Method and system for control and operation of motorized orthotic exoskeleton joints

{
  "publication_number": "US11400010B2",
  "country": "US",
  "kind": "B2",
  "title": "Method and system for control and operation of motorized orthotic exoskeleton joints",
  "abstract": "System and method for providing both powered and free swing operation in a powered orthotic exoskeleton joint. The joint includes a processor controllable ratchet wheel and pawl type clutch, configured to engage or disengage upon receiving force from a servo actuator. When the processor determines that the clutch should be engaged, it directs the powered actuator to couple the pawls to the ratchet wheel, allowing torque to be transferred from the joint's powered motor, through the clutch, to the gearing that subsequently controls the motion of the joint. Conversely, the processor can direct the powered actuator to decouple the pawls from the ratchet wheel. This in turn decouples the ratchet wheel from the motor, thus allowing the remainder of the joint and any associated joint gearing to engage in relatively free swing motion, without any interference from the motor.",
  "claims": [
    "1. A method of operating an exoskeleton device, the method comprising: receiving sensor information; connecting a clutch system to a pulley system; determining whether to engage or disengage a drive train gear to the clutch system based on the sensor information; actuating with a servo to open or close a pawl engagement opening of the clutch system so as to engage or disengage the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; disengaging the drive train gear from the clutch system when determined to disengage the drive train gear; powering a first motor to drive the drive train gear for controlling a joint or segment of the exoskeleton device; and enabling free swing motion in the joint or segment when the drive train gear is disengaged from the clutch system.",
    "2. The method of claim 1, wherein determining whether to engage the drive train gear includes determining whether to (i) utilize a second motor to assist the first motor in actuating the joint or (ii) independently actuate the joint with the first motor.",
    "3. The method of claim 1, further comprising controlling an extension and flexion of the joint.",
    "4. The method of claim 1, further comprising controlling an extension and flexion of the joint by engaging a second motor to the clutch system.",
    "5. The method of claim 1, further comprising controlling an extension and flexion of N number of joints, including the joint, by engaging N number of motors, including the first motor, to the clutch system.",
    "6. The method of claim 1, further comprising controlling an extension and flexion of N number of joints, including the joint, by engaging N+1 number of motors, including the first motor, to the clutch system."
  ],
  "description_excerpt": "This invention is in the field of motorized control methods and systems for orthotics and prosthetics.\n\nNormal human motion, in particular limb motion, is a complex activity in which human muscles of normal strength, attached to normally strong and flexible bones and joints, must be precisely controlled by a normally functioning nervous system in order to achieve the desired result, such as normal walking, sitting, standing up, and other daily activities. Damage to any of these components - muscles, bones, joints, or nervous system can greatly hinder normal activity.\n\nUnfortunately, such damage is quite common, particularly as a response to accident, disease or even normal ageing. As a result, there is a large medical interest in various artificial systems and methods to provide additional support to assist patients who may be suffering from damage in any of these areas.\n\nIn particular, prior art in this areas has focused in various types of orthotic devices, such as braces that can be strapped to a limb and either help support joints, or restrict or immobilize joint motion as desired.\n\nIn more recent years, there has been interest in the field at producing various types of strap-on orthotic exoskeleton devices that can further assist human motion through various motors, actuators, control systems and feedback systems. However work in this area remains at an unsatisfactory level of development.\n\nIn some embodiments, the invention may be devices and methods to produce and operate strap-on powered orthotic exoskeletons that are more effective than prior art devices.",
  "cpc": [
    "A61H 3/00",
    "A61H 1/024",
    "A61H 1/0266",
    "A61H 2003/007",
    "A61H 2201/018",
    "A61H 2201/0184",
    "A61H 2201/1207",
    "A61H 2201/1215",
    "A61H 2201/1445",
    "A61H 2201/164",
    "A61H 2201/1642",
    "A61H 2201/165",
    "A61H 2201/1676",
    "A61H 2201/5007",
    "A61H 2201/5061",
    "A61H 2201/5064",
    "A61H 2201/5069",
    "A61H 2205/10",
    "B25J 9/0006"
  ],
  "ipc": [
    "A61H 1/02",
    "A61H 3/00",
    "B25J 9/00"
  ],
  "assignees": [
    "Leonis Medical Corp"
  ],
  "inventors": [
    "Jonathon A. Smith",
    "Kern Bhugra"
  ],
  "filing_date": "2019-05-07",
  "publication_date": "2022-08-02",
  "grant_date": "2022-08-02",
  "priority_date": "2011-07-29",
  "application_number": "US-201916405785-A",
  "family_id": "67685414",
  "cited_by_count": 3,
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}