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.

Having described our invention, we claim: 
     
         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.