Patent · US10926123B2 · B2 · US

Systems and methods for assistive exosuit system

(11) Publication number

US10926123B2

(21) Application number

15/684,466

(22) Filing date

2017-08-23

(30) Priority date

2016-08-23

(43) Publication date

2021-02-23

(45) Date of grant

2021-02-23

(51) IPC

A61H 1/02; A61H 3/00; A63B 21/00; A63B 24/00; B25J 9/00

(52) CPC

A63B Apparatus for physical training, gymnastics, swimming, climbing, or fencing; ball games; training equipment: 21/00181, 21/0004, 21/00178, 21/152, 21/4007, 21/4011, 21/4013, 21/4015, 21/4025, 21/4039, 21/4043, 21/4047, 2209/00, 2209/10, 2220/24, 2220/40, 2220/51, 2220/801, 2220/803, 2225/096, 2225/20, 2225/50, 2230/60, 2230/605, 23/03541, 24/0087
A61H Physical therapy apparatus, e.g. devices for locating or stimulating reflex points in the body; artificial respiration; massage; bathing devices for special therapeutic or hygienic purposes or specific parts of the body: 1/02, 1/0266, 2201/1215, 2201/123, 2201/1238, 2201/1253, 2201/164, 2201/1642, 2201/1647, 2201/165, 2201/1676, 2201/501, 2201/5043, 2201/5048, 2201/5061, 2201/5064, 2201/5084, 2201/5097, 2230/60, 3/00
B25J Manipulators; chambers provided with manipulation devices: 9/0006
G05B Control or regulating systems in general; functional elements of such systems; monitoring or testing arrangements for such systems or elements: 2219/40305

(73) Assignee

SEISMIC HOLDINGS INC

(72) Inventors

LEAR MELINDA CROMIE; WITHERSPOON KATHERINE GOSS; GRANT MEGAN; KERNBAUM NICOLE IDA; MAHONEY RICHARD; TAYSON-FREDERICK MALLORY L; Fielding Louis Calvin; RIGGS VIOLET; SHAHOIAN ERIK; HOGUE MARY ELIZABETH

(54) Title

Systems and methods for assistive exosuit system

(57) Abstract

Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer.

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Claims (18)

