.",
    "9. The combination coupling device of claim 1, wherein the exoskeleton comprises: first and second torque generators configured to be located on both left and right halves of the wearer, coupling the supporting trunk to the first and second thigh links respectively and configured to generate torque between the first and second thigh links and the supporting trunk.",
    "10. A combination comprising: a coupling device; and an exoskeleton, attached to the coupling device, wherein: the exoskeleton comprises: a supporting trunk, configured to be coupled to a trunk of a wearer, and first and second thigh links configured to move in unison with thighs of the wearer in a manner resulting in flexion and extension of the first and second thigh links relative to said supporting trunk; the coupling device is configured to couple the exoskeleton to the wearer, wherein the coupling device comprises: a human interface system, configured to be worn by the wearer, and a clamping device, for coupling and uncoupling the exoskeleton to and from the human interface system, the clamping device comprising an outer plate and an inner plate, the outer plate is configured to be coupled to the exoskeleton, and when the inner plate and outer plate are pushed against each other, at least one component of the human interface system is clamped between the inner plate and the outer plate.",
    "11. The combination of claim 10, wherein the inner plate and the outer plate are capable of rotation relative to each other.",
    "12. The combination of claim 10, wherein the inner plate and the outer plate are pushed against each other by use of fasteners.",
    "13. The combination of claim 10, further comprising a spring configured to push the inner plate and the outer plate toward each other.",
    "14. The combination of claim 10, wherein the clamping device further comprises a spring plunger configured to lock and release the outer plate from a clamping position of the outer plate.",
    "15. The combination of claim 10, wherein the at least one component of the human interface system comprises a waist belt.",
    "16. The combination of claim 10, wherein the at least one component of the human interface system comprises a shoulder strap.",
    "17. The combination of claim 10, wherein the at least one component of the human interface system comprises a thigh strap.",
    "18. The combination of claim 10, wherein the exoskeleton is configured to be coupled to the outer plate using a quick release mechanism, wherein the quick release mechanism comprises: a button assembly, operable to be coupled to one of the human interface system and at least a component of the exoskeleton, a holding bracket, operable to be coupled to another one of the human interface system and at least a component of the exoskeleton, and a cavity formed within the holding bracket such that the button assembly is configured to be moved into and removed out of the cavity when the button assembly and the cavity are oriented along a first orientation relative to each other.",
    "19. The combination of claim 18, wherein: for coupling the exoskeleton and the human interface system to each other, after the button assembly is moved into the cavity, the at least one component of the exoskeleton is configurable to be aligned to a second orientation in which the button assembly is configured not to be removed from the cavity, and for uncoupling the exoskeleton and the human interface system from each other, the at least one component of the exoskeleton is configurable to be aligned to the first orientation in which the button assembly is configured to be removed from the cavity.",
    "20. The combination of claim 10, wherein the human interface system is selected from the group consisting of a safety harness, a fall protection safety harness, a fall prevention harness, a waist belt, a safety belt, a fall protection safety belt, a tool belt harness, a tool belt, a climbing harness, and combinations thereof.",
    "21. The combination coupling device of claim 10, wherein the exoskeleton comprises: first and second torque generators configured to be located on both left and right halves of the wearer, coupling the supporting trunk to the first and second thigh links respectively and configured to generate torque between the first and second thigh links and the supporting trunk."
  ],
  "description_excerpt": "The present disclosure relates generally to exoskeletons, and more particularly, to trunk supporting exoskeletons to reduce muscle forces in a wearer's back.\n\nIn general, back support devices, which are configured to assist a wearer in bending, lifting and/or standing upright, are known in the art. U.S. Pat. Nos. 6,436,065, 5,951,591, 5,176,622, and 7,744,552, 1,409,326 and 4,829,989 describe devices where moment is created during a bend to counteract the moments from a wearer's trunk gravity weight. Conventional systems utilize a passive, spring resistance to create a torque between the wearer's torso and legs. By creating a restorative moment at the hip, the probability of injury of the L5/S1 area of the spine is greatly reduced. Once the angle between torso and leg reaches a predetermined angle during stooping, squatting, or walking, the devices provide resistance. However, none of the devices differentiate between walking and bending or sitting and bending. This means the wearer cannot walk comfortably using these passive devices since the wearer's legs must push against the devices during walking. Similarly, the wearer cannot sit comfortably using these passive devices since the wearer's legs must push against the devices during sitting. This is uncomfortable and hazardous, preventing the wearer from moving around unrestricted, and is the most important reason to avoid the use of these systems in various industrial settings.\n\nThe present disclosure is directed to a trunk supporting exoskeleton, which is configured to be worn by a wearer to reduce the muscle forces in the wearer's back during forward lumbar flexion.",
  "cpc": [
    "A61F 5/026",
    "A61F 2005/0179",
    "A61F 5/028",
    "A61H 1/0244",
    "A61H 1/0292",
    "A61H 2003/007",
    "A61H 2201/1246",
    "A61H 2201/1261",
    "A61H 2201/1619",
    "A61H 2201/164",
    "A61H 2201/165",
    "A61H 3/008"
  ],
  "ipc": [
    "A61F 5/02",
    "A61H 1/02"
  ],
  "assignees": [
    "University of California San Diego UCSD"
  ],
  "inventors": [
    "Theerapat YANGYUENTHANASAN",
    "Wayne Tung",
    "Homayoon Kazerooni"
  ],
  "filing_date": "2017-07-20",
  "publication_date": "2019-05-14",
  "grant_date": "2019-05-14",
  "priority_date": "2011-06-10",
  "application_number": "US-201715654929-A",
  "family_id": "56406962",
  "cited_by_count": 5,
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}