Abstract: An exoskeleton system includes a cable, an exoskeleton device, a controller, and a motor. The exoskeleton device includes a frame comprising a first portion coupled to a second portion by a joint, a first crossbar supported by the first portion of the frame, and a second crossbar supported by the second portion of the frame. The first crossbar is configured to redirect the cable toward the second crossbar, and the cable is configured to affix to the second crossbar. The motor is connected to the cable and configured to cause the cable to provide a torque about the joint. The controller controls the motor to adjust the torque. The cable provides the torque by exerting a first force on the first crossbar and a second force on the second crossbar. The cable provides the torque about the joint in a first direction.

Abstract: This document describes an exoskeleton device that includes a cable, a lever that is connected to the cable, a frame comprising a strut that redirects the cable toward the lever, wherein the frame is coupled to the lever by a rotational joint; and a motor that is connected to the cable and configured to cause the cable to provide a torque about the rotational joint, wherein the cable is configured to provide the torque by exerting a first force on the lever and a second force on the frame, and wherein the cable is further configured to provide the torque in a first rotational direction and is prevented from applying the torque in an opposite rotational direction to the first rotational direction.

Abstract: This document describes systems and methods for controlling an exoskeleton. The system receives a measurement of a first torque applied to a rotational joint coupling a first component to a second component, the first torque being applied by a motor via a cable. The system determines, based on the measurement of the first torque, a first portion of a second torque to apply to the rotational joint. The system determines, based on the measurement of the first torque, a second portion of the second torque to apply to the rotational joint. The system determines a value of the second torque to apply to the rotational joint based on the first portion and the second portion. The system controls the motor for applying the second torque to the rotational joint via the cable.

Abstract: The present invention includes two embodiments of a tethered ankle-foot prosthesis, one with a single toe to provide plantarflexion and with two independently-actuated toes that are coordinated to provide plantarflexion and inversion-eversion torques. An end-effector was designed which is worn by a subject, and which was integrated with existing off-board motor and control hardware, to facilitate high bandwidth torque control. The platform is suitable for haptic rendering of virtual devices in experiments with humans, which may reveal strategies for improving balance or allow controlled comparisons of conventional prosthesis features. A similar morphology is also effective for autonomous devices.

Abstract: The present invention includes a tethered ankle-foot prosthesis emulator having two independently-actuated forefoot digits that are coordinated to provide plantarflexion and inversion-eversion torques, and an independently-actuated heel. An end-effector was designed which is worn by a subject, and which was integrated with off-board motor and control hardware, to facilitate high bandwidth torque control. The platform is suitable for haptic rendering of virtual devices in experiments with humans, which may reveal strategies for improving balance or allow controlled comparisons of conventional prosthesis features. A similar morphology is also effective for autonomous devices.

Abstract: An exoskeleton system includes a cable, an exoskeleton device, a controller, and a motor. The exoskeleton device includes a frame comprising a first portion coupled to a second portion by a joint, a first crossbar supported by the first portion of the frame, and a second crossbar supported by the second portion of the frame. The first crossbar is configured to redirect the cable toward the second crossbar, and the cable is configured to affix to the second crossbar. The motor is connected to the cable and configured to cause the cable to provide a torque about the joint. The controller controls the motor to adjust the torque. The cable provides the torque by exerting a first force on the first crossbar and a second force on the second crossbar. The cable provides the torque about the joint in a first direction.

Abstract: This document describes an exoskeleton device that includes a cable, a lever that is connected to the cable, a frame comprising a strut that redirects the cable toward the lever, wherein the frame is coupled to the lever by a rotational joint; and a motor that is connected to the cable and configured to cause the cable to provide a torque about the rotational joint, wherein the cable is configured to provide the torque by exerting a first force on the lever and a second force on the frame, and wherein the cable is further configured to provide the torque in a first rotational direction and is prevented from applying the torque in an opposite rotational direction to the first rotational direction.

Abstract: This document describes systems and methods for controlling an exoskeleton. The system receives a measurement of a first torque applied to a rotational joint coupling a first component to a second component, the first torque being applied by a motor via a cable. The system determines, based on the measurement of the first torque, a first portion of a second torque to apply to the rotational joint. The system determines, based on the measurement of the first torque, a second portion of the second torque to apply to the rotational joint. The system determines a value of the second torque to apply to the rotational joint based on the first portion and the second portion. The system controls the motor for applying the second torque to the rotational joint via the cable.

Abstract: The subject matter described herein includes an apparatus and a clutch for using controlled storage and release of mechanical energy to aid in locomotion. One exemplary apparatus includes a frame including an upper portion configured to mechanically couple to a leg of the subject on a calf side of an ankle joint of the subject and a lower portion pivotally attached to the upper portion configured to mechanically couple to a foot of the subject on a foot side of the ankle joint of the subject. The apparatus include a rotary clutch and an elastic element coupled between the upper and lower portions of the frame to control periods of energy storage and release by the elastic element.

Abstract: The subject matter described herein includes an apparatus and a clutch for using controlled storage and release of mechanical energy to aid in locomotion. One exemplary apparatus includes a frame including an upper portion configured to mechanically couple to a leg of the subject on a calf side of an ankle joint of the subject and a lower portion pivotally attached to the upper portion configured to mechanically couple to a foot of the subject on a foot side of the ankle joint of the subject. The apparatus include a rotary clutch and an elastic element coupled between the upper and lower portions of the frame to control periods of energy storage and release by the elastic element.