An exosuit system for use on a human body, the system comprising: a base layer configured to be worn over a plurality of specific regions of the human body, wherein the base layer is operative to provide load distribution for each of the plurality of specific regions, and wherein the base layer comprises first, second, and third load distribution members that each provide load distribution for a respective one of the plurality of specific regions; a stability layer coupled to the base layer and operative to provide passive restorative forces between pairs of the specific regions; a power layer coupled to the base layer and operative to provide active contractive forces between pairs of the specific regions; and control circuitry operative to control the active contractive forces according to a plurality of assistive body movement modes, wherein each of the first, second, and third load distribution members comprises: a plurality of flexible straps that surround their respective one of the plurality of specific regions; and at least one stay coupled to the plurality of flexible straps and that comprises a plurality of anchor points for coupling to at least one of the stability layer and the power layer; wherein during active contractive forces between the first load distribution member and the second load distribution member and between the first load distribution member and the third load distribution member, forces are transmitted to the at least one stay and the plurality of flexible straps of the respective first, second, and third load distribution members via the power layer; and wherein the base layer, stability layer, the power layer are separate independent components that collectively form the exosuit system.
The exosuit system of claim 1, wherein the first load distribution member is constructed to fit around a lower torso region of the human body, wherein the second load distribution member is constructed to fit around a first thigh of the human body, and wherein the third load distribution member is constructed to fit around a second thigh of the human body.
The exosuit system of claim 1, wherein the stability layer comprises: a first elastic element coupled to the first and second load distribution members on an anterior side of the exosuit system; and a second elastic element coupled to the first and third load distribution members on the anterior side of the exosuit system.
The exosuit system of claim 3, wherein the first elastic element is coupled to a first anchor point of the first load distribution member and to a first anchor point of the second load distribution member, and wherein the second elastic element is coupled to a second anchor point of the first load distribution member and to a first anchor point of the third load distribution member.
The exosuit system of claim 4, wherein the stability layer comprises a third elastic element coupled to the first, second, and third load distribution members on a posterior side of the exosuit system.
The exosuit system of claim 5, wherein the third elastic element is coupled to third and fourth anchor points of the first load distribution member, to a second anchor point of the second load distribution member, and to a second anchor point of the third load distribution member.
The exosuit system of claim 1, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), wherein a first set of the FLAs are operative to provide hip flexor assistive movements, and wherein a second set of the FLAs are operative to provide hip extensor assistive movements.
The exosuit system of claim 7, wherein the power layer comprises a third set of FLAs are operative to provide spinal extensor movements.
The exosuit system of claim 1, wherein the plurality of anchor points comprises a plurality of slots that are each configured to interface with the power layer.
The exosuit system of claim 1, wherein the plurality of anchor points enables user selectable configuration to best fit arrangement of the power layer to a body shape of a user wearing the exosuit system.
The exosuit system of claim 1, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), each FLA comprising: a housing that encompasses a motor, a transmission, and a spindle assembly; a twisted string coupled to the spindle assembly; and a distal interface portion coupled to the twisted string; and wherein for a first FLA, the housing is secured to one of the anchor points of the second load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member; and wherein for a second FLA, the housing is secured to one of the anchor points of the third load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member.
An exosuit comprising: a base layer configured to be worn over a plurality of specific regions of a human body, wherein base layer is operative to provide load distribution for each of the plurality of specific regions, and wherein the base layer comprises first, second, and third load distribution members that each provide load distribution for a respective one of the plurality of specific regions; a power layer coupled to the base layer and operative to provide active contractive forces between pairs of the specific regions; and control circuitry operative to control the active contractive forces according to a plurality of assistive body movement modes, wherein each of the first, second, and third load distribution members comprises: a plurality of flexible straps that surround their respective one of the plurality of specific regions; and at least one stay coupled to the plurality of flexible straps and that comprises a plurality of anchor points for coupling to at least one of the stability layer and the power layer; wherein during active contractive forces between the first load distribution member and the second load distribution member and between the first load distribution member and the third load distribution member, forces are transmitted to the at least one stay and the plurality of flexible straps of the respective first, second, and third load distribution members via the power layer.
The exosuit of claim 12, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), wherein a first set of the FLAs are operative to provide hip flexor assistive movements, and wherein a second set of the FLAs are operative to provide hip extensor assistive movements.
The exosuit of claim 13, wherein the power layer comprises a third set of FLAs that are operative to provide spinal extensor movements.
The exosuit of claim 12, wherein the power layer comprises a flexible linear actuator (FLA) array.
The exosuit of claim 15, wherein the FLA array comprises: a plurality of primary FLAs; and a plurality of secondary FLAs arranged in series with at least one of the primary FLAs.
The exosuit of claim 12, wherein the power layer comprises a flexible linear actuator comprising a phased array of actuators.
The exosuit system of claim 12, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), each FLA comprising: a housing that encompasses a motor, a transmission, and a spindle assembly; a twisted string coupled to the spindle assembly; and a distal interface portion coupled to the twisted string; and wherein for a first FLA, the housing is secured to one of the anchor points of the second load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member; and wherein for a second FLA, the housing is secured to one of the anchor points of the third load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member.

Description

Wearable robotic systems have been developed for augmentation of humans' natural capabilities, or to replace functionality lost due to injury or illness. One example of these systems is the ReWalk exoskeleton system by ReWalk robotics. The ReWalk system comprises a rigid exoskeleton with powered actuators at the knee and hip joints, to enable assisted ambulation for paraplegic patients. However, the system comprises a large, rigid frame; requires assistance of a caregiver; and it is intended for patients with paraplegia due to spinal cord injury. The ReWalk device is not appropriate for people with less degrees of disability, nor is it appropriate for functional augmentation for able-bodied people. Examples of exosuit systems are described in the U.S. Pat. No. 9,266,233, titled “Exosuit System,” which includes several concepts for exosuits comprising flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. While the disclosure in the U.S. Pat. No. 9,266,233 broadly describes technologies that may be utilized in an exosuit system, it does not teach the requirements, interactions, orientations and locations of the relevant subsystems required to provide an assistive exosuit system for certain applications.

