Adaptive assistive and/or rehabilitative device and system

Abstract

An adaptive assistive and/or rehabilitative device may be configurable for use with another assistive device, such as a wearable assistive device. When the wearable assistive device is a robotic device such as an exoskeleton, the adaptive assistive and/or rehabilitative device may be transformed into a first configuration for charging or storing the exoskeleton, a second configuration for transport of the exoskeleton, a third configuration for assistance in donning of the exoskeleton by a user, and a fourth configuration for assisting the user while standing or walking with the exoskeleton.

What is claimed is: 
     
         1 . An adaptive assistive and/or rehabilitation device, comprising:
 an upper support configured to support a wearable assistive device on a user side; and   a lower support coupled to a lower side of the upper support to move and support the upper support, wherein the lower support includes a base frame extending in the user side and a sub-frame extending in an assistant side opposite to the user side.   
     
     
         2 . The adaptive assistive and/or rehabilitation device of  claim 1 , wherein the base frame has a U-shape that opens in the user side, and the sub-frame has a U-shape smaller than the U-shape of the base frame and opens in the assistant side. 
     
     
         3 . The adaptive assistive and/or rehabilitation device of  claim 2 , further including a lower housing provided in the lower support, wherein
 the lower housing is coupled to the base frame and the sub-frame to support the base frame and the sub-frame,   the base frame and the sub-frame extend downward toward a floor surface, and wherein a center of the base frame is coupled to the lower housing at a position higher than a position where the sub-frame is coupled to the lower housing.   
     
     
         4 . The adaptive assistive and/or rehabilitation device of  claim 3 , wherein at least one wheel is installed at each of first and second ends of the base frame and the sub-frame, and the wheel coupled to the sub-frame is larger than the wheel coupled to the base frame. 
     
     
         5 . The adaptive assistive and/or rehabilitation device of  claim 3 , wherein the lower housing includes:
 an outer shell through which the base frame and the sub-frame are inserted,   an inner shell provided inside of the outer shell to which the base frame and the sub-frame are coupled, and   a balance weight provided inside of the outer shell and arranged below the inner shell to add weight to the lower support.   
     
     
         6 . An adaptive assistive and/or rehabilitation device, comprising:
 an upper support provided with a handle for a user; and   a lower support having a lower housing, a base frame coupled to the lower housing and having first and second extensions that extend away from the lower housing in a first direction such that a space increases between the first and second extensions, a sub-frame coupled to the lower housing and having first and second extensions that extend away from the lower housing in a second direction opposite to the first direction, wherein the first and second extensions of the sub-frame extend a smaller distance than the first and second extensions of the base frame.   
     
     
         7 . The adaptive assistive and/or rehabilitation device of  claim 6 , wherein the lower housing comprises:
 an outer shell through which the base frame and the sub-frame are inserted,   an inner shell provided inside of the outer shell, wherein the base frame and the sub-frame are coupled to the inner shell, and   a balance weight provided inside of the outer shell below the inner shell to add weight to the lower support.   
     
     
         8 . The adaptive assistive and/or rehabilitation device of  claim 7 , wherein the first and second extensions of the base frame form a first U-shape, and the first and second extensions of the sub-frame form a second U-shape, wherein first and second center points of the base frame and the sub-frame, respectively, are vertically spaced from a floor surface, and the first and second U-shapes formed by the first and second extensions of the the base frame and the sub-frame are inclined toward the floor surface. 
     
     
         9 . The adaptive assistive and/or rehabilitation device of  claim 8 , wherein the center point of the base frame is coupled to the lower housing at a position higher than a position where the center point of the sub-frame is installed on the lower housing. 
     
     
         10 . The adaptive assistive and/or rehabilitation device of  claim 7 , wherein the inner shell is filled with a material that is the same material of the balance weight. 
     
     
         11 . An adaptive assistive and/or rehabilitation device, comprising:
 an upper support configured to support a wearable assistive device;   a drive assembly to support the upper support and configured to raise and lower the upper support; and   a lower support having a lower housing coupled to a lower side of the drive assembly to support the upper support and the driving assembly, wherein a base frame having a first U-shape is coupled to the lower housing such that a width of an opening formed in the first U-shape of the base frame increases away from the lower housing, and a sub-frame having a second U-shape is coupled to the lower housing such that a width of the opening formed in the second U-shape of the sub-frame increases away from the lower housing in a first direction opposite a second direction in which the base frame extends.   
     
     
         12 . The adaptive assistive and/or rehabilitation device of  claim 11 , wherein the lower housing includes a balance weight configured to add weight to the lower support, the balance weight being provided below where the base frame and the sub-frame are coupled to the lower housing. 
     
     
         13 . The adaptive assistive and/or rehabilitation device of  claim 12 , wherein the first and second U-shapes are inclined toward a floor surface, and first and second centers of the first and second U-shapes, respectively, are coupled to the lower housing, the second center of the second U-shape being positioned between the first center of the first U-shape and the balance weight. 
     
     
         14 . The adaptive assistive and/or rehabilitation device of  claim 11 , wherein a first pair of wheels is coupled to first and second ends of the first U-shape, a second pair of wheels is coupled to first and second ends of the second U-shape, the second pair of wheels having a larger diameter than the first pair of wheels. 
     
     
         15 . The adaptive assistive and/or rehabilitation device of  claim 11 , wherein the base frame includes first and second extensions to form the first U-shape, the first extension of the base frame being coupled to a third side of the lower housing, and the second extension of the base frame being coupled to a fourth side of the lower housing. 
     
     
         16 . The adaptive assistive and/or rehabilitation device of  claim 15 , wherein the sub-frame includes first and second extensions to form the second U-shape, wherein the first extension of the sub-frame is coupled to the third side of the lower housing at a position lower than where the first extension of the base frame is coupled, and the second extension of the sub-frame is coupled to the fourth side of the lower housing at a position lower than where the second extension of the base frame is coupled. 
     
     
         17 . The adaptive assistive and/or rehabilitation device of  claim 16 , wherein the lower housing includes first and second top grooves and first and second bottom grooves, wherein the first and second extensions of the base frame are coupled to the first and second top grooves, and the first and second extensions of the sub-frame are coupled to the first and second bottom grooves. 
     
     
         18 . The adaptive assistive and/or rehabilitation device of  claim 16 , wherein the first extensions of the base frame and the sub-frame each have first ends, the second extensions of the base frame and the sub-frame each have second ends, wherein wheels are provided on the first and second ends of the base frame and the sub-frame, and wherein the wheels provided on the first and second ends of the sub-frame are heavier than the wheels provided on the first and second ends of the base frame.