Wearable lower extremity exoskeleton
A wearable lower extremity exoskeleton for regenerating a lower body motion functionality of paraplegic patients is provided. The wearable lower extremity exoskeleton has four active DOF and each DOF provided by an actuator disposed around a hip level and a back and/or a front of a user and provided by articulations.
1 . A wearable lower extremity exoskeleton having a self-balancing capability, comprising:
a back-hip support aligned with a hip level of a user in at least a standing position where the user wears the wearable lower extremity exoskeleton and remained standing;
two legs, wherein each of the two legs is rotatably connected to a side hip link of at least two side hip links via at least one thigh articulation;
wherein each of the two legs comprises a thigh link of thigh links, wherein a first end of the thigh link is rotatably connected to the side hip link, a second end of the thigh link is rotatably connected to a shank link of shank links via at least one shank articulation and a foot plate of foot plates rotatably connected to the shank link via at least one foot articulation;
at least one first actuator providing a first rotational motion to the back-hip support and side hip links of the at least two side hip links in a coronal plane via a first actuation transfer means for supporting the user in a hip adduction and abduction;
at least one second actuator providing a second rotational motion to the side hip links of the at least two side hip links and the thigh links in a sagittal plane via a second actuation transfer means for supporting the user in a hip flexion and extension;
at least one third actuator providing a third rotational motion to the thigh links and the shank links in the sagittal plane via a third actuation transfer means for supporting the user in a knee flexion and extension;
at least one fourth actuator providing a fourth rotational motion to the foot plates in the sagittal plane via a fourth actuation transfer means for supporting the user in an ankle flexion and extension;
the at least two side hip links, wherein each of the at least two side hip links is rotatably connected to a side of the back-hip support via at least one hip articulation, wherein the at least two side hip links configured to support the user in the hip adduction and abduction; and
wherein the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator are disposed around the hip level and a back and/or a front of the user in at least the standing position,
wherein the wearable lower extremity exoskeleton is configured such that the shank link of a first leg of the two legs rotates outwardly about the at least one foot articulation of the first leg around an axis that is perpendicular to the coronal plane while the foot plate of the first leg is level on a ground and while a second leg of the two legs is lifted off of the ground.
2 . The wearable lower extremity exoskeleton according to claim 1 , wherein the foot plate is rotatably connected to the shank link via the at least one foot articulation through a resilient ankle means providing a back-and-forth motion to the foot plate in a longitudinal axis for keeping the foot plate in contact with a foot of the user in a selected tension.
3 . The wearable lower extremity exoskeleton according to claim 2 , wherein the resilient ankle means comprises a box, a base bracket disposed below, slidable inside the box and a resilient member, wherein the resilient member is a helical/coil spring.
4 . The wearable lower extremity exoskeleton according to claim 1 , wherein the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator are rotary motors and at least one of the first actuation transfer means, the second actuation transfer means, the third actuation transfer means and the fourth actuation transfer means comprises
a drive bracket fixed to a driving shaft of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator,
a transmitting rod, wherein a first end of the transmitting rod is rotatably connected to the driving shaft and a second end of the transmitting rod is rotatably connected to the back-hip support or a corresponding link, or the foot plate for transmitting a rotational actuation of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
5 . The wearable lower extremity exoskeleton according to claim 1 , wherein the at least one fourth actuator is a rotary motor and the fourth actuation transfer means comprise
a crank fixed to a driving shaft of the at least one fourth actuator,
a coupler, wherein a first end of the coupler is rotatably connected to the crank and a second end of the coupler is rotatably connected to one end of a lever, wherein the lever is rotatably connected from a middle point of the lever acting as a fulcrum to the thigh link or the at least one shank articulation,
a rocker, wherein a first end of the rocker is rotatably connected to the second end of the lever and a second end of the rocker is connected to the foot plate.
6 . The wearable lower extremity exoskeleton according to claim 1 , further comprising a receiver adapted to receive actuation commands for the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
7 . The wearable lower extremity exoskeleton according to claim 1 , further comprising a control unit adapted to control/command an actuation of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
8 . The wearable lower extremity exoskeleton according to claim 7 , wherein the control unit is adapted to control/command the actuation of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator for balancing the wearable lower extremity exoskeleton according to at least one orientation sensor and/or proximity sensor.
