Abstract: Systems and methods for communicating between multiple lower limb exoskeletons are provided. A first exoskeleton boot can receive, responsive to transmitting a first packet, a second packet from a second exoskeleton boot through a wireless connection between the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can determine a latency for communication between the first exoskeleton boot and the second exoskeleton boot based on a time difference between transmission of the first packet and receipt of the second packet and update, responsive to the comparison, a model indicating data weighted based on the latency for controlling the first exoskeleton boot and the second exoskeleton boot. The first exoskeleton boot can generate, using data from the model, a command to cause an electric motor of the first exoskeleton boot to generate torque to aid a limb of a user in performing a movement.

Abstract: Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aid movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

Abstract: Systems and methods for providing a customized configuration for a controller of an exoskeleton device. A device can receive, via a user interface, feedback from a user indicative of a performance of the user during a movement event. The device can determine characteristics of the user for performing the movement event using a first exoskeleton boot and a second exoskeleton boot and identify properties of a route for the movement event. The device can determine using the characteristics of the user, the feedback and the properties of the route, control parameters for the first exoskeleton boot and the second exoskeleton boot to execute the movement event. The device can apply the control parameters to the first exoskeleton boot and the second exoskeleton boot for the user to operate the first exoskeleton boot and the second exoskeleton boot during the movement event.

Abstract: An apparatus for a battery-powered active exoskeleton boot includes a shin pad and one or more housings. The one or more housings enclose electronic circuitry and an electric motor. The apparatus includes a battery holder coupled to the shin pad and located below the knee of the user and above the one or more housings enclosing the electronic circuitry. The apparatus includes a battery module removably affixed to the battery holder and comprising a first power connector that electrically couples to a second power connector located in the battery holder while attached to the battery holder to provide electric power to the electronic circuitry and the electric motor. The apparatus includes an output shaft coupled to the electric motor. The electronic circuitry controls delivery of power from the battery module to the electric motor to generate torque about the axis of rotation of the ankle joint of the user.

Abstract: Systems and methods for providing a customized configuration for a controller of an exoskeleton device. A device can receive, via a user interface, feedback from a user indicative of a performance of the user during a movement event. The device can determine characteristics of the user for performing the movement event using a first exoskeleton boot and a second exoskeleton boot and identify properties of a route for the movement event. The device can determine using the characteristics of the user, the feedback and the properties of the route, control parameters for the first exoskeleton boot and the second exoskeleton boot to execute the movement event. The device can apply the control parameters to the first exoskeleton boot and the second exoskeleton boot for the user to operate the first exoskeleton boot and the second exoskeleton boot during the movement event.

Abstract: This invention relates to force/torque sensor and more particularly to multi-axis force/torque sensor and the methods of use for directly teaching a task to a mechatronic manipulator. The force/torque sensor has a casing, an outer frame forming part of or connected to the casing, an inner frame forming part of or connected to the casing, a compliant member connecting the outer frame to the inner frame, and one or more measurement elements mounted in the casing for measuring compliance of the compliant member when a force or torque is applied between the outer frame and the inner frame.

Abstract: A system to augment motion via a battery-powered active exoskeleton boot is provided. The system can include a controller and an electric motor that generates torque about an axis of rotation of an ankle joint of the user. The controller can receive sensor data associated with activity of the exoskeleton boot during a first time interval. The controller can determine, based on the sensor data input into a model trained via a machine learning technique associated with one or more users performing one or more physical activities, one or more commands for a second time interval. The controller can transmit the one or more commands generated based on the model to the electric motor to cause the electric motor to generate torque about the axis of rotation of the ankle joint of the user in the second time interval.

Abstract: An apparatus for an active exoskeleton boot is provided. The apparatus can include a foot plate disposed within a boot of a user. The apparatus can include a first adapter extending from a side surface of the foot plate having a slot and an actuator module comprising a chassis and a post, and the post coupled to the chassis. The apparatus can include a second adapter extending from an end surface of the post. The slot of the first adapter can be configured to engage the second adapter when the actuator module is positioned at a first angle relative to the first adapter. The first adapter can be configured to lock with the second adapter when the actuator module rotates from the first angle to a second angle relative to the first adapter.

Abstract: Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aide movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

Abstract: The present invention is directed to the affixion of an exoskeleton device that can include multiple rotational degrees of freedom in its attachment mechanism to approximate linear motion orthogonal to the person's line of action. The present invention can include one or more additional, non-parallel degrees of freedom. The present invention provides a sliding mechanism for adjusting the exoskeleton mating point along the user's body.

