Lower-leg exoskeleton system and method
A lower-leg exoskeleton including an inflatable actuator that is configured to be worn over a front portion of a foot of a user; a rigid foot structure coupled to the inflatable actuator that is configured to surround a portion of a foot of the user; and a rigid shin structure coupled to the inflatable actuator and configured to engage the shin of the user. When worn by a user, the lower-leg exoskeleton can receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure which is forward of the heel of a user. Inflation of the inflatable actuator can generate a moment about the ankle of a user to cause flexion of the foot of the user.
1. An exoskeleton system comprising:
an actuation system that includes:
a fluidic system; and
a control system operably coupled to and configured to control the fluidic system, and
a first and second lower-leg exoskeleton that each comprises:
an inflatable actuator that is operably coupled to and configured to be inflated by the fluidic system and configured to be worn over a front portion of a foot of a user, the inflatable actuator being generally C-shaped and configured to be disposed directly adjacent to and surround an ankle of the foot of the user including a front of the ankle and peripheral sides of the ankle;
a rigid foot structure coupled to a first actuator end of the inflatable actuator, the rigid foot structure configured to surround a portion of the foot of the user and direct force generated by the inflatable actuator at the front portion of the foot of the user around the foot of the user to a rigid base of the rigid foot structure such that force from the inflatable actuator is not directly applied to a top portion of the foot, the rigid base configured to engage a bottom portion of the foot; and
a rigid shin structure coupled to a second actuator end of the inflatable actuator and configured to engage a shin of the user;
wherein, the inflatable actuator, rigid foot structure, and rigid shin structure are configured to, when worn by the user, receive and transmit an actuator load generated by the inflatable actuator to the rigid base of the rigid foot structure and forward of the heel of the user; and
wherein inflation of the inflatable actuator generates a moment about the ankle of the user to cause flexion of the foot of the user.
2. The system of claim 1 , wherein the rigid foot structure comprises:
a pair of sidewalls configured to extend around the foot of a user and including first and second sidewall attachment points respectively on the sidewalls for attachment with a removable base portion, and
a removable flat base portion configured to reside at a base of the foot of the user that includes first and second base attachment points configured for removably coupling with the first and second sidewall attachment points, the removable flat base portion integrally disposed within and extending through a sole of a footwear article with the first and second base attachment points disposed on respective external sides of the footwear article.
3. The system of claim 1 , wherein the rigid foot structure further comprises an inflatable structure.
4. The system of claim 3 , wherein the inflatable structure is configured to be positioned at a sole of the foot of the user and configured to evenly spread a load on a surface generated while the user is walking on the surface.
5. The system of claim 1 , wherein the rigid shin structure further comprises an inflatable structure.
6. The system of claim 1 , wherein the inflatable actuator comprises a plurality of stacked bladder segments.
7. The system of claim 6 , wherein the inflatable actuator further comprises a plurality of rigid collars disposed between respectively stacked bladder segments and configured to support the stacked bladder segments.
8. The system of claim 1 , wherein the inflatable actuator is configured for larger expansion at a front portion of the inflatable actuator when the inflatable actuator is inflated relative to a rear portion of the inflatable actuator.
9. The system of claim 1 , wherein the control system is configured to generate a portion of a walking gait for the user wearing the first and second lower-leg exoskeleton by at least actuating the respective inflatable actuators.
10. A lower-leg exoskeleton comprising:
an inflatable actuator that is configured to be worn over a front portion of a foot of a user and configured to be disposed directly adjacent to and surrounding an ankle of the foot of the user;
a rigid foot structure coupled to a first actuator end of the inflatable actuator, configured to surround a portion of the foot of the user, wherein the rigid foot structure comprises: a pair of sidewalls configured to extend around the foot of the user and including first and second sidewall attachment points for a removable base portion, and a removable base portion configured to reside at a base of the foot of the user that includes first and second base attachment points configured for removably coupling with the first and second sidewall attachment points; and a rigid shin structure coupled to a second actuator end of the inflatable actuator and configured to engage a shin of the user;
wherein, the inflatable actuator, rigid foot structure, and rigid shin structure are configured to, when worn by the user, receive and transmit an actuator load generated by the inflatable actuator around the foot of the user to a load contact point at a bottom of the foot of the user defined by the rigid foot structure and forward of a heel of the user; and wherein inflation of the inflatable actuator generates a moment about the ankle of the user to cause flexion of the foot of the user.
11. The lower-leg exoskeleton of claim 10 , wherein the inflatable actuator is operably coupled with a fluidic system and is configured to be inflated by the fluidic system to generate the moment about the ankle of the user to cause flexion of the foot of the user.
12. The lower-leg exoskeleton of claim 10 , wherein the rigid foot structure further comprises an inflatable structure.
13. The lower-leg exoskeleton of claim 12 , wherein the inflatable structure is configured to be positioned at a sole of the foot of the user and configured to evenly spread a load on a surface generated while the user is walking on the surface.
14. The lower-leg exoskeleton of claim 10 , wherein the rigid shin structure further comprises an inflatable structure.
15. The lower-leg exoskeleton of claim 10 , wherein the inflatable actuator comprises a plurality of stacked bladder segments.
16. The lower-leg exoskeleton of claim 15 , wherein the inflatable actuator further comprises a plurality of rigid collars disposed between respectively stacked bladder segments and configured to support the stacked bladder segments.
17. The lower-leg exoskeleton of claim 10 , wherein the inflatable actuator is configured to surround a portion of the foot of the user and configured for larger expansion at a front portion of the actuator when the inflatable actuator is inflated relative to a rear portion of the inflatable actuator.
18. The system of claim 1 ,
wherein the rigid foot structure comprises:
a pair of sidewalls configured to extend around the foot of the user and including first and second sidewall attachment points for a removable base portion, and
a removable base portion configured to reside at a base of the foot of the user that includes first and second base attachment points configured for removably coupling with the first and second sidewall attachment points;
wherein the rigid foot structure further comprises an inflatable structure; and
wherein the rigid shin structure further comprises an inflatable structure.