U.S. patent application number 14/959985 was filed with the patent office on 2016-06-09 for exoskeleton-based exercise and training device.
This patent application is currently assigned to Florida Institute for Human and Machine Cognition. The applicant listed for this patent is Travis Craig, Jeremy Gines, JR., Peter Neuhaus, Jerryll Noorden, Nick Payton. Invention is credited to Travis Craig, Jeremy Gines, JR., Peter Neuhaus, Jerryll Noorden, Nick Payton.
Application Number | 20160158593 14/959985 |
Document ID | / |
Family ID | 56093345 |
Filed Date | 2016-06-09 |
United States Patent
Application |
20160158593 |
Kind Code |
A1 |
Craig; Travis ; et
al. |
June 9, 2016 |
Exoskeleton-Based Exercise and Training Device
Abstract
A wearable robotic device configured to provide exercise for a
human user. A primary use of the device is to address muscle and
bone density loss for astronauts spending extended periods in
microgravity. In one configuration the device applies a compressive
force between a users feet and torso. This force acts very
generally like gravity--forcing the user to exert a reactive force.
The compressive force is precisely controlled using a processor
running software so that a virtually endless variety of force
applications are possible. For example, the wearable device can be
configured to apply a gravity-simulating force throughout the
device's range of motion. The robotic device may also be
configurable for non-wearable uses. In these cases the robotic
device may act as an exercise machine. The programmable nature of
the force application allows the device to simulate weight-training
devices and other useful exercise devices. The device's functions
may be implemented in a microgravity environment or a normal
terrestrial environment.
Inventors: |
Craig; Travis; (Pensacola,
FL) ; Gines, JR.; Jeremy; (Pensacola, FL) ;
Neuhaus; Peter; (Pensacola, FL) ; Noorden;
Jerryll; (Pensacola, FL) ; Payton; Nick;
(Pensacola, FL) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Craig; Travis
Gines, JR.; Jeremy
Neuhaus; Peter
Noorden; Jerryll
Payton; Nick |
Pensacola
Pensacola
Pensacola
Pensacola
Pensacola |
FL
FL
FL
FL
FL |
US
US
US
US
US |
|
|
Assignee: |
Florida Institute for Human and
Machine Cognition
Pensacola
FL
|
Family ID: |
56093345 |
Appl. No.: |
14/959985 |
Filed: |
December 4, 2015 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
62087389 |
Dec 4, 2014 |
|
|
|
Current U.S.
Class: |
482/78 |
Current CPC
Class: |
A63B 21/078 20130101;
A63B 21/4005 20151001; A63B 2023/0411 20130101; A63B 21/4007
20151001; A63B 21/4025 20151001; A63B 21/4034 20151001; A63B
21/4035 20151001; A63B 23/1281 20130101; A63B 21/005 20130101; A63B
21/4047 20151001; A63B 21/4009 20151001; A63B 23/03525 20130101;
A63B 21/4015 20151001; A63B 23/03541 20130101; A63B 21/0058
20130101; A63B 23/047 20130101 |
International
Class: |
A63B 21/00 20060101
A63B021/00; A63B 21/005 20060101 A63B021/005 |
Claims
1. An exoskeleton exercise device for use by a user having a waist,
a left leg, a left knee, a left foot, a right leg, a right knee, a
right foot, a waist, a back, a torso, a left shoulder, and a right
shoulder, comprising: a. an upper frame configured to lie behind
said user's back; b. a cradle connected to said upper frame, said
cradle configured to encircle said user's torso and thereby connect
said torso to said upper frame; c. a lower frame connected to said
upper frame, said lower frame having a right lateral extreme
extending out beyond said user's right leg and a left lateral
extreme extending out beyond said user's left leg; d. a right hip
joint located on said right lateral extreme of said lower frame; e.
a left hip joint located on said left lateral extreme of said lower
frame; f. a right upper link pivotally connected to said right hip
joint; g. a left upper link pivotally connected to said left hip
joint; h. a right lower link pivotally connected to said right
upper link by a right knee joint; i. a left lower link pivotally
connected to said left upper link by a left knee joint; j. a right
foot plate configured to lie beneath said user's right foot, said
right foot plate being pivotally connected to said right lower link
by a right ankle joint; k. a left foot plate configured to lie
beneath said user's left foot, said left foot plate being pivotally
connected to said left lower link by a left ankle joint; l. a right
knee joint actuator configured to control a pivotal position of
said right lower link with respect to said right upper link and
configured to apply a desired torque between said right lower link
and said right upper link; and m. a left knee joint actuator
configured to control a pivotal position of said left lower link
with respect to said left upper link and configured to apply a
desired torque between said left lower link and said left upper
link.
