Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton
A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
1. A method of reducing the oxygen consumption of a person during a walking cycle utilizing an exoskeleton device, adapted to be coupled to said person, including at least one power unit, first and second leg supports rotatably connected to an exoskeleton trunk, and first and second hip actuators configured to create torques between said exoskeleton trunk and said first and second leg supports respectively, said method comprising:
creating a first unidirectional torque utilizing said first hip actuator, when said first leg support enters a stance phase, to move said first leg support in the stance phase backward relative to said exoskeleton trunk thereby pushing the exoskeleton trunk in a forward direction until said second leg support in a swing phase enters a stance phase such that the exoskeleton device is in the double stance condition; and
creating a second unidirectional torque utilizing said first hip actuator, when said second leg support enters the stance phase, to move said first leg support while still in the stance phase forward until said first leg support leaves a support surface and moves into a swing phase.
2. The method of claim 1 wherein a magnitude of said second unidirectional torque is generally smaller than a magnitude of said first unidirectional torque.
3. The method of claim 1 wherein said first unidirectional torque is generally constant.
4. The method of claim 1 wherein said second unidirectional torque is generally constant.
5. The method of claim 1 wherein moving said first leg support into the swing phase comprises creating a swing torque, utilizing the first hip actuator, acting in a direction to move said first leg support forwardly relative to said exoskeleton trunk.
6. The method of claim 5 wherein said swing torque is equal to said second unidirectional torque.
7. The method of claim 1 wherein said first unidirectional torque is decreasing in value when first leg support is in the stance phase and said second leg support is in the swing phase.
8. The method of claim 1 wherein a sum of the torques from said hip actuators onto said exoskeleton trunk acts in a direction of hip extension at all times.
9. The method of claim 8 wherein the sum of the torques from said hip actuators onto said exoskeleton trunk is generally constant.
10. The method of claim 8 wherein the sum of the torques from said hip actuators onto said exoskeleton trunk drops to no less than 50% of its maximum value at any time.
11. The method of claim 5 wherein said swing torque is unidirectional during the swing phase of the first leg support.
12. The method of claim 5 wherein a magnitude of said swing torque generally decreases over a period of swing.
13. The method of claim 5 wherein said swing torque starts at a value equal to said second unidirectional torque and then generally decreases over a period of swing.
14. The method of claim 5 wherein said swing torque is near zero in late swing.
15. The method of claim 5 wherein said swing torque has a magnitude which decreases over a period of swing until said swing torque switches direction in late swing.
16. The method of claim 5 wherein said swing torque includes a torque proportional to an angular velocity of said first leg support in swing with respect to said exoskeleton trunk, and acts in a direction that increases said angular velocity.
17. The method of claim 5 wherein said swing torque includes a torque proportional to an angular velocity of said first leg support in swing with respect to the support surface, and acts in a direction that increases said angular velocity.
18. The method of claim 5 wherein said swing torque includes a torque proportional to an angular acceleration of said first leg support with respect to said exoskeleton trunk, and acts in a direction that increases said angular acceleration.
19. The method of claim 5 wherein said swing torque includes a torque proportional to an angular acceleration of said first leg support with respect to a support surface, and acts in a direction that increases said angular acceleration.
20. The method of claim 5 wherein said swing torque includes a torque proportional to a sine of a hip angle of said first leg support with respect to said exoskeleton trunk, and acts in a direction to oppose gravity of said first leg support.
21. The method of claim 5 wherein said swing torque includes a torque which is proportional to a sine of a hip angle of said first leg support with respect to the support surface and acts in a direction to oppose gravity of said first leg support.
22. The method of claim 5 wherein said first unidirectional torque is a summation including a component which is proportional to a negative value of a swing torque generated by said second hip actuator of said second leg support in the swing phase.
23. A method of reducing the oxygen consumption and heart rate of a person during a walking cycle utilizing an exoskeleton device, adapted to be coupled to said person, including at least one power unit, first and second leg supports rotatably connected to an exoskeleton trunk and configured to rest on a support surface during their stance phases, and first and second hip actuators configured to create torques between said exoskeleton trunk and said first and second leg supports respectively, said method comprising:
creating a first unidirectional torque utilizing said first hip actuator, when said first leg support strikes the support surface and enters a stance phase, to move said first leg support in the stance phase backward relative to said exoskeleton trunk thereby pushing said person's upper body in a forward direction until said second leg support in a swing phase strikes the support surface such that the exoskeleton device is in the double stance condition; and
creating a second unidirectional torque utilizing said first hip actuator, when said second leg support strikes the support surface and enters a stance phase, to move said first leg support, while still in the stance phase, forward until said first leg support leaves the support surface and then moving said first leg support into a swing phase.