9 . The wearable lower extremity exoskeleton according to claim 1 , wherein the back-hip support and/or the side hip links and/or the thigh link and/or the shank link and/or the first actuation transfer means and/or the second actuation transfer means and/or the third actuation transfer means and/or the fourth actuation transfer means are length adjustable, wherein the wearable lower extremity exoskeleton is configurable to any user by aligning the at least one hip articulation, the at least one thigh articulation, the at least one shank articulation and the at least one foot articulation to joints of the user and/or by adjusting a width of the back-hip support and a depth of the side hip links.
10 . The wearable lower extremity exoskeleton according to claim 1 , further comprising at least one user connector for attaching the user to the wearable lower extremity exoskeleton.
11 . The wearable lower extremity exoskeleton according to claim 1 , wherein the back-hip support and/or the side hip link, the shank link and the thigh link and/or the foot plate and/or the at least one hip articulation, the at least one thigh articulation, the at least one shank articulation and the at least one foot articulation and/or the first actuation transfer means, the second actuation transfer means, the third actuation transfer means and the fourth actuation transfer means are made of carbon fiber.
12 . The wearable lower extremity exoskeleton according to claim 2 , wherein the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator are rotary motors and at least one of the first actuation transfer means, the second actuation transfer means, the third actuation transfer means and the fourth actuation transfer means comprises a drive bracket fixed to a driving shaft of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator, a transmitting rod, wherein a first end of the transmitting rod is rotatably connected to the driving shaft and a second end of the transmitting rod is rotatably connected to the back-hip support or a corresponding link, or the foot plate for transmitting a rotational actuation of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
13 . The wearable lower extremity exoskeleton according to claim 3 , wherein the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator are rotary motors and at least one of the first actuation transfer means, the second actuation transfer means, the third actuation transfer means and the fourth actuation transfer means comprises a drive bracket fixed to a driving shaft of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator, a transmitting rod, wherein a first end of the transmitting rod is rotatably connected to the driving shaft and a second end of the transmitting rod is rotatably connected to the back-hip support or a corresponding link, or the foot plate for transmitting a rotational actuation of the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
14 . The wearable lower extremity exoskeleton according to claim 2 , wherein the at least one fourth actuator is a rotary motor and the fourth actuation transfer means comprise a crank fixed to a driving shaft of the at least one fourth actuator, a coupler, wherein a first end of the coupler is rotatably connected to the crank and a second end of the coupler is rotatably connected to one end of a lever, wherein the lever is rotatably connected from a middle point of the lever acting as a fulcrum to the thigh link or the at least one shank articulation, a rocker, wherein a first end of the rocker is rotatably connected to the second end of the lever and a second end of the rocker is connected to the foot plate.
15 . The wearable lower extremity exoskeleton according to claim 3 , wherein the at least one fourth actuator is a rotary motor and the fourth actuation transfer means comprise a crank fixed to a driving shaft of the at least one fourth actuator, a coupler, wherein a first end of the coupler is rotatably connected to the crank and a second end of the coupler is rotatably connected to one end of a lever, wherein the lever is rotatably connected from a middle point of the lever acting as a fulcrum to the thigh link or the at least one shank articulation, a rocker, wherein a first end of the rocker is rotatably connected to the second end of the lever and a second end of the rocker is connected to the foot plate.
16 . The wearable lower extremity exoskeleton according to claim 4 , wherein the at least one fourth actuator is a rotary motor and the fourth actuation transfer means comprise a crank fixed to a driving shaft of the at least one fourth actuator, a coupler, wherein a first end of the coupler is rotatably connected to the crank and a second end of the coupler is rotatably connected to one end of a lever, wherein the lever is rotatably connected from a middle point of the lever acting as a fulcrum to the thigh link or the at least one shank articulation, a rocker, wherein a first end of the rocker is rotatably connected to the second end of the lever and a second end of the rocker is connected to the foot plate.
17 . The wearable lower extremity exoskeleton according to claim 2 , further comprising a receiver adapted to receive actuation commands for the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
18 . The wearable lower extremity exoskeleton according to claim 3 , further comprising a receiver adapted to receive actuation commands for the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
19 . The wearable lower extremity exoskeleton according to claim 4 , further comprising a receiver adapted to receive actuation commands for the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.
20 . The wearable lower extremity exoskeleton according to claim 5 , further comprising a receiver adapted to receive actuation commands for the at least one first actuator, the at least one second actuator, the at least one third actuator and the at least one fourth actuator.