2. An exoskeleton exercise device as recited in claim 1, wherein:
a. said right foot plate is configured to be removable; b. said
left foot plate is configured to be removable; c. said right ankle
joint is configured to attach to an external anchor; and d. said
left ankle joint is configured to attach to an external anchor.
3. An exoskeleton exercise device as recited in claim 1, wherein
said lower frame includes a U-shaped portion with said left hip
joint being located on said left side of said U-shaped portion and
said right hip joint being located on said right side of said
U-shaped portion.
4. An exoskeleton exercise device as recited in claim 1, wherein
said right and left knee joint actuators are electrically
powered.
5. An exoskeleton exercise device as recited in claim 1, wherein:
a. said left knee joint is offset from said user's left knee; and
b. said right knee joint is offset from said user's right knee.
6. An exoskeleton exercise device for use by a user having a waist,
a left leg, a left knee, a left foot, a right leg, a right knee, a
right foot, a waist, a back, a torso, a left shoulder, and a right
shoulder, comprising: a. an upper frame configured to lie behind
said user's back; b. a cradle connected to said upper frame, said
cradle configured to encircle said user's torso and thereby connect
said torso to said upper frame; c. a lower frame connected to said
upper frame, said lower frame having a right lateral extreme
extending out beyond said user's right leg and a left lateral
extreme extending out beyond said user's left leg; d. a right
shoulder strap passing from said upper frame, around said user's
right shoulder, to said lower frame; e. a left shoulder strap
passing from said upper frame, around said user's left shoulder to
said lower frame; f. a right upper link pivotally connected to said
right lateral extreme of said lower frame by a right hip joint; g.
a left upper link pivotally connected to said left lateral extreme
of said lower frame by a left hip joint; h. a right lower link
pivotally connected to said right upper link by a right knee joint,
said right knee joint including a right actuator; i. a left lower
link pivotally connected to said left upper link by a left knee
joint, said left knee joint including a left actuator; j. a right
foot plate configured to lie beneath said user's right foot, said
right foot plate being pivotally connected to said right lower link
by a right ankle joint; k. a left foot plate configured to lie
beneath said user's left foot, said left foot plate being pivotally
connected to said left lower link by a left ankle joint; l. said
right knee joint actuator configured to control a pivotal position
of said right lower link with respect to said right upper link and
configured to apply a desired torque across said right knee joint;
and m. a left knee joint actuator configured to control a pivotal
position of said left lower link with respect to said left upper
link and configured to apply a desired torque across said left knee
joint.
7. An exoskeleton exercise device as recited in claim 6, wherein:
a. said right foot plate is configured to be removable; b. said
left foot plate is configured to be removable; c. said right ankle
joint is configured to attach to an external anchor; and d. said
left ankle joint is configured to attach to an external anchor.
8. An exoskeleton exercise device as recited in claim 6, wherein
said lower frame includes a U-shaped portion with said left hip
joint being located on said left side of said U-shaped portion and
said right hip joint being located on said right side of said
U-shaped portion.
9. An exoskeleton exercise device as recited in claim 6, wherein
said right and left knee joint actuators are electrically
powered.
10. An exoskeleton exercise device as recited in claim 6, wherein:
a. said left knee joint is offset from said user's left knee; and
b. said right knee joint is offset from said user's right knee.
Description
CROSS-REFERENCES TO RELATED APPLICATIONS
[0001] This non-provisional patent application claims the benefit
of a previously filed provisional application. The provisional
application was assigned Ser. No. 62/087,389. It listed the same
inventors.
STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT
[0002] Not applicable
MICROFICHE APPENDIX
[0003] Not Applicable
BACKGROUND OF THE INVENTION
[0004] 1. Field of the Invention
[0005] The present invention pertains to the field of physical
exercise equipment. More specifically, the invention comprises an
exoskeleton-based device that can apply force to the body in a
controlled manner. Among other things, the invention is useful for
simulating the forces produced by gravity in a weightless
environment.
[0006] 2. Description of the Related Art
[0007] Extended weightlessness causes bone loss and other
undesirable effects on the human body. Since the body's structures
are not used for support and balance, muscle mass tends to be lost
over time and the bones tend to become less dense. This problem has
been recognized for decades. Mission planners have long realized
that human beings staying in space for an extended period need
exercise devices. Designing such devices is difficult, since
reaction forces must be countered in order to keep the astronaut in
one place.
