Powered device to benefit a wearer during skiing
An exoskeleton system having an actuator unit configured to be coupled to a leg of a user. The actuator unit includes an upper arm and a lower arm that are rotatably coupled via a joint, the joint positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee; a fluidic actuator that extends between the upper arm and lower arm; and one or more fluid lines coupled to the fluidic actuator to introduce fluid to the fluidic actuator that causes force to be applied to the upper arm and lower arm.
1. An exoskeleton system comprising:
a left and right leg actuator unit that are respectively coupled to a left and right leg of a user over clothing of the user, the left and right leg actuator units each including:
an upper arm and a lower arm that are rotatably coupled via a rotatable joint, the rotatable joint configured to be positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee,
the upper arm coupled to the upper leg portion above the knee via a first set of couplers that includes a first and second coupler that are joined by a unitary curved rigid plate assembly disposed on and extending around a lateral side of the upper leg portion, with straps of the first and second couplers extending around the upper leg portion, the first coupler disposed and extending completely above a top end of the upper arm, the upper arm coupled to the rigid plate assembly on a lateral side of the upper leg portion and configured to transfer force generated by the upper arm to the upper leg portion,
the lower arm coupled to the lower leg portion below the knee via a second set of couplers that includes a third and fourth coupler, with a coupling branch unit extending from a distal end the lower arm, the coupling branch unit comprising:
a first branch that extends from a lateral position on the lower leg portion, curving upward above the distal end of the lower arm and toward the anterior of the lower leg portion to a first attachment on the anterior of the lower leg portion below the knee, with the first attachment joining the third coupler and the first branch of the coupling branch unit wherein the first branch is spaced apart from the lower leg portion below the knee at rest, and
a second branch that extends from a lateral position on the lower leg portion of the leg, curving downward and toward the posterior of the lower leg portion to a second attachment on the posterior of the lower leg portion below the knee, with the second attachment joining the fourth coupler and the second branch of the coupling branch unit wherein the second branch is spaced apart from the lower leg portion below the knee at rest;
a bellows actuator that extends between the upper arm and lower arm; and
one or more sets of pneumatic lines coupled to the bellows actuator to introduce pneumatic fluid to and remove fluid from the bellows actuator to cause the bellows actuator to expand and contract and move the upper arm and lower arm.
2. The exoskeleton system of claim 1 , wherein the fourth couplers of the left and right leg actuator units surround and engage a respective ski boot of the user.
3. The exoskeleton system of claim 1 , further comprising a backpack configured to be worn by the user, the backpack comprising:
a pneumatic fluid source coupled to the one or more sets of pneumatic lines that are coupled to the bellows actuator,
a control system that controls actuation of the left and right leg actuator units,
a user interface that provides input to the control system,
a plurality of sensors that provide data to the control system, and
a power source that provides electric power to the control system and the left and right leg actuator units.
4. An exoskeleton system comprising:
a left and right leg actuator unit configured to be respectively coupled to a left and right leg of a user, the left and right leg actuator units each including:
an upper arm and a lower arm that are rotatably coupled via a joint, the joint configured to be positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee,
a bellows actuator that extends between the upper arm and lower arm; and
one or more sets of fluid lines coupled to the bellows actuator to introduce fluid to the bellows actuator to cause the bellows actuator to expand and move the upper arm and lower arm,
wherein the lower arm is coupled to the lower leg portion below the knee via a second set of couplers that includes a third and fourth coupler, with a coupling branch unit extending from a distal end the lower arm, and
wherein the coupling branch unit comprises a first branch that extends from a lateral position on the lower leg portion, curving upward above the distal end of the lower arm and toward the anterior of the lower leg portion to a first attachment on the anterior of the lower leg portion below the knee, with the first attachment joining the third coupler and the first branch of the coupling branch unit wherein the first branch is spaced apart from the lower leg portion below the knee at rest.
5. The exoskeleton system of claim 4 , wherein the upper arm is coupled to the upper leg portion above the knee via a first set of couplers that includes a first and second coupler that are joined by a rigid plate assembly disposed on a lateral side of the upper leg portion, with straps of the first and second couplers extending around the upper leg portion, the upper arm coupled to the plate assembly on a lateral side of the upper leg portion and configured to transfer force generated by the upper arm to the upper leg portion.
6. The exoskeleton system of claim 4 , wherein the coupling branch unit comprises a first branch that extends from a lateral position on the lower leg portion, curving upward and toward the anterior of the lower leg portion to a first attachment on the anterior of the lower leg portion below the knee, with the first attachment joining the third coupler and the first branch of the coupling branch unit.
