Legged mobility exoskeleton device with enhanced actuator mechanism employing magnetic coupling

{
  "publication_number": "US2021338515A1",
  "country": "US",
  "kind": "A1",
  "title": "Legged mobility exoskeleton device with enhanced actuator mechanism employing magnetic coupling",
  "abstract": "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.",
  "claims": [
    "1. A joint actuator assembly comprising: 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 a speed reduction from the motor to the rotating driving member; wherein 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. 2. The joint actuator assembly of claim 1, wherein the magnetic coupling comprises a plurality of recessed pockets, and at least one of the recessed pockets includes a respective one of the plurality of magnetic elements located at a bottom of the recessed pocket. 3. The joint actuator assembly of claim 1, wherein each recessed pocket includes a mating surface extending from an outer surface the rotating driving member toward a bottom of the recessed pocket. 4. The joint actuator assembly of claim 3, wherein the mating surface is a tapered mating surface. 5. The joint actuator assembly of claim 4, wherein the tapered mating surface is stepped with a plurality of ridges. 6. The joint actuator assembly of claim 3, wherein the mating surfaces of the recessed pockets are non-uniform relative to each other. 7. The joint actuator assembly of claim 2, wherein each recessed pocket includes a respective one of the plurality of magnetic elements. 8. The joint actuator assembly of claim 2, wherein the magnetic coupling comprises six recessed pockets spaced equidistantly around the rotating driving member. 9. The joint actuator assembly of claim 8, wherein the magnetic coupling further comprises six magnetic elements located respectively in each of the six recessed pockets. 10. The joint actuator assembly of claim 1, wherein the magnetic elements are neodymium disc magnets. 11. (canceled) 12. A mobility device comprising: an actuator assembly including a rotating driving member; a driven component that is driven by the rotating driving member; and a magnetic coupling system comprising a first magnetic coupling on the actuator assembly that magnetically couples to a second magnetic coupling on the driven component, the magnetic coupling system including a plurality of magnetic elements located as part of one or both of the first and second magnetic couplings; wherein the first magnetic coupling has a first mating surface and the second magnetic coupling has a second mating surface that join when the magnetic coupling system is in a coupled position. 13. The mobility device of claim 12, wherein the first magnetic coupling comprises a plurality of recessed pockets and the second magnetic coupling has a plurality of raised mating features that respectively extend into the recessed pockets when the magnetic coupling system is in the coupled position. 14. The mobility device of claim 13, wherein at least one of the recessed pockets includes a respective one of the plurality of magnetic elements located at a bottom of the recessed pocket, and/or at least one of the raised mating features includes a respective one of the plurality of magnetic elements located at an end of the raised mating feature. 15. The mobility device of claim 13, wherein: each recessed pocket includes a first mating surface extending from an outer surface the rotating driving member toward a bottom of the recessed pocket; each raised mating feature includes a second mating surface extending from a base surface of the driven component toward an end of the raised mating feature; and the first mating surface and the second mating surface engage when the magnetic coupling system is in the coupled position. 16 - 18. (canceled) 19. The mobility device of claim 15, wherein the first mating surface and the second mating surface comprise a mechanical interface that handles torque loads applied to the actuator assembly, and that provides mechanical keying that aligns the actuator assembly and the driven component. 20 - 21. (canceled) 22. The mobility device of claim 12, wherein in the rotating driving member polarity is the same for all magnetic elements, and in the driven component polarity is the same for all magnetic elements and opposite to the polarity of the magnetic elements in the rotating driving member. 23. The mobility device of claim 12, wherein the magnetic coupling system comprises a magnetic keying system that aligns the rotating driving member and the driven component, the magnetic keying system including magnetic elements in each of the rotating driving member and the driven component being installed with alternating and opposite polarity. 24. The mobility device of claim 12, wherein one of the actuator assembly and the drive component includes magnetic elements, and the other of the actuator assembly and the drive component includes ferrous discs opposing the magnetic elements. 25 - 26. (canceled) 27. The mobility of claim 12, wherein the rotating driving member comprises an output reel of the actuator assembly that drives the driven component. 28. The mobility device of claim 12, wherein the mobility device is a legged mobility exoskeleton device comprising: a hip component; at least one thigh assembly including the actuator assembly connected to the hip component at a hip joint; and the driven component is at least one lower leg assembly that is magnetically coupled to the at least one thigh assembly by the magnetic coupling system at a knee joint."
  ],
  "description_excerpt": "The present invention relates to movement assist devices, such as a legged mobility device or “exoskeleton” device, and more particularly to drive mechanisms and coupling components for driving the joint components of such devices.\n\nThere are currently on the order of several hundred thousand spinal cord injured (SCI) individuals in the United States, with roughly 12,000 new injuries sustained each year at an average age of injury of 40.2 years. Of these, approximately 44% (approximately 5300 cases per year) result in paraplegia. One of the most significant impairments resulting from paraplegia is the loss of mobility, particularly given the relatively young age at which such injuries occur. Surveys of users with paraplegia indicate that mobility concerns are among the most prevalent, and that chief among mobility desires is the ability to walk and stand. In addition to impaired mobility, the inability to stand and walk entails severe physiological effects, including muscular atrophy, loss of bone mineral content, frequent skin breakdown problems, increased incidence of urinary tract infection, muscle spasticity, impaired lymphatic and vascular circulation, impaired digestive operation, and reduced respiratory and cardiovascular capacities.\n\nIn an effort to restore some degree of legged mobility to individuals with paraplegia, several lower limb orthoses have been developed. The simplest form of such devices is passive orthotics with long-leg braces that incorporate a pair of ankle-foot orthoses (AFOs) to provide support at the ankles, which are coupled with leg braces that lock the knee joints in full extension.",
  "cpc": [
    "A61H 3/00",
    "A61H 1/024",
    "A61H 1/0244",
    "A61H 2001/0248",
    "A61H 2201/0107",
    "A61H 2201/1207",
    "A61H 2201/1215",
    "A61H 2201/1436",
    "A61H 2201/1454",
    "A61H 2201/1463",
    "A61H 2201/1472",
    "A61H 2201/164",
    "A61H 2201/1642",
    "A61H 2201/165",
    "A61H 2201/1673",
    "A61H 2205/102",
    "A61H 2205/106",
    "A61H 2205/108",
    "B25J 9/0006"
  ],
  "ipc": [
    "A61H 3/00",
    "B25J 9/00"
  ],
  "assignees": [
    "PARKER HANNIFIN CORP"
  ],
  "inventors": [
    "FARRIS RYAN",
    "ETHERIDGE STEVEN",
    "MORRISON SCOTT"
  ],
  "filing_date": "2018-01-17",
  "publication_date": "2021-11-04",
  "priority_date": "2017-02-08",
  "application_number": "US-201816338885-A",
  "family_id": "61157325"
}