Patent ID: 9474632
Filing Date: 2016-10-25
CPC Classification: A61F,B25J,Y02P,Y10S

Claim Text:
1. An exoskeleton system, comprising: an exoskeleton configured to be worn by a human operator; an exoskeleton control system; a plurality of motion actuators responsive to the exoskeleton control system to cause movement of a plurality of structural members comprising the exoskeleton; a plurality of sensors which sense movement of a plurality of human body parts associated with the human operator and communicate sensor data concerning such movement to the exoskeleton control system; the exoskeleton control system responsive to the sensor data for actuating the plurality of motion actuators to cause movement of the exoskeleton which corresponds to the movement of the plurality of human body parts which has been sensed; wherein the plurality of motion actuators is arranged to selectively transition in response to signals from the exoskeleton control system from a first operational state to a second operational state; wherein each motion actuator of said motion actuators in the first operational state is configured to provide a motive force for controlled movement of the exoskeleton's structure, and in the second operational state is configured to function as a damper to dissipate a shock load exerted upon the exoskeleton; and wherein the exoskeleton control system (a) causes the transition to the second operational state to be initiated in response to a detection of an occurrence of an uncontrolled acceleration of at least a portion of the exoskeleton, and (b) dynamically varies during a period of time a damping coefficient of at least one motion actuator of said plurality of motion actuators in a linear or non-linear manner when in the second operational state.