7. The exoskeleton system of claim 4 , wherein the coupling branch unit comprises a second branch that extends from a lateral position on the lower leg portion of the leg, curving downward and toward the posterior of the lower leg portion to a second attachment on the posterior of the lower leg portion below the knee, with the second attachment joining the fourth coupler and the second branch of the coupling branch unit.
8. The exoskeleton system of claim 4 , wherein the lower arms of the left and right leg actuator units include a coupler that surrounds and engages a respective ski boot of the user.
9. The exoskeleton system of claim 4 , further comprising a pack configured to be worn by the user, the pack comprising:
a fluid source coupled to the one or more sets of fluid lines that are coupled to the bellows actuator,
a control system that controls actuation of the left and right leg actuator units,
a user interface that provides input to the control system,
a plurality of sensors that provide data to the control system, and
a power source that provides electric power to the control system and the left and right leg actuator units.
10. The exoskeleton system of claim 4 , wherein the upper arm is coupled to the upper leg portion above the knee via a first set of couplers that includes a first and second coupler that are joined by a unitary curved rigid plate assembly disposed on and extending around a lateral side of the upper leg portion, with straps of the first and second couplers extending around the upper leg portion.
11. The exoskeleton system of claim 4 , wherein the upper arm is coupled to the upper leg portion above the knee via a first set of couplers that includes a first and second coupler that are joined by a rigid plate assembly disposed on a lateral side of the upper leg portion, with straps of the first and second couplers extending around the upper leg portion, the first coupler disposed and extending completely above a top end of the upper arm.
12. The exoskeleton system of claim 4 , wherein the coupling branch unit comprises a second branch that extends from a lateral position on the lower leg portion of the leg, curving downward and toward the posterior of the lower leg portion to a second attachment on the posterior of the lower leg portion below the knee, with the second attachment joining the fourth coupler and the second branch of the coupling branch unit wherein the second branch is spaced apart from the lower leg portion below the knee at rest.
13. An exoskeleton system comprising:
an actuator unit configured to be coupled to a leg of a user, the actuator unit including:
an upper arm and a lower arm that are rotatably coupled via a joint, the joint configured to be positioned at a knee of the user with the upper arm coupled about an upper leg portion of the user above the knee and with the lower arm coupled about a lower leg portion of the user below the knee;
a fluidic actuator that extends between the upper arm and lower arm; and
one or more fluid lines coupled to the fluidic actuator to introduce fluid to the fluidic actuator that causes force to be applied to the upper arm and lower arm,
wherein the lower arm is coupled to the lower leg portion below the knee. with a coupling branch unit extending from a distal end the lower arm, and
wherein the coupling branch unit comprises a first branch that extends from a lateral position on the lower leg portion to above the distal end of the lower arm and toward the anterior of the lower leg portion to a first attachment on the anterior of the lower leg portion below the knee, with the first attachment joining a coupler and the first branch of the coupling branch unit, wherein the first branch is spaced apart from the lower leg portion below the knee at rest.
14. The exoskeleton system of claim 13 , wherein the upper arm is coupled to the upper leg portion above the knee via at least one coupler joined by a rigid plate on the upper leg portion, with one or more straps of the at least one coupler extending around the upper leg portion.
15. The exoskeleton system of claim 13 , wherein the lower arm is coupled to the lower leg portion below the knee via at least one coupler, with a coupling branch unit extending from a distal end of the lower arm.
16. The exoskeleton system of claim 15 , wherein the coupling branch unit comprises a first branch that extends from a lateral position on the lower leg portion, curving upward and toward the anterior of the lower leg portion to a third coupler.
17. The exoskeleton system of claim 15 , wherein the coupling branch unit comprises a second branch that extends from a lateral position on the lower leg portion of the leg, curving downward and toward the posterior of the lower leg portion to a fourth coupler.
18. The exoskeleton system of claim 13 , wherein lower arm of the actuator unit includes a coupler that is coupled to a ski boot.
19. The exoskeleton system of claim 13 , further comprising:
a fluid source coupled to the fluid lines that is coupled to the fluidic actuator,
a control system that controls actuation of the actuator unit,
a user interface that provides input to the control system,
one or more sensors that provide data to the control system, and
a power source that provides power to the exoskeleton system.
20. The exoskeleton system of claim 19 , wherein one or more of the fluid source, control system, user interface and power source are disposed in or on a pack configured to be worn by the user.
21. The exoskeleton system of claim 13 , wherein the lower arm is coupled to the lower leg portion below the knee via a set of couplers that includes a first and second coupler.