Patent ID: 9610208
Date: 2017-04-04
CPC Classifications: A61H,B25J

Claim:
1. An exoskeleton system comprising: a trunk for coupling to a person; leg supports for directly coupling to lower limbs of the person, with the leg supports including thigh links and shank links; connections for directly coupling the thigh links or the shank links to the lower limbs of the person; powered joints adapted to provide relative angular movement between the leg supports and the trunk; a plurality of sensors designed to sense forces on the leg supports that are indicative of a stance; a pair of foot members each adapted to support a foot of the person, wherein each shank link is rotatably connected to a respective said foot member; ankle flexion resilient elements, with each ankle flexion resilient element being attached to a respective one of the foot members to resist rotation of the respective one of the foot members about a respective ankle plantar-dorsi flexion axis; and a controller for receiving sensed signals from the plurality of sensors, said controller including an algorithm for identifying the stance from the sensed signals and actuating at least one of the powered joints to perform an action based on the stance.