Patent ID: 8348875
Filing Date: 2013-01-08
Classification: A61F,A61H,B25J

Abstract:
1. A method of controlling an exoskeleton bracing system to walk forward, the exoskeleton bracing system including a trunk support, a tilt sensor, leg braces, each leg brace including limb segment braces, motorized joints adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support, one or more ground force sensors for sensing a ground force exerted on each of the leg braces, and a controller, the method comprising: identifying an expected current stance; receiving a tilt signal from the tilt sensor; receiving a ground force signal from said one or more ground force sensors; actuating the motorized joints to forwardly extend one of the leg braces when the expected current stance includes standing with the leg braces together and the tilt signal indicates a tilt forward and the ground force signal indicates leaning on a leg brace opposite said one of the leg braces; actuating the motorized joints to forwardly extend a trailing leg brace forward beyond a forwardly extended leg brace when the expected current stance includes said forwardly extended leg brace and said trailing leg brace and the tilt signal indicates a tilt forward and the ground force signal indicates leaning on said forwardly extended leg brace; and actuating the motorized joints to converge both leg braces to a standing stance when the expected current stance includes said forwardly extended leg brace and said trailing leg brace and the ground force signal indicates leaning on said trailing leg brace.