Patent ID: 8801641
Filing Date: 2014-08-12
Classification: A61H,B25J

Abstract:
1. A method of reducing the energy consumption of a person in motion coupled to an exoskeleton device, the method comprising: supplying energy from a power unit of the exoskeleton, which includes said power unit, first and second leg supports rotatably connected to an exoskeleton trunk for attachment to the person's legs, and first and second hip actuators attached to the exoskeleton trunk and the first and second leg supports, to the first hip actuator; creating a torque profile; imposing a first torque, based on the torque profile, on said first leg support when the first leg support is in a stance phase and the second leg support strikes a support surface so as to also be in a stance phase, with the first torque starting before the first leg support leaves the support surface and enters a swing phase, being in a forward swing direction for the first leg support, and transferring mechanical energy to the person from the first leg support; and imposing a second torque on the first leg support, based on the torque profile, in a direction opposite of the forward swing direction when said first leg support subsequently strikes a support surface.