Exoskeleton device

Abstract

An exoskeleton device is provided herein that includes a control unit including a controller. At least one embedded sensor is configured to acquire data. An actuator is in electrical communication with the at least one embedded sensor and the controller. The controller is configured to adjust a level of assistance or resistance provided by the actuator in response to a change in a performance metric as measured by the acquired data.

What is claimed is: 
     
         1 . An exoskeleton device, comprising:
 a control unit including a controller;   at least one embedded sensor configured to detect at least one data point; and   an actuator in electrical communication with the at least one embedded sensor and the controller, the controller configured to adjust a level of assistance or resistance provided by the actuator to an ankle of a user of the exoskeleton device in response to a change in a performance metric as measured by the acquired at least one data point, wherein the actuator is configured to provide assistance by applying a first torque force to the ankle of the user that is configured to augment a motion of the ankle initiated by the user and the actuator is configured to provide resistance by applying an external second torque force tending to rotate the ankle of the user in a direction that is opposite and opposes the motion of the ankle initiated by the user.   
     
     
         2 . The device of  claim 1 , wherein the controller is configured to modify a level and direction of resistance delivered by the actuator by providing a first level of resistance in a first direction during a first phase of a gait cycle of the user and a second level of resistance in a second direction during a second phase of the gait cycle of the user. 
     
     
         3 . The device of  claim 1 , wherein the controller is configured to increase the level of assistance or decrease resistance when the change in the at least one data point is indicative of decreased performance by an individual using the exoskeleton device. 
     
     
         4 . The device of  claim 1 , further comprising:
 a hinged assembly operably coupled with the control unit, wherein the embedded sensor is positioned within the hinged assembly.   
     
     
         5 . The device of  claim 4 , wherein applying an external second torque force tending to rotate the ankle of the user in a direction that is opposite and opposes the motion of the ankle initiated by the user comprises applying an external second torque force to a portion of the hinged assembly tending to cause that portion to rotate. 
     
     
         6 . The device of  claim 1 , wherein the at least one data point is related to at least one of a joint angle, a joint moment, a joint power, and a muscle activity. 
     
     
         7 . The device of  claim 1 , wherein the at least one embedded sensor is a joint angle encoder configured to measure an angle at some point during an individual's gait cycle as the data point. 
     
     
         8 . The device of  claim 1 , wherein the at least one embedded sensor is a pressure/force sensor configured to be positioned underneath a foot of the user, and wherein the data point from the pressure/force sensor is at least partially determined by a pressure/force measurement value measured by the pressure/force sensor. 
     
     
         9 . The device of  claim 1 , wherein the at least one embedded sensor is configured to acquire a data point related to the ankle of the user during a gait cycle. 
     
     
         10 . The device of  claim 1 , wherein the at least one embedded sensor is configured to acquire a data point related to a foot of a user during a gait cycle. 
     
     
         11 . The device of  claim 1 , wherein the at least one embedded sensor is configured to acquire a data point related to a hip of a user during a gait cycle. 
     
     
         12 . The device of  claim 1 , wherein the controller is configured to adjust a level of assistance or resistance provided by the actuator to the ankle of the user to provide a neuromuscular rehabilitation, a strength training, or a gait training function. 
     
     
         13 . A method of operating an exoskeleton device, the method comprising:
 acquiring a current performance data point from one or more sensors;   comparing the current performance data point to a previously acquired data point; and   altering usage of one or more actuators within a control unit in response to a difference between the current performance data point and the previously acquired data point to provide resistance by applying an external torque force to a joint of a user that is configured to oppose movement of the joint initiated by the user, the external torque tending to rotate the ankle of the user in a direction that is opposite and opposes the motion of the ankle initiated by the user.   
     
     
         14 . The method of  claim 13 , wherein the comparing the current performance data point to previously acquired data point step includes calculating at least one performance metric based on the current performance data point and the previously acquired data point, wherein calculating the performance metric includes comparing the current performance data to the previously acquired data point to determine at least one of a joint power, a joint angle, a muscle activity, a walking speed, a stride length, and a gait speed. 
     
     
         15 . The method of  claim 14 , wherein the altering usage of one or more actuators within a control unit in response to a difference between the current performance data point and the previously acquired data point step includes increasing a resistance level of the one or more actuators when the performance metric improves. 
     
     
         16 . The method of  claim 14 , wherein the altering usage of one or more actuators within a control unit in response to a difference between the current performance data point and the previously acquired data point step includes decreasing a resistance level of the one or more actuators when the performance metric decreases. 
     
     
         17 . The device of  claim 14 , further comprising:
 a second actuator configured to actuate a second hinged assembly, wherein the first actuator includes a first shaft extending therefrom and the second actuators includes a second shaft extending therefrom, the first and second shafts extending in substantially opposing directions within the control unit and the first shaft engages a second pulley configured to displace a first cable coupled to the first hinged assembly to effect movement of the first hinged assembly and the second shaft engages a second pulley configured to displace a second cable coupled to the second hinged assembly to effect movement of the second hinged assembly.