Exoskeleton-Based Exercise and Training Device

摘要

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.

主权项

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.