Machine to Human Interfaces for Communication from a Lower Extremity Orthotic

摘要

An exoskeleton includes a control system which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist and/or to an exoskeleton user. The feedback system can take various forms, including employing sensors to establish a feedback ready value and communicating the value through one or more light sources which can be in close proximity to joints of the exoskeleton joints.

主权项

1. A lower extremity orthosis configured to be coupled to a person, the orthosis comprising,
a torso link configured to be coupled to the torso of the person, at least one leg link configured to be coupled to the leg of the person, at least one actuator configured to shift the leg link with respect to the torso link, a plurality of sensors configured to measure at least one of an orientation and forces of the orthosis and the person, a controller configured to receive signals from the plurality of sensors, estimate at least one feedback ready value based on signals from the plurality of sensors, and control the at least one actuator to assist the gait or movement of the person, and at least one feedback system operated by the controller and configured to communicate the feedback ready value to the person, whereby the orthosis provides the person with orthosis operational information not otherwise available to the person.