Abstract: The present invention is directed to the affixion of an exoskeleton device that can include multiple rotational degrees of freedom in its attachment mechanism to approximate linear motion orthogonal to the person's line of action. The present invention can include one or more additional, non-parallel degrees of freedom. The present invention provides a sliding mechanism for adjusting the exoskeleton mating point along the user's body.

Abstract: Systems and methods for determining a level of collaboration between a user and an exoskeleton boot are provided. A device, using an exoskeleton boot, can provide a level of force to a limb of a user to aid movement of the limb. The device can measure one or more parameters of the exoskeleton boot during the movement of the limb using the exoskeleton boot. The device can determine one or more biometrics of the user during the movement of the limb using the exoskeleton boot. The device can determine, based on the one or more biometrics and the one or more parameters of the device, a metric indicative of a collaboration between the user and the exoskeleton boot during the movement.

Abstract: The present invention 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 present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.

Abstract: The present invention 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 present invention provides a mechanical joint in parallel with a biological joint. The exoskeleton device preferably includes and electric motor and winch, chain, belt, cam transmission or other mechanism for providing unidirectional force to assist rotation about the biologic joint. Moreover, a controller, a motor angle sensor, joint angle sensor and/or force sensor may be used for additional control and monitoring of the device. The motor may be any type of motor, but is preferably brushless in configuration where its diameter is larger than its length to provide a compact and lightweight exoskeleton device.

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.

Abstract: A system to augment motion via a battery-powered active exoskeleton boot is provided. The system can include a controller and an electric motor that generates torque about an axis of rotation of an ankle joint of the user. The controller can receive sensor data associated with activity of the exoskeleton boot during a first time interval. The controller can determine, based on the sensor data input into a model trained via a machine learning technique associated with one or more users performing one or more physical activities, one or more commands for a second time interval. The controller can transmit the one or more commands generated based on the model to the electric motor to cause the electric motor to generate torque about the axis of rotation of the ankle joint of the user in the second time interval.

Abstract: An apparatus for a battery-powered active exoskeleton boot includes a shin pad and one or more housings. The one or more housings enclose electronic circuitry and an electric motor. The apparatus includes a battery holder coupled to the shin pad and located below the knee of the user and above the one or more housings enclosing the electronic circuitry. The apparatus includes a battery module removably affixed to the battery holder and comprising a first power connector that electrically couples to a second power connector located in the battery holder while attached to the battery holder to provide electric power to the electronic circuitry and the electric motor. The apparatus includes an output shaft coupled to the electric motor. The electronic circuitry controls delivery of power from the battery module to the electric motor to generate torque about the axis of rotation of the ankle joint of the user.

Abstract: An apparatus for a water resistant active exoskeleton boot includes a shin pad and one or more housings. The one or more housings enclose electronic circuitry and an electric motor that generate torque about an axis of rotation of an ankle joint of the user. A sealant is placed in contact with the one or more housings to close the one or more housings and prevent an ingress of water into the one or more housings. The apparatus includes an output shaft coupled to the electric motor and extending through a bore in a housing of the one or more housings enclosing the electric motor. The apparatus includes a seal to prevent an ingress of the water into the one or more housings. The apparatus includes a rotary encoder enclosed within the one or more housings to measure an angle of the electric motor.

Abstract: Systems and methods for providing a customized configuration for a controller of an exoskeleton device. A device can receive, via a user interface, feedback from a user indicative of a performance of the user during a movement event. The device can determine characteristics of the user for performing the movement event using a first exoskeleton boot and a second exoskeleton boot and identify properties of a route for the movement event. The device can determine using the characteristics of the user, the feedback and the properties of the route, control parameters for the first exoskeleton boot and the second exoskeleton boot to execute the movement event. The device can apply the control parameters to the first exoskeleton boot and the second exoskeleton boot for the user to operate the first exoskeleton boot and the second exoskeleton boot during the movement event.

Abstract: Proprioceptive feedback is provided in a residual limb of a person that includes forming a linkage between a pair of agonist and antagonist muscles, forming a sliding surface over which the agonist and antagonist muscles slide. The sliding surface can include a synovial sleeve, a bridge formed between the distal ends of bones, or a fixture that is osseointegrated into the bone. The invention also includes a system for transdermal electrical communication in a person that includes a percutaneous access device, a sensory device that communicates signals between a muscle and the percutaneous device, and a stimulation device in communication with the percutaneous access device. In another embodiment, a closed-loop functional stimulation system restores lost functionality to a person that suffers from impairment of a neurological control system or at least partial loss of a limb.