An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.

Trunk supporting exoskeleton and method of use

A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.

Joint torque augmentation system and method for gait assistance

In this paper, a pneumatically-driven walking assistive device is proposed. Since the structure of the exoskeleton is different from users' legs, it is not required to attach the exoskeleton links to the user's knee and adjust the length of the links. McKibben type pneumatic artificial muscles are adopted as the actuators, realizing back-drivability. We proposed a control method with the detection of the walking intention of the user using air pressure sensors isolated from the device itself, without attaching sensors to the user. The actuators are pre-pressurized and then the difference of the pressure is monitored and used as the trigger to starting the assist. Experimental results show the effectiveness of the proposed system and the intention detection method.

/pdf/a-walking-assistive-device-with-intention-detection-using-2q21oji1ym.pdf

A walking assistive device with intention detection using back-driven pneumatic artificial muscles

An adaptive switching controller based on dynamic zero moment point for versatile hip exoskeleton is proposed in this work. The linear finite hysteretic state machine is designed to recognize hybrid motion phases. The torque planning strategy based on dynamic zero moment point is deployed to obtain assistant torque adaptively under different locomotion. Experiments are carried out to verify the performance of the controller, confirming the stability and accuracy of the motion phase recognition, which also demonstrates excellent kinematic performance. The net metabolic rate (NMR) can be reduced by 6.93% while wearing the versatile hip exoskeleton walking. The integrated surface electromyography (sEMG) can be reduced by 54.8% while wearing the exoskeleton lifting objects. Compared with existing research, the performance of the proposed controller has significant advantages. The proposed controller is capable of multiple types of locomotion including flat walking, stair climbing, and lifting heavy objects with low complexity and energy consumption. 

https://www.techrxiv.org/articles/preprint/Adaptive_Switching_Control_Based_on_Dynamic_Zero_Moment_Point_for_Versatile_Hip_Exoskeleton_under_Hybrid_Locomotion/19674828/1/files/34944960.pdf

Adaptive Switching Control Based on Dynamic Zero Moment Point for Versatile Hip Exoskeleton under Hybrid Locomotion

The invention relates to a device (10) worn on the body for mobile assistance with the lifting and carrying of loads by an operating person, comprising a support structure (1). The support structure is worn on the body of the operating person and has a plurality of support elements (2, 3), which are connected in an articulated manner, are movable in relation to each other and can be fixed in relation to each other, and a plurality of body connection points (5, 6). The support structure (1) has at least passively acting movement aids (7, 8, 11) for assisting with a movement of load-absorbing body parts and for protecting against injuries to the operating person. At least one actuator (9) is provided, which can be selectively activated by the operating person for active assistance with the handling of the loads and which acts in a supporting manner between load-absorbing body parts of the operating person depending on load.

Lifting aid worn on the body

Provided are a power-assisting robotic device capable of assisting a wearer in lifting of a heavy object and walking with a small number of driving sources, and a method for controlling the power-assisting robotic device. Two power-assisting electric motors (1001) are respectively positioned close to either lateral side of the lumbar region of a wearer, said motors generating drive torques for assisting movements of the upper body and the femur regions. Each lower limb-assisting arm is fixed to the rotary shaft of the power-assisting electric motor (1001) at one end, and attached to a side part of the femur region at the other end. Upper body-assisting arms that are worn in the chest region of the wearer and a main frame that is worn in the lumbar region of the wearer and respectively supports the two power-assisting electric motors (1001) at either side thereof are connected by means of a passive rotary shaft (1012) and a passive rotary shaft (1013), the former of said passive rotary shafts being enabled to rotate around the vertical axis line while the latter being enabled to rotate around the anteroposterior axis line.

Power assisting robotic device and control method thereof

Development of a Wearable Assist Suit for Walking and Lifting-Up Motion Using Electric Motors

PROBLEM TO BE SOLVED: To provide a power assist robotic device assisting the movement of a wearer without restraining the movement of the wearer, and to provide a control method of the same.SOLUTION: Electric motors 1 for assisting the motions of shoulders are disposed on both sides of right and left shoulder joints, and are connected to a back frame 5 through passive rotary shafts 2-4. Electric motors 11 for assisting the motions of the waist are disposed on both sides of right and left waist joints, and are connected to a back frame 15 through passive rotary shafts 12-14. A control part 132 calculates static torques acting on arms and thighs of the wearer based on joint angles, presence/absence of rotation, rotational directions, states of switches, and the inclinations of the waist acquired from rotary encoders or the like included in the electric motors 1, 11. The control part 132 makes the reduction ratios of reduction gears added to the electric motors 1, 11 low reduction ratios of about 1/50, and drives the electric motors 1, 11.

Power assist robotic device and control method of the same

Power Assist Control Calculated by a Human Model and Joint Angles for Walking Motion Using Pneumatic Actuators

We have been developing power assist suits as labor-reducing equipments for non-handicapped elderly, weak young and female workers. This paper describes the verification tests of validity of an electrically actuated power assist suit for practical use. This power assist suit supports the motion of antigravity direction using electric motors and arranges passive joints appropriately in order not to disturb wearer’s motions. We realized the support of walking and lifting a heavy object. It is necessary to detect wearer's intention and predict following motion because the power assist suit is required to move simultaneously with the wearer. We estimate the motion intentions using hip joint angles, foot switches and glove switches, without using bioelectrical signals such as surface electromyogram signals, which usually have inferior S/N ratio. The experimental results of energy expenditure and oxygen consumption rate show the effectiveness of proposed mechanism and control method of power assist suit.

Verification tests of an electrically actuated power assist suit for walking and lifting motion

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