Hip exoskeleton for lifting and pushing
View Patent ↗A hip assist actuation system is configured to allow a user to experience free movement of hip extension and hip flexion over a predetermined range and receive a torque assist in response to performing a lifting or pushing activity. The hip assist actuation system may be configured to determine whether the lifting or pushing activity is occurring and provide the torque assist in response to the determination.
1 . A hip assist actuation system, comprising:
a support structure;
a lever mechanism pivotably coupled to the support structure, the lever mechanism includes an upper arm extending away from a pivot point in a first direction and a lower arm extending away from the pivot point in a second direction; and
a drive mechanism comprising a free mode configuration and an engaged mode configuration, wherein:
in response to being in the engaged mode configuration, the drive mechanism is configured to apply a torque assist to the upper arm over a predetermined range of hip extension angles,
in response to being in the free mode configuration, the drive mechanism is configured to allow free motion of the lever mechanism, and
the hip assist actuation system is configured to transition from the free mode configuration to the engaged mode configuration in response to a hip extension angle of a user exceeding a threshold hip extension angle,
wherein the hip extension angle is defined as an angle between a neutral zero degree axis and a hip extension of a user from the neutral zero degree axis, and wherein the neutral zero degree axis is defined by a user standing.
2 . The hip assist actuation system of claim 1 , wherein the drive mechanism comprises a linear actuator, the linear actuator configured to translate and drive the lever mechanism to apply the torque assist.
3 . The hip assist actuation system of claim 1 , wherein the drive mechanism comprises:
an electric motor;
a screw operably coupled to the electric motor; and
a glide element configured to translate along the screw in response to the screw rotating.
4 . The hip assist actuation system of claim 3 , wherein:
the screw defines a drive axis, and
the glide element is configured to translate along the drive axis and apply an assisting force to the lever mechanism.
5 . The hip assist actuation system of claim 3 , further comprising a pulley system operably coupled to the electric motor and the drive mechanism.
6 . The hip assist actuation system of claim 3 , further comprising a controller in operable communication with the electric motor, the controller configured to activate the electric motor in response to determining whether a lifting or pushing activity is being performed by the user.
7 . The hip assist actuation system of claim 1 , wherein the predetermined threshold is 27 degrees from the neutral zero degree axis.
8 . A hip assist actuation system for an exoskeleton, the hip assist actuation system comprising:
a first sensor;
a first motor;
a controller in operable communication with the first sensor and the first motor, the controller operable to:
receive, via the controller, sensor data from the first sensor;
determine, via the controller, whether a hip extension angle of a user has exceeded a predetermined threshold based on the sensor data;
command, via the controller, a drive mechanism to transition from a free mode to an engaged mode in response to the hip extension angle exceeding the predetermined threshold; and
command, via the controller, the first motor to rotate in response to the hip extension angle exceeding the predetermined threshold, wherein the first motor is configured to drive the drive mechanism and provide a torque assist to a lever mechanism,
wherein the hip extension angle is defined as an angle between a neutral zero degree axis and a hip extension of a user from the neutral zero degree axis, and wherein the neutral zero degree axis is defined by a user standing.
9 . The hip assist actuation system of claim 8 , further comprising a second sensor and a third sensor in operable communication with the controller, wherein receiving the sensor data further includes receiving the sensor data from the first sensor and the second sensor.
10 . The hip assist actuation system of claim 9 , wherein the first sensor, the second sensor, and the third sensor are inertial measurement units (IMUs).
11 . The hip assist actuation system of claim 9 , further comprising a second motor, wherein:
the first motor is configured to be disposed proximate a first thigh of the user in operation, and
the second motor is configured to be disposed proximate a second thigh of the user.
12 . The hip assist actuation system of claim 11 , wherein the first motor and the second motor are operable independently.
13 . The hip assist actuation system of claim 8 , wherein operations of the controller further comprise:
determining, via the controller, whether the hip extension angle of the user has fallen below the predetermined threshold based on the sensor data, and
commanding, via the controller, the drive mechanism to return to a base position, the base position allowing the lever mechanism to pivot freely.
14 . The hip assist actuation system of claim 8 , wherein operations of the controller further comprise:
determining via the controller, whether the user is performing one of a pushing or lifting activity based on the sensor data, and
commanding, via the controller, the drive mechanism to provide the torque assist to the lever mechanism in response to determining the user is performing one of the pushing or lifting activity.
15 . An exoskeleton, comprising:
a first support structure;
a first leg attachment mechanism configured to couple to a first leg of a user;
a first lever mechanism pivotably coupled to the first support structure, the first lever mechanism including an upper arm extending away from a pivot point and a lower arm extending away from the pivot point, the lower arm coupled to the first leg attachment mechanism, wherein:
the first lever mechanism is configured to pivot freely in a first mode;
the first lever mechanism is configured to receive an assist force to the upper arm in a second mode; and
the first lever mechanism is configured to transition from the first mode to the second mode in response to a hip extension angle of the user exceeding a threshold hip extension angle,
wherein the hip extension angle is defined as an angle between a neutral zero degree axis and a hip extension of a user from the neutral zero degree axis, and wherein the neutral zero degree axis is defined by a user standing.
16 . The exoskeleton of claim 15 , further comprising a second support structure, and a second leg attachment, and a second lever mechanism, the second leg attachment configured to couple to a second leg of the user, the second lever mechanism in accordance with the first lever mechanism.
17 . The exoskeleton of claim 15 , wherein the assist force is provided by a drive mechanism.
18 . The exoskeleton of claim 17 , wherein the drive mechanism includes a linear actuator.
19 . The exoskeleton of claim 17 , wherein the drive mechanism includes an electric motor configured to translate a glide element into the upper arm of the first lever mechanism and provide the assist force.
20 . The exoskeleton of claim 15 , further comprising a back support system and a housing, the housing configured to partially house the first lever mechanism, the back support system configured to provide lumbar support to the user.