Unidirectional actuated exoskeleton device
The present invention is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.
1. A composite foot plate for footwear, comprising:
a footplate integrated into a sole of the footwear;
an outer sole located between the footplate and ground;
an inner sole located above the footplate;
the footplate extending upward only from one lateral most side surface of the footwear;
the footplate being made of composite material with fibers in a plurality of orientations and is flexible at a metatarsal joint region;
the footplate being varied in thickness, and
a mechanical joint disposed on the footplate, the mechanical joint is configured and arranged for plantar flexion, dorsiflexion, eversion and inversion of the footplate relative to a shank of a user.
2. The composite foot plate for footwear of claim 1 , wherein the mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion.
3. The composite foot plate for footwear of claim 2 , wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator.
4. The composite foot plate for footwear of claim 1 , wherein the mechanical joint includes
a first joint with an axis of rotation configured to be perpendicular to a sagittal plane of the user, and
a second joint with an axis of rotation configured to be perpendicular to the axis of rotation of the first joint.
5. The composite foot plate for footwear of claim 4 ,
wherein the mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion, and
wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator.
6. The composite foot plate for footwear of claim 1 , wherein the footplate is made of a material selected from the group consisting of unidirectional carbon fiber, twill weave carbon fiber, and/or plain weave carbon fiber.
7. The composite foot plate for footwear of claim 1 , wherein the footplate further includes embedded sensors selected from the group consisting of force sensors, pressure sensors, strain sensors, IMU sensor, humidity or liquid sensor, and temperature sensors.
8. A composite foot plate for footwear, comprising:
a footplate integrated into a sole of the footwear;
an outer sole located between the footplate and ground;
an inner sole located above the footplate;
the footplate extending upward on the lateral side of the footwear;
the footplate being made of composite material with fibers in a plurality of orientations and is flexible at a metatarsal joint region;
the footplate being varied in thickness, and
a mechanical joint disposed on the footplate, the mechanical joint is configured and arranged for plantar flexion, dorsiflexion, eversion and inversion of the footplate relative to a shank of a user, the-mechanical joint includes,
an ankle dorsiflexion/planar-flexion joint with an axis of rotation configured to be perpendicular to a sagittal plane of the user, and
an ankle eversion/inversion joint with an axis of rotation configured to be perpendicular to the axis of rotation of the first joint,
wherein the ankle eversion/inversion joint is proximal the sole of the footwear and the ankle dorsiflexion/planar-flexion joint is proximal to the ankle eversion/inversion joint.
9. The composite foot plate for footwear of claim 8 , wherein the-mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion.
10. The composite foot plate for footwear of claim 9 , wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator.
11. The composite foot plate for footwear of claim 8 , wherein the footplate is made of a material selected from the group consisting of unidirectional carbon fiber, twill weave carbon fiber, and/or plain weave carbon fiber.
12. The composite foot plate for footwear of claim 8 , wherein the footplate further includes embedded sensors selected from the group consisting of force sensors, pressure sensors, strain sensors, IMU sensor, humidity or liquid sensor, and temperature sensors.
13. The composite foot plate for footwear of claim 8 ,
wherein the mechanical joint includes an upstanding portion which is flexible to allow for misalignment and eversion/inversion, and
wherein the upstanding portion includes a lever arm that interacts with an exoskeleton actuator.