Granted Patent B2

US 12,508,185 · App. 17/332,507 · Granted Dec 30, 2025

Inventors: Robert Stuart (Arcata, CA); Kevin Conrad Kemper (San Francisco, CA); Timothy Alan Swift (Walnut Creek, CA)

Assignee: ROAM ROBOTICS INC.

A61H3/00A61H1/024B25J9/0006B25J9/1602A61H2003/007A61H2201/1238A61H2201/1261A61H2201/164A61H2201/1642A61H2201/165A61H2201/1652A61H2201/1671A61H2201/5007A61H2201/501A61H2201/5012A61H2201/5025A61H2201/5046A61H2201/5048A61H2201/5058A61H2201/5097A61H2203/0406A61H2203/0431A61H2205/102A61H2230/00

Abstract

Claims (27)

1 . A method of configuring one or more exoskeleton systems in an exoskeleton network, the method comprising:

receiving, at an exoskeleton server, respective sets of exoskeleton data from a plurality of separate exoskeleton systems that are remote from the exoskeleton server, the plurality of separate exoskeleton systems and exoskeleton server being operably connected by and separated by a network, and each of the plurality of separate exoskeleton systems including:

a left and right leg actuator unit 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 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,

a plurality of sensors, 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;

a pneumatic system operably coupled to, and configured to introduce a fluid to, the bellows actuators of the left and right leg actuator units via the one or more sets of fluid lines of the left and right leg actuator units;

an exoskeleton device that includes a processor and memory, the memory storing instructions, that when executed by the processor, are configured to control the pneumatic system to introduce the fluid to the bellows actuators of the left and right leg actuator units;

storing, at the exoskeleton server, the respective sets of exoskeleton data from the plurality of separate exoskeleton systems, the respective sets of exoskeleton data including:

the commands given by the processor to control the pneumatic system and the left and right leg actuator units,

sensor data obtained from the plurality of separate exoskeleton systems, the sensor data obtained from the plurality of sensors of the left and right leg actuator units of the plurality of separate exoskeleton systems,

determinations made by the exoskeleton devices of intended maneuvers, current maneuvers or state transitions,

determinations made by the exoskeleton devices of physical configurations of respective exoskeleton systems or users wearing the respective exoskeleton systems,

wherein a first plurality of data units of the respective sets of exoskeleton data are associated with different time and location data corresponding to a location of the respective exoskeleton system when the data unit was generated or obtained and a time when the data unit was generated or obtained, and

wherein a second plurality of data units of the respective sets of exoskeleton data are associated with a different user ID and exoskeleton ID corresponding to a user and exoskeleton system associated with a respective data unit;

generating a configuration input for configuring at least one of the plurality of separate exoskeleton systems based at least in part on:

the commands given by the processor to control the pneumatic system and the left and right leg actuator units on the plurality of separate exoskeleton systems;

the sensor data obtained from the plurality of separate exoskeleton systems;

the determinations of intended maneuvers, current maneuvers or state transitions;

the determinations of physical configurations of respective exoskeleton systems or users wearing the respective exoskeleton systems; and

the different time and location data; and

sending the generated configuration input to the at least one of the plurality of separate exoskeleton systems via the network to cause the at least one of the plurality of separate exoskeleton systems to be configured based at least in part on the generated configuration input.

2 . The method of claim 1 , wherein a third plurality of data units of the respective sets of exoskeleton data are associated with different confidence scores corresponding to a different confidence level at which the second plurality of data units were determined.

3 . The method of claim 1 , wherein generating the configuration input comprises comparing exoskeleton data associated with a first user ID and a first exoskeleton ID to exoskeleton data associated with a plurality of different user IDs or exoskeleton IDs, including comparing exoskeleton data associated with the first user ID and the first exoskeleton ID to an average of exoskeleton data associated with a plurality of different user IDs or exoskeleton IDs, and

wherein the generated configuration input includes instructions for a presentation, via a user interface, of the comparison of the exoskeleton data associated with the first user ID and the first exoskeleton ID to the average of exoskeleton data associated with the plurality of different user IDs or exoskeleton IDs.

4 . The method of claim 1 , wherein generating the configuration input occurs automatically based on one or more conditions being determined as being present.

Assignments (1)

Continuity (3)

References Cited (400)