Citations (36)

FR3046100A1
US2003120183A1
US2006211956A1
US2006249315A1
US2007135279A1
US2007265140A1
US2008077057A1
US2009306548A1
US2010144490A1
US2012165158A1
US2013040783A1
US2013102935A1
US2014277739A1
US2015173993A1
US2016016309A1
US2016023350A1
US2016058644A1
US2016139666A1
US2016331560A1
US2016374887A1
US2017027735A1
US2017202724A1
US2018008502A1
US2018049903A1
US6689074B2
US7128707B2
US7190141B1
US8723471B2
US9149938B1
US9266233B2
US9351900B2
WO2014194257A1
WO2015088863A2
WO2015153633A2
WO2016104330A1
WO2016138264A1

Record as JSON

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  "publication_number": "US10926123B2",
  "country": "US",
  "kind": "B2",
  "title": "Systems and methods for assistive exosuit system",
  "abstract": "Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer.",
  "claims": [
    "1. An exosuit system for use on a human body, the system comprising: a base layer configured to be worn over a plurality of specific regions of the human body, wherein the base layer is operative to provide load distribution for each of the plurality of specific regions, and wherein the base layer comprises first, second, and third load distribution members that each provide load distribution for a respective one of the plurality of specific regions; a stability layer coupled to the base layer and operative to provide passive restorative forces between pairs of the specific regions; a power layer coupled to the base layer and operative to provide active contractive forces between pairs of the specific regions; and control circuitry operative to control the active contractive forces according to a plurality of assistive body movement modes, wherein each of the first, second, and third load distribution members comprises: a plurality of flexible straps that surround their respective one of the plurality of specific regions; and at least one stay coupled to the plurality of flexible straps and that comprises a plurality of anchor points for coupling to at least one of the stability layer and the power layer; wherein during active contractive forces between the first load distribution member and the second load distribution member and between the first load distribution member and the third load distribution member, forces are transmitted to the at least one stay and the plurality of flexible straps of the respective first, second, and third load distribution members via the power layer; and wherein the base layer, stability layer, the power layer are separate independent components that collectively form the exosuit system.",
    "2. The exosuit system of claim 1, wherein the first load distribution member is constructed to fit around a lower torso region of the human body, wherein the second load distribution member is constructed to fit around a first thigh of the human body, and wherein the third load distribution member is constructed to fit around a second thigh of the human body.",
    "3. The exosuit system of claim 1, wherein the stability layer comprises: a first elastic element coupled to the first and second load distribution members on an anterior side of the exosuit system; and a second elastic element coupled to the first and third load distribution members on the anterior side of the exosuit system.",
    "4. The exosuit system of claim 3, wherein the first elastic element is coupled to a first anchor point of the first load distribution member and to a first anchor point of the second load distribution member, and wherein the second elastic element is coupled to a second anchor point of the first load distribution member and to a first anchor point of the third load distribution member.",
    "5. The exosuit system of claim 4, wherein the stability layer comprises a third elastic element coupled to the first, second, and third load distribution members on a posterior side of the exosuit system.",
    "6. The exosuit system of claim 5, wherein the third elastic element is coupled to third and fourth anchor points of the first load distribution member, to a second anchor point of the second load distribution member, and to a second anchor point of the third load distribution member.",
    "7. The exosuit system of claim 1, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), wherein a first set of the FLAs are operative to provide hip flexor assistive movements, and wherein a second set of the FLAs are operative to provide hip extensor assistive movements.",
    "8. The exosuit system of claim 7, wherein the power layer comprises a third set of FLAs are operative to provide spinal extensor movements.",
    "9. The exosuit system of claim 1, wherein the plurality of anchor points comprises a plurality of slots that are each configured to interface with the power layer.",
    "10. The exosuit system of claim 1, wherein the plurality of anchor points enables user selectable configuration to best fit arrangement of the power layer to a body shape of a user wearing the exosuit system.",
    "11. The exosuit system of claim 1, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), each FLA comprising: a housing that encompasses a motor, a transmission, and a spindle assembly; a twisted string coupled to the spindle assembly; and a distal interface portion coupled to the twisted string; and wherein for a first FLA, the housing is secured to one of the anchor points of the second load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member; and wherein for a second FLA, the housing is secured to one of the anchor points of the third load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member.",
