Mechanism for efficient donning and doffing of an exoskeleton

Abstract

A manual apparatus of the present disclosure enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.

What is claimed is: 
     
         1 . A manual apparatus for quick connection and disconnection of components of an exoskeleton, the manual apparatus comprising:
 a clip body, comprising a projection element extending therefrom, the clip body configured to be coupled to a first component of the exoskeleton;   a housing, comprising a cavity, the cavity configured to be coupled to a second component of the exoskeleton, wherein the second component of the exoskeleton is separate and distinct from the first component of the exoskeleton when in a disconnected position;   a latch, configured to be coupled to either the first component or the second component of the exoskeleton, the latch comprising a latching feature;   a handle, configured to be rotatably coupled to either the first component or the second component of the exoskeleton, opposite the latch; and   a hook, configured to be rotatably coupled to the handle, wherein when the hook is engaged with the latch and the handle is moved from an unlatched position to a latched position, the projection element of the clip body is drawn inside the cavity of the housing, thereby connecting the first component of the exoskeleton to the second component of the exoskeleton; and   a stopper, configured to be disposed on either the first component or the second component of the exoskeleton, wherein when the handle is moved from the latched position to the unlatched position while the stopper constrains the hook, the projection element is drawn out of the cavity of the housing, thereby disconnecting the first component of the exoskeleton from the second component of the exoskeleton.   
     
     
         2 . The manual apparatus of  claim 1 , wherein the first component of the exoskeleton is an exoskeleton leg, and wherein the second component of the exoskeleton is a remaining body of the exoskeleton. 
     
     
         3 . The manual apparatus of  claim 1 , wherein the second component of the exoskeleton is an exoskeleton leg, and wherein the first component of the exoskeleton is a remaining body of the exoskeleton. 
     
     
         4 . The manual apparatus of  claim 1 , wherein the projection element of the clip body is an integral part of the first component of the exoskeleton. 
     
     
         5 . The manual apparatus of  claim 1 , wherein the housing is an integral part of the second component of the exoskeleton. 
     
     
         6 . The manual apparatus of  claim 1 , wherein the latch is configured to be coupled to the first component of the exoskeleton. 
     
     
         7 . The manual apparatus of  claim 1 , wherein the latch is configured to be coupled to the second component of the exoskeleton. 
     
     
         8 . The manual apparatus of  claim 1 , wherein the latch is an integral part of the first component of the exoskeleton. 
     
     
         9 . The manual apparatus of  claim 1 , wherein the latch is an integral part of the second component of the exoskeleton. 
     
     
         10 . The manual apparatus of  claim 1 , wherein the cavity of the housing is formed with a contour angle that matches a contour angle of the projection element of the clip body, such that no relative motion occurs between the projection element and the cavity when the projection element is fully inserted into the cavity. 
     
     
         11 . A manual apparatus for quick connection and disconnection of components of an exoskeleton, the manual apparatus comprising:
 a projection element, configured to be coupled to a first component of the exoskeleton;   a housing, comprising a cavity, the cavity configured to be coupled to a second component of the exoskeleton, wherein the second component of the exoskeleton is separate and distinct from the first component of the exoskeleton when in a disconnected position;   a latch, configured to be coupled to either the first component or the second component of the exoskeleton;   a handle, configured to be rotatably coupled to either the first component or the second component of the exoskeleton, opposite the latch; and   a hook, configured to be rotatably coupled to the handle, wherein when the hook is engaged with the latch and the handle is moved from an unlatched position to a latched position, the projection element is drawn inside the cavity of the housing, thereby connecting the first component of the exoskeleton to the second component of the exoskeleton; and   a stopper, configured to be disposed on either the first component or the second component of the exoskeleton, wherein when the handle is moved from the latched position to the unlatched position while the stopper constrains the hook, the projection element is drawn out of the cavity of the cavity, thereby disconnecting the first component of the exoskeleton from the second component of the exoskeleton.   
     
     
         12 . The manual apparatus of  claim 11 , wherein the first component of the exoskeleton is an exoskeleton leg, and wherein the second component of the exoskeleton is a remaining body of the exoskeleton. 
     
     
         13 . The manual apparatus of  claim 11 , wherein the second component of the exoskeleton is an exoskeleton leg, and wherein the first component of the exoskeleton is a remaining body of the exoskeleton. 
     
     
         14 . The manual apparatus of  claim 11 , wherein the projection element is an integral part of the first component of the exoskeleton. 
     
     
         15 . The manual apparatus of  claim 11 , wherein the housing is an integral part of the second component of the exoskeleton. 
     
     
         16 . The manual apparatus of  claim 11 , wherein the latch is configured to be coupled to the first component of the exoskeleton. 
     
     
         17 . The manual apparatus of  claim 11 , wherein the latch is configured to be coupled to the second component of the exoskeleton. 
     
     
         18 . The manual apparatus of  claim 11 , wherein the latch is an integral part of the first component of the exoskeleton. 
     
     
         19 . The manual apparatus of  claim 11 , wherein the latch is an integral part of the second component of the exoskeleton. 
     
     
         20 . The manual apparatus of  claim 11 , wherein the cavity of the housing is formed with a contour angle that matches a contour angle of the projection element, such that no relative motion occurs between the projection element and the cavity when the projection element is fully inserted into the cavity.