[0008] NASA's Skylab space station included a stationary exercise
bicycle. It also included a "treadmill" where bungee cords were
attached to a backpack-style harness positioned to urge the
astronaut toward a flat walking surface with a force of 80 kg. A
TEFLON sheet was placed on the walking surface and the astronaut
"walked" on the sheet by sliding his feet in a walking motion.
[0009] Space Shuttle missions employed a bungee treadmill and a
cycle exercise device as well. In addition, the Space Shuttle added
a zero-g rowing machine to the devices developed for Skylab. The
International Space Station has employed similar devices, with a
few additional strength-training devices being developed as
well.
[0010] Weight is a critical factor in any hardware intended for use
in space. Another important factor is the space consumed by the
device. Stationary devices were used in Skylab and these were left
assembled when not in use. Skylab was relatively roomy, however.
Future missions likely will not have the luxury of a dedicated
exercise area.
[0011] In addition, it is often difficult for an astronaut to
dedicate a large block of time purely to exercise. Human beings on
earth are constantly using their muscles and connective structures
to move and balance under the pull of gravity. Balance and movement
require little conscious thought. Thus, a human being on earth
often moves and balances while performing other complex tasks.
[0012] It would be advantageous tor an astronaut in zero-g to be
able to exercise while performing other functional tasks. In order
to achieve this goal an exercise device should be portable so that
the astronaut is free to move around. The exercise device should
preferably also be fairly compact so that it does not interfere
with other activity. Finally, it is preferable for the exercise
device to perform multiple different functions.
BRIEF SUMMARY OF THE INVENTION
[0013] The present invention comprises a wearable robotic device
configured to provide exercise for a human user. A primary use of
the device is to address muscle and bone density loss for
astronauts spending extended periods in microgravity. In one
configuration the device applies a compressive force between a
user's feet and torso. This force acts very generally like
gravity--forcing the user to exert a reactive force. The
compressive force is precisely controlled using a processor running
software so that a virtually endless variety of force applications
are possible. For example, the wearable device can be configured to
apply a gravity-simulating force throughout the device's range of
motion.
[0014] The robotic device may also be configurable for non-wearable
uses. In these cases the robotic device may act as an exercise
machine. The programmable nature of the force application allows
the device to simulate weight-training devices and other useful
exercise devices. The device's functions may be implemented in a
microgravity environment or a normal terrestrial environment.
BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWINGS
[0015] FIG. 1 is a perspective view, showing a user wearing the
inventive exoskeleton while in a standing position.
[0016] FIG. 2 is a front perspective view, showing a user wearing
the inventive exoskeleton while in a squatting position.
[0017] FIG. 3 is a perspective view, showing a user wearing the
inventive exoskeleton while in a squatting position.
[0018] FIG. 4 is a rear perspective view, showing a user wearing
the inventive exoskeleton while in a standing position.
[0019] FIG. 5 is a side elevation view, showing the invention being
used in a bicep curl exercise.
[0020] FIG. 6 is a side elevation view, showing the invention being
used in a bench press exercise.
[0021] FIG. 7 is a side elevation view, showing the invention being
used in a tricep curl exercise.
REFERENCE NUMERALS IN THE DRAWINGS
[0022] 10 user [0023] 12 torso [0024] 14 feet [0025] 16 hip joint
[0026] 18 knee joint [0027] 20 ankle joint [0028] 22 actuator
housing [0029] 24 upper link [0030] 26 lower link [0031] 28
footplate [0032] 30 strap [0033] 32 lower frame [0034] 33 upper
frame [0035] 34 cradle [0036] 36 shoulder strap [0037] 38 waist
strap [0038] 40 chest strap [0039] 42 anchor [0040] 44 bench
DETAILED DESCRIPTION OF THE INVENTION
[0041] FIG. 1 depicts user 10 wearing an embodiment of the robotic
device. The moving parts of the device are attached to a static
frame that is connected to the user's torso 12. Cradle 34 is
connected to torso 12 using a waist strap 38 and a pair of shoulder
traps 36. The waist and shoulder straps preferably include
conventional snaps and adjustment buckles so that a user may easily
connect the straps and adjust them for a desired fit.
[0042] Lower frame 32 is attached to cradle 34 and thereby to user
10. The lower frame mounts a pair of exoskeleton "legs," each of
which is connected to a foot plate 28. Each exoskeleton leg
includes an upper link 24 and a lower link 26. Upper link 26 is
pivotally connected to lower frame 32 at hip joint 16. In this
embodiment hip joint 16 is a simple pivot joint. It is not powered
in this embodiment and is instead free to rotate with minimal
friction. Likewise, in the embodiment shown, ankle joint 20 is a
simple, unpowered pivot joint.