    "12. An exosuit comprising: a base layer configured to be worn over a plurality of specific regions of a human body, wherein base layer is operative to provide load distribution for each of the plurality of specific regions, and wherein the base layer comprises first, second, and third load distribution members that each provide load distribution for a respective one of the plurality of specific regions; a power layer coupled to the base layer and operative to provide active contractive forces between pairs of the specific regions; and control circuitry operative to control the active contractive forces according to a plurality of assistive body movement modes, wherein each of the first, second, and third load distribution members comprises: a plurality of flexible straps that surround their respective one of the plurality of specific regions; and at least one stay coupled to the plurality of flexible straps and that comprises a plurality of anchor points for coupling to at least one of the stability layer and the power layer; wherein during active contractive forces between the first load distribution member and the second load distribution member and between the first load distribution member and the third load distribution member, forces are transmitted to the at least one stay and the plurality of flexible straps of the respective first, second, and third load distribution members via the power layer.",
    "13. The exosuit of claim 12, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), wherein a first set of the FLAs are operative to provide hip flexor assistive movements, and wherein a second set of the FLAs are operative to provide hip extensor assistive movements.",
    "14. The exosuit of claim 13, wherein the power layer comprises a third set of FLAs that are operative to provide spinal extensor movements.",
    "15. The exosuit of claim 12, wherein the power layer comprises a flexible linear actuator (FLA) array.",
    "16. The exosuit of claim 15, wherein the FLA array comprises: a plurality of primary FLAs; and a plurality of secondary FLAs arranged in series with at least one of the primary FLAs.",
    "17. The exosuit of claim 12, wherein the power layer comprises a flexible linear actuator comprising a phased array of actuators.",
    "18. The exosuit system of claim 12, wherein the power layer comprises a plurality of flexible linear actuators (FLAs), each FLA comprising: a housing that encompasses a motor, a transmission, and a spindle assembly; a twisted string coupled to the spindle assembly; and a distal interface portion coupled to the twisted string; and wherein for a first FLA, the housing is secured to one of the anchor points of the second load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member; and wherein for a second FLA, the housing is secured to one of the anchor points of the third load distribution member and the distal interface portion is coupled to one of the anchor points of the first load distribution member."
  ],
  "description_excerpt": "Wearable robotic systems have been developed for augmentation of humans' natural capabilities, or to replace functionality lost due to injury or illness. One example of these systems is the ReWalk exoskeleton system by ReWalk robotics. The ReWalk system comprises a rigid exoskeleton with powered actuators at the knee and hip joints, to enable assisted ambulation for paraplegic patients. However, the system comprises a large, rigid frame; requires assistance of a caregiver; and it is intended for patients with paraplegia due to spinal cord injury. The ReWalk device is not appropriate for people with less degrees of disability, nor is it appropriate for functional augmentation for able-bodied people. Examples of exosuit systems are described in the U.S. Pat. No. 9,266,233, titled “Exosuit System,” which includes several concepts for exosuits comprising flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. While the disclosure in the U.S. Pat. No. 9,266,233 broadly describes technologies that may be utilized in an exosuit system, it does not teach the requirements, interactions, orientations and locations of the relevant subsystems required to provide an assistive exosuit system for certain applications.\n\nExosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself.",
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  "assignees": [
    "SEISMIC HOLDINGS INC"
  ],
  "inventors": [
    "LEAR MELINDA CROMIE",
    "WITHERSPOON KATHERINE GOSS",
    "GRANT MEGAN",
    "KERNBAUM NICOLE IDA",
    "MAHONEY RICHARD",
    "TAYSON-FREDERICK MALLORY L",
    "Fielding Louis Calvin",
    "RIGGS VIOLET",
    "SHAHOIAN ERIK",
    "HOGUE MARY ELIZABETH"
  ],
  "filing_date": "2017-08-23",
  "publication_date": "2021-02-23",
  "grant_date": "2021-02-23",
  "priority_date": "2016-08-23",
  "application_number": "US-201715684466-A",
  "family_id": "61240286",
  "citations": [
    "FR3046100A1",
    "US2003120183A1",
    "US2006211956A1",
    "US2006249315A1",
    "US2007135279A1",
    "US2007265140A1",
    "US2008077057A1",
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    "US2013102935A1",
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    "US2015173993A1",
    "US2016016309A1",
    "US2016023350A1",
    "US2016058644A1",
    "US2016139666A1",
    "US2016331560A1",
    "US2016374887A1",
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  ]
}

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