Strap assembly for use in an exoskeleton apparatus
An exoskeleton for a limb of a user utilizes an air bladder strap, which may be monitored and the pressure therein adjusted from time to time.
1. An exoskeleton configured to be worn by a person and comprising:
a) at least one leg structure;
b) a drive member operatively connected to the at least one leg structure;
c) an air bladder strap configured to secure a user to a portion of the exoskeleton, the air bladder strap comprising a section that extends from an openable portion to an attachment portion, the section having an inflatable pocket having a first end proximate the openable portion and a second end proximate the attachment portion, wherein the first and second ends are in air flow communication;
d) a source of pressurized fluid connectable in flow communication with the inflatable pocket; and,
e) a pressure sensor in flow communication with the inflatable pocket, a pressure relief valve in flow communication with the inflatable pocket, and a controller operatively connected to the source of pressurized fluid, the pressure sensor and the pressure relief valve, wherein the controller is operable to maintain the pressure in the inflatable pocket in a first predetermined range when a user wearing the exoskeleton is in a sitting position, and in a second predetermined range when the user wearing the exoskeleton is in a walking position.
2. The exoskeleton of claim 1 wherein the openable portion is releasably attachable to the exoskeleton at a first location and the attachment portion is provided on the exoskeleton at a second location.
3. The exoskeleton of claim 2 wherein the attachment portion is releasably attachable to the exoskeleton at the second location.
4. The exoskeleton of claim 1 wherein the openable portion is releasably attachable to the attachment portion and a mid-portion of the air bladder strap is connected to the exoskeleton.
5. The exoskeleton of claim 1 , wherein the controller actuates the source of pressurized fluid in response to a low pressure signal from the pressure sensor.
6. The exoskeleton of claim 5 wherein the pressure relief valve is actuatable when the pressure in the inflatable pocket exceeds a predetermined pressure.
7. The exoskeleton of claim 1 further comprising a check valve positioned between the pressure sensor and the source of pressurized fluid.
8. The exoskeleton of claim 7 wherein the check valve and the pressure relief valve comprise a single valve.
9. The exoskeleton of claim 1 further comprising at least one additional inflatable pocket wherein the source of pressurized fluid is connectable in flow communication with all of the inflatable pockets.
10. The exoskeleton of claim 1 wherein the inflatable pocket is baffled.
11. A method of attaching an exoskeleton to a user comprising:
a) extending an air bladder strap that is connected to the exoskeleton around a portion of the user's body;
b) pressurizing the air bladder strap from an on board source of pressurized fluid; and,
c) maintaining pressure in the air bladder strap within a first predetermined range when a user wearing the exoskeleton is in a sitting position, and within a second predetermined range when the user wearing the exoskeleton is in a walking position.
12. The method of claim 11 wherein maintaining the pressure comprises releasing pressure from the air bladder strap when an overpressure condition occurs.
13. The method of claim 12 wherein the exoskeleton comprises a pressure relief valve in flow communication with an inflatable pocket in the air bladder strap and the method further comprises automatically releasing pressure from the air bladder strap when an overpressure condition occurs.
14. The method of claim 11 wherein maintaining the pressure comprises monitoring pressure in the air bladder strap and increasing the pressure when an under pressure condition occurs.