Wearable joint augmentation system

Abstract

The present disclosure is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The control system includes an exoskeleton member configured and arranged on a limb of a user; a control device, a control device connected to the at least one exoskeleton member; an actuator mechanically connected to the limb of the user; and a sensor configured and arranged to sense a global angle of the exoskeleton device relative to the ground. The control device is configured and arranged to use the global angle to control the exoskeleton member.

What is claimed is: 
     
         1 . A method for measuring motion of a body joint and applying torque thereto, comprising:
 providing a control system for a biomechanical exoskeleton joint;   arranging at least one exoskeleton member on a limb of a user;   connecting a control device to the at least one exoskeleton member;   mechanically connecting an actuator to the limb of the user;   actuating the actuator so no forces are being applied to the exoskeleton joint to provide a zero-torque control condition, whereby the user does not experience any torque of the actuator;   sensing motion of the limb by at least one sensor;   generating data by the at least one sensor;   collecting the data;   analyzing the data;   determining an amount of desired torque for the user;   providing information regarding the determined desired torque to the control device; and   applying the desired torque to the exoskeleton joint via the control device.   
     
     
         2 . The method of  claim 1 , wherein the at least one sensor is a timer, accelerometer, gyroscope, angle sensor, strain gage, pressure sensor, force sensor, magnetic field sensor, speed sensor, optical sensor surface electrode, implanted electrode, implanted distance measurement sensors, GPS, WIFI transmitter, WIFI receiver, BLUETOOTH, cellular transmitter, cellular receiver, near field radio, or a range finder. 
     
     
         3 . The method of  claim 1 , wherein the data collected is one or more of the following: step time, swing time, stance time, ankle angles as a function of gait time, shank angles as a function of gait time, accelerations as a function of gait time, angular velocities, foot pressure magnitude and location as a function of gait time, muscle activation magnitude, global position, and gait pattern. 
     
     
         4 . The method of  claim 1 , wherein the limb of the user is a lower leg. 
     
     
         5 . A method for measuring motion of a body joint and applying torque thereto, comprising:
 providing a control system for a biomechanical exoskeleton joint;   arranging at least one exoskeleton member on a limb of a user;   connecting a control device to the at least one exoskeleton member;   mechanically connecting a unidirectional actuator to the limb of the user;   actuating the unidirectional actuator so no forces are being applied to the exoskeleton joint to provide a zero-torque control condition, whereby the user does not experience any torque of the actuator;   sensing motion of the limb by at least one sensor;   generating data by the at least one sensor;   collecting the data;   analyzing the data;   determining an amount of desired torque for the user;   providing information regarding the determined desired torque to the control device; and   applying the desired torque to the exoskeleton joint via the control device.   
     
     
         6 . The method of  claim 5 , wherein the at least one sensor is a timer, accelerometer, gyroscope, angle sensor, strain gage, pressure sensor, force sensor, magnetic field sensor, speed sensor, optical sensor surface electrode, implanted electrode, implanted distance measurement sensors, GPS, WIFI transmitter, WIFI receiver, BLUETOOTH, cellular transmitter, cellular receiver, near field radio, or a range finder. 
     
     
         7 . The method of  claim 5 , wherein the data collected is one or more of the following: step time, swing time, stance time, ankle angles as a function of gait time, shank angles as a function of gait time, accelerations as a function of gait time, angular velocities, foot pressure magnitude and location as a function of gait time, muscle activation magnitude, global position, and gait pattern. 
     
     
         8 . The method of  claim 5 , wherein the limb of the user is a lower leg. 
     
     
         9 . The method of  claim 5 , wherein the unidirectional actuator is a winch actuator with a cord that is unwound to a position whereby it cannot be engaged by the exoskeleton joint to achieve the zero-torque control condition.