Exoskeleton legs to reduce fatigue during repetitive and prolonged squatting
An exoskeleton leg is wearable by a person. The exoskeleton includes a thigh link configured to move in unison with the thigh of the person, a shank link rotatably coupled to the thigh link and comprising at least one tooth, and a locking block coupled to the thigh link and comprising a locking face. Moreover, when the at least one tooth of the shank link contacts with the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.
1. An exoskeleton leg wearable by a person, the exoskeleton leg comprising:
a thigh link configured to move in unison with a thigh of the person;
a shank link rotatably coupled to the thigh link and comprising a tooth; and
a locking block coupled to the thigh link and comprising a locking face, the locking block movable relative to the thigh link between a first position and a second position,
wherein the shank link and the tooth rotate together relative to the thigh link and the locking block, and
wherein when the locking block is at the first position, the tooth contacts the locking face when the shank link is at a first angle relative to the thigh link, thereby preventing a flexion motion of the shank link relative to the thigh link, but allowing an extension motion of the shank link relative to the thigh link.
2. The exoskeleton leg of claim 1 , wherein said shank link comprises a second tooth, and
wherein when the locking block is at the second position, the second tooth of the shank link contacts the locking face when the shank link is at a second angle relative to the thigh link, thereby preventing a flexion motion of the shank link relative to the thigh link, but allowing an extension motion of the shank link relative to the thigh link.
3. The exoskeleton leg of claim 2 , wherein said shank link comprises a third tooth,
wherein the locking block is movable relative to the thigh link to a third position, and
wherein when the locking block is at the third position, the third tooth of the shank link contacts the locking face when the shank link is at a third angle relative to the thigh link, thereby preventing a flexion motion of the shank link relative to the thigh link, but allowing an extension motion of the shank link relative to the thigh link.
4. The exoskeleton leg of claim 1 , wherein when the locking block prevents flexion motion of the shank link relative to the thigh link, at least a portion of the person's weight is supported about a knee joint of the exoskeleton leg.
5. The exoskeleton leg of claim 4 , wherein when the locking block prevents flexion motion of the shank link relative to the thigh link, at least a portion of the person's weight is supported about a knee joint of the exoskeleton leg and transferred to the ground.
6. The exoskeleton leg of claim 1 , wherein the locking block moves linearly between the first position and the second position.
7. The exoskeleton leg of claim 1 , wherein the thigh link is rotatable relative to the shank link about a knee joint, and the locking block moves relative to the knee joint when moving from the first position to the second position.
8. The exoskeleton leg of claim 1 , wherein the first angle of the shank link relative to the thigh link corresponds to a squatting posture of the person.
9. The exoskeleton leg of claim 1 , wherein the shank link is rotatable relative to the thigh link about a first axis, and
wherein the shank link comprises a series of teeth arranged such that a radial distance from the first axis to a tooth start point is equal to or larger than a radial distance from the first axis to a tooth end point of an adjacent tooth.
10. The exoskeleton leg of claim 1 , further comprising a locking switch configured to move the locking block between the first position and the second position.
11. The exoskeleton leg of claim 1 , wherein the locking block is rigid and does not permit any flexion motion of the shank link relative to the thigh link when the tooth contacts the locking face.
12. The exoskeleton leg of claim 1 , wherein the locking block is semi-rigid and permits limited flexion motion of the shank link relative to the thigh link when the tooth contacts the locking face.
13. The exoskeleton leg of claim 1 , further comprising a shoe ground connector coupled to the shank link and configured to transfer a load of the exoskeleton leg to the ground.
14. The exoskeleton leg of claim 1 , further comprising a butt pad coupled to the thigh link and configured to be positioned under the person's buttocks.
15. The exoskeleton leg of claim 14 , wherein the butt pad is configured to transfer at least a portion of a weight of the person to the exoskeleton leg.
16. An exoskeleton leg wearable by a person comprising:
a thigh link configured to move in unison with a thigh of the person;
a shank link rotatably coupled to the thigh link and comprising a tooth; and
a locking block coupled to the thigh link and comprising a locking face;
wherein the tooth of the shank link contacts the locking face when the shank link is at a locking angle relative to the thigh link,
wherein the locking angle corresponds to a squatting posture of the person, and
wherein when the tooth of the shank link contacts the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.
17. The exoskeleton leg of claim 16 , wherein the locking angle is 30 degrees.
18. The exoskeleton leg of claim 16 , wherein the locking angle is 75 degrees.
19. The exoskeleton leg of claim 16 , wherein the locking angle is 110 degrees.
20. The exoskeleton leg of claim 16 , wherein the locking angle is 140 degrees.
21. An exoskeleton leg wearable by a person, the exoskeleton leg comprising:
a thigh link configured to move in unison with a thigh of the person;
a shank link rotatably coupled to the thigh link; and
a lock adjustable between a first configuration and a second configuration,
wherein when the lock is in the first configuration, the lock prevents flexion motion of the shank link relative to the thigh link beyond a first locking angle, but allows flexion motion of the shank link relative to the thigh link up to the first locking angle,
wherein when the lock is in the second configuration, the lock prevents flexion motion of the shank link relative to the thigh link beyond a second locking angle, but allows flexion motion of the shank link relative to the thigh link up to the second locking angle, and
wherein when the lock is in the first configuration or the second configuration, the lock allows extension motion of the shank link relative to the thigh link.
22. The exoskeleton leg of claim 21 , wherein the lock comprises:
a locking block coupled to one of the thigh link or the shank link, and
a first tooth and a second tooth provided on the other of the thigh link or the shank link,
wherein the locking block is movable between a first position corresponding to the first configuration of the lock and a second position corresponding to the second configuration of the lock,
wherein when the locking block is in the first position, the first tooth engages the locking block when the shank link is at the first locking angle relative to the thigh link, and
wherein when the locking block is in the second position, the second tooth engages the locking block when the shank link is at the second locking angle relative to the thigh link.
23. The exoskeleton leg of claim 22 , wherein the locking block is coupled to the thigh link, and the first tooth and the second tooth are provided on the shank link.