User controlled power disconnect mechanism for human exoskeleton

A human exoskeleton is provided and includes a power source. The human exoskeleton also includes a controller configured to activate power between the exoskeleton and the power source. The human exoskeleton further includes a power disconnect mechanism electronically connected to the controller and configured to disconnect power between the exoskeleton and the battery when activated, the power disconnect mechanism physically in contact with a wearer of the human exoskeleton.

BACKGROUND

Traditionally there are multiple people involved in the operation of a human assist exoskeleton, including the wearer, the controller, and the spotters. The idea is having more people aware and responsible for the exoskeleton's movement in attempt to keep the wearer of the exoskeleton from falling. Sometimes the wearer and the controller are the same person but this is not always the case.

When using an exoskeleton the wearer should be able to rapidly stop the test if they feel unsafe or uncomfortable. A manual push-button, separate from the exoskeleton and accessible by the human controller is often implemented in the design. Another power disconnect option is to physically unplug the exoskeleton via an external power cord. These methods have relied on a proactive action in order to stop operation.

This introduces a delayed reaction time into the disconnect procedure. In the event that the wearer feels a test needs to be stopped before it is apparent to the controller, there will be a delay in relaying the information from one person to the other. Additionally, the proactive action of pushing a button to stop power takes longer than a reactive action.

In other implementations, the wearer must hold a railing or similar device. The contact with the railing enables motion by closing a circuit. If the wearer lets go—i.e., breaks the circuit—power is interrupted and the exoskeleton ceases movement.

SUMMARY

According to one aspect of the invention, a human exoskeleton is provided and includes a power source. The human exoskeleton also includes a controller configured to activate power between the exoskeleton and the power source. The human exoskeleton further includes a power disconnect mechanism electronically connected to the controller and configured to disconnect power between the exoskeleton and the battery when activated, the power disconnect mechanism physically in contact with a wearer of the human exoskeleton.

According to another aspect of the invention, a power disconnect mechanism for a human exoskeleton is provided. The power disconnect mechanism includes an interface secured to a hand of a wearer of the human exoskeleton. The power disconnect mechanism also includes a controller in operative communication with the interface and configured to activate power between the human exoskeleton and a power source, the interface disconnecting power between the human exoskeleton and the power source when activated.

DETAILED DESCRIPTION

Referring now to the Figures, where the invention will be described with reference to specific embodiments, without limiting same, the embodiments described herein will remedy issues associated with operation of an exoskeleton by utilizing a power disconnect mechanism held or contacted by a wearer of the exoskeleton. In embodiments of the invention, the mechaism strategically uses natural human reaction under stress to disconnect power to the exoskeleton. Thus, direct control of the exoskeleton is given to the wearer/user with a reactive action solution. This will be described in greater detail hereinafter.

FIG. 1illustrates an exoskeleton1to be worn by a user2(referred to interchangeably herein as a wearer2). Multiple embodiments of an exoskeleton1, and more particularly a power disconnect mechanism, are shown inFIGS. 2-4. The power disconnect mechanism enabled by a controller is shown inFIGS. 2-4, the embodiments of the power disconnect mechanism including components referenced with numerals10,12(FIG. 2),110,112,114,116(FIG. 3), and210(FIG. 4), each of which described in detail herein. Each of the power disconnect mechanism embodiments disconnect power from a power source under certain conditions associated with a “fight” and/or “flight” response of the user2. The embodiments utilize natural human reactions when confronted with the potential of falling, imminent collision, or other perceived threats. The reaction utilized is the natural instinct to hold up and open the hands as if to brace for a fall or alternatively clench up. Safety switch(es) of the power disconnect mechanism will be connected to the main power of the exoskeleton1which includes a main control board, motor control boards and sensors.

As shown inFIG. 2, a power disconnect mechanism11includes two hand grips10,20that are ergonomically fitted to be held by the user2of the exoskeleton1. The user2holds the hand grips10,20in the palm of each hand. If the user clenches the hand grips10,20too tightly, or throws up their hands in an open palm maneuver, thus releasing their grip, a disconnect signal is activated. More particularly, the user2holds switches50,52, individually in one embodiment and collectively in another embodiment, to maintain closure of a circuit to maintain exoskeleton power. Release and/or over-pressing the switches50,52will open a circuit by sending a signal through wires62,64and cause power from a power source30to be disconnected from exoskeleton1. In one embodiment power source30may be a battery or battery pack. In other embodiments, power source30may include a main control board or board(s) and various sensors enabling operation of the exoskeleton1. In one embodiment, wires62,64may eliminated in favor of a wireless connection between switches50,52and power source30.

As shown inFIG. 3, power disconnect mechanism111is another embodiment. In the illustrated embodiment, any one finger—or multiple fingers as shown—are fitted with conductive pads110,112,114and/or116. Each of conductive pads110,112,114and116are attached to a finger, thumb or hand (as shown) of the wearer2of the exoskeleton1. Each conductive pad110,112,114,116is electronically connected to a power source130, which may be a battery or battery pack. In other embodiments, power source130may include a main control board or board(s) and various sensors enabling operation of the exoskeleton1. It will be appreciated that the connection may be wires121,122,123or124or may alternatively be wirelessly connected. In one embodiment, the pads110,112,114and116are fitted with a pressure sensitive switch131,132,133,134which—when depressed—sends a signal to disconnect power between power source130and exoskeleton1.

Multiple embodiments of that shown inFIG. 3are contemplated. The pads110,112,114and116are attached to the user with adhesives, hook and loop fasteners or the like. Only one or any combination of the multiple pads110,112,114,116may be used in various combinations. In addition, it is contemplated that the contacting of two of the pads110,112,114and116together opens the circuit between power source130and exoskeleton1.

As best shown inFIG. 4, power disconnect mechanism211includes a pressure sensitive pad210. As shown, it is contemplated that the clenching of a fist will activate the switch220to open the circuit between power source230and exoskeleton1. In an alternative embodiment, it is contemplated that a finger touch to the palm of the hand having the pad210will activate the switch and open the circuit between power source230and exoskeleton1. Like the embodiments ofFIGS. 2 and 3, conductive pad210is electronically connected to the power source230, which may be a battery or battery pack. In other embodiments, power source may include a main control board or board(s) and various sensors enabling operation of the exoskeleton1. It will be appreciated that the connection