[0043] Lower link 26 is pivotally connected to upper link 24 via
knee joint 18. Knee joint 18 is contained within actuator housing
22. An actuator or actuators within this housing is configured to
control the position of knee joint 18 and the amount of torque
applied to the knee joint. The robotic knee joints are capable of
high-fidelity torque control. Power for the joints may be provided
by an external cable or by energy storage devices mounted on or in
the exoskeleton itself.
[0044] The effect of the powered knee joint 18 is that the
exoskeleton can apply a wide variety of forces between hip joint 16
and ankle joint 20. The forces applied at ankle joints 20 are
transferred to the user's feet 14 through foot plates 28. The
forces applied at hip joints 16 are transferred to the user's torso
12 via the "backpack"-type harness the user wears (cradle, waist
strap, shoulder straps, etc.).
[0045] The applied forces may be used among other things to (1)
simulate the compressive farce of gravity in a static position; (2)
provide resistance to movement during exercise; and (3) provide a
constant load during exercise to simulate the effect of
gravity.
[0046] The reader will note that the joints of the inventive
exoskeleton are not aligned with the user's corresponding joints.
In some rare instances there may in fact be alignment--depending on
the user's anatomy--but joint alignment is not necessary or even
desirable for the proper use of the inventive exoskeleton. In FIG.
1, for example, the exoskeleton's knee joint 18 is not aligned at
all with the user's knee joint.
[0047] The exoskeleton may be worn while performing a wide variety
of movements. FIG. 2 shows a front view of a user wearing the
exoskeleton while performing a "squat" exercise. The reader will
again note that the joints of the exoskeleton are generally not
aligned with the user's joints. From this vantage point additional
features of the harness may be seen. Chest strap 40 is provided to
pull the two shoulder straps 36 inward across the chest. Waist
strap 38 links the two sides of cradle 34 together.
[0048] Those skilled in the art will know that many different types
of torso harnesses are known. The version shown should properly be
viewed as one example among many possibilities. It is preferable to
provide snap-fitting attachments between the harness components. It
is also preferable to provide easy length-adjustment features on
the straps. Many components may be selected to provide this
functionality.
[0049] The primary purpose of the harness is to transmit loads from
the user's torso to the exoskeleton. The reader will note in FIG. 2
how lower frame 32 is mounted so that the robotic hip joints lie on
either side of the user. The robotic "legs" likewise lie outside
the normal plane of travel of the user's legs. This geometry allows
the user to move his or her legs through a wide range without
interfering with the robotic exoskeleton.
[0050] FIG. 3 shows a lateral perspective view of a user assuming a
crouching position. The angular relationship between upper link 24
and lower link 26 has been altered to accommodate this position.
Again, there is no requirement that the exoskeleton knee joint
remain in alignment with the user's knee joint. Thus, depending on
the height of the user, the robotic knee joint will move forward a
greater or lesser amount as the user enters a crouching
position.
[0051] FIG. 4 shows the inventive exoskeleton from the rear with a
user in a standing position. The reader will note how the width of
lower frame 32 positions the robotic "legs" so that they do not
interfere with the motion of the user's legs. A wide lower frame is
preferable since it can then accommodate a wider variety of user
anatomy. Of coarse, one may also include width-adjusting features
for the lower frame so that the position of the robotic hip joints
can be varied laterally.
[0052] FIG. 4 shows more detail of the harness assembly. Cradle 34
encircles the user's abdomen. Upper frame 33 is attached to the
cradle. Lower frame 32 is attached to upper name 33. Shoulder
straps 36 are attached to the upper portion of upper frame 33. In
this view one may easily see how the links of the robotic legs
attach through the ankle joints to the foot plates.
[0053] The ankle joints are preferably only capable of rotation
about a single axis. This feature assures that compressive forces
are applied evenly to the sole of the foot. If the robotic legs are
urging the foot plates 28 upward in the view of FIG. 4, the planar
foot plates move upward like the floor of an elevator. In other
words, it is not the case that the outer portions of the foot
plates (proximate the ankle joints) move toward lower frame 32
while the inner portions do not.
[0054] On the other hand, the presence of the ankle joints allows
the user's feet to move in flexion and extension. The user may
pivot the foot plates about the ankle joints in order to move the
feet in flexion and extension.
[0055] The reader will thereby appreciate the functionality of the
inventive exoskeleton. The device is particularly useful in the
microgravity environment. The user may employ the device to
simulate the effects of gravity while performing a variety of
exercises--such as squats. In addition, the device may be used to
maintain muscle and bone mass while performing other activities. In
a microgravity environment, a user often "floats" while performing
tasks. The inventive exoskeleton may be worn while performing these
tasks. The exoskeleton may be programmed to apply
gravity-simulating loads that the user must counteract. The user
will become accustomed to the muscular effort required to
counteract these forces and it will become second nature--much as
standing in a balanced position is second nature. Thus, the user
may continue performing tasks without giving any conscious thought
to the function of the exoskeleton. However, the exoskeleton is
forcing the user to employ his or her body to counteract the forces
and thereby maintain muscle mass and bone density.
[0056] Some embodiments of the invention may be used as exercise
devices while not being worn as an exoskeleton. One approach to
this functionality is illustrated in FIG. 4. Upper frame 33 may be
selectively detached from lower frame 32 so that the backpack-style
harness is removed from the rest of the device. Foot plates 28 may
also be selectively removed.
[0057] FIG. 5 shows a side elevation view of the inventive device
being used for exercise with the upper frame and foot plates
removed. Ankle joint 20 has been pivotally attached to a stationary
anchor 42. User 10 graphs lower frame 32. Gripping features may be
provided or a separate, specialized lower frame 32 may be provided
that is particularly configured for the exercise illustrated. The
user then urges the lower frame upward in a traditional "curl"
exercise.
[0058] The software controlling the powered knee joints 18 may be
configured to do a variety of things in this exercise. A simple
approach is for the knee joints to provide a constant
gravity-simulating downward force on lower frame 32 to counteract
the user's efforts. For example, if the desired exercise is to curl
a 30 kg mass, the software can be configured so that the powered
knee joints produce a constant 30 kg downward force on lower frame
32.
[0059] Of course, more complex loads may also be programmed. It is
known in sports physiology, for example, that it is desirable to
vary the load at different portions of the arc of the "curl." Some
stationary exercise machines use a cam feature to create this
effect. The software controlling the powered knee joints may be
configured to produce this kind of effect as well.
[0060] FIG. 6 shows another example with the addition of bench 44.
The exoskeleton is again attached to a stationary anchor 42. In
this example the user is performing a "bench press" exercise. The
software controlling the powered knee joints is configured to
provide a constant gravity-simulating load, or a more complex load
as described previously.
[0061] FIG. 7 shows another possible bench-based exercise. In this
configuration the user is performing a "tricep curl." A
gravity-simulating load is again applied by the inventive device.
Of course, the device may also be programmed to limit the range of
travel and to sense unwanted conditions. If, for example, the user
is struggling to move the position of the lower frame the software
may be configured to reduce the applied load. The device may also
be configured to do one or more of the following:
[0062] 1. Provide a low starting load then increase the load once
movement has begun;
[0063] 2. Provide a zero-load "rest" position where the inventive
exoskeleton fixes the position of the knee joints;
[0064] 3. Provide a progressively increasing load to simulate "cam"
type weight machines; and
[0065] 4. Provide a pulsating load.
[0066] The inventive exoskeleton may provide many different types
of load when it is being worn for "passive" muscular and skeleton
maintenance (passive meaning that the user is performing other
tasks and not concentrating on exercise). In this situation they
device may be configured to do one or more of the following:
[0067] 1. Provide a static load simulating gravity;
[0068] 2. Provide a small variation in a static load to simulate
muscle enervations needed for normal standing balance; and
[0069] 3. Provide unequal loading of the two foot plates so that
the user must apply an asymmetric reaction force.
[0070] Returning now to FIG. 1, some additional optional features
of the invention will be explained. First, although the embodiment
of FIG. 1 includes passive hip and ankle joints, it is also
possible to provide a powered joint for one or more of these.
Second, it is possible to vary the position of the hip and/or ankle
joints. As an example, the ankle joint may be moved anteriorly and
posteriorly along the footplate. If the robotic ankle joint is
moved behind the user's ankle joint, then extension forces applied
by the exoskeleton will require the user apply an extension force
to the foot. On the other hand, if the robotic ankle is moved
forward of the user's ankle then an extension force applied by the
exoskeleton will require the user to apply a flexion force to the
foot.
[0071] Position adjustments may also be provided for the hip
joints. As an example, the lower frame could include a lateral
adjustment so that the lateral spacing between the robotic hip
joints could be varied to accommodate differing anatomy.
[0072] The preceding description contains significant detail
regarding the novel aspects of the present invention. It is should
not be construed, however, as limiting the scope of the invention
but rather as providing illustrations of the preferred embodiments
of the invention. Many other variations are possible. Thus, the
scope of the invention should be fixed by the claims presented,
rather than by the examples given.
* * * * *