Dynamic mounting mechanism for an exoskeleton
The present invention is directed to the affixion of an exoskeleton device that can include multiple rotational degrees of freedom in its attachment mechanism to approximate linear motion orthogonal to the person's line of action. The present invention can include one or more additional, non-parallel degrees of freedom. The present invention provides a sliding mechanism for adjusting the exoskeleton mating point along the user's body.
1. An attachment device for a biomechanical exoskeleton, the attachment device comprising,
a support bracket configured to be fixed to a support of an exoskeleton;
a support arm pivotally supported by the support bracket about a first axis at a first end; and
a fixation pad pivotally connected to a second end of the support arm about a second axis and a third axis,
wherein the first and second axis are parallel to one another, and
wherein the third axis is perpendicular to the second axis.
2. The attachment device of claim 1 , wherein the support bracket is a clamp and a clamping pin configured to fix the clamp relative to the exoskeleton.
3. The attachment device of claim 2 , wherein the clamp is configured to slide along the support of the exoskeleton when the clamp is not fixed by the clamping pin.
4. The attachment device of claim 1 , wherein fixation pad is constrained to only pivot about the second and third axes relative to the support arm.
5. The attachment device of claim 4 , wherein the support arm is constrained to only rotate about the first axis relative to the support bracket.
6. The attachment device of claim 1 , wherein the support arm is constrained to only rotate about the first axis relative to the support bracket.
7. The attachment device of claim 1 , further comprising,
an attachment strap having a first end fixed to the fixation pad and a second end releasably attached to the fixation pad.
8. The attachment device of claim 1 , wherein the fixation pad is configured to naturally realign relative to a user during use.
9. The attachment device of claim 8 , wherein the fixation pad is configured to maintain contact with the user without applying sheer forces.
10. An exoskeleton, the exoskeleton comprising,
an upright support;
an actuated pivot at a distal end of the upright support;
a clamp configured and arranged to slide linearly along a proximal end of the support to adjust a relative height of a pad,
a support arm pivotally connected to the clamp at a first end;
the pad being pivotally connected to the support arm at a second end,
wherein the pad is configured and arranged to maintain a fixed distance between the pad and the actuated pivot when attached to a user and the exoskeleton is in use,
wherein the pad is constrained to three rotational degrees of freedom relative to the upright support.
11. The exoskeleton of claim 10 , wherein the pad is configured to not apply any sheer forces to the user during use.
12. The exoskeleton of claim 10 , wherein movement of the support arm is constrained to a single rotational degree of freedom relative to the clamp.
13. The exoskeleton of claim 12 , wherein movement of the pad is constrained to two degrees of rotational freedom relative to the support arm.
14. The exoskeleton of claim 13 , wherein the clamp is fixed relative to the upright support during use.
15. The exoskeleton of claim 10 , wherein movement of the pad is constrained to two degrees of rotational freedom relative to the support arm.
16. The exoskeleton of claim 15 , wherein the clamp is fixed relative to the upright support during use.
17. The exoskeleton of claim 10 , wherein the clamp is fixed relative to the upright support during use.
18. The exoskeleton of claim 10 , wherein two of the three rotational degrees of freedom are parallel to one another and one is perpendicular to the two parallel rotational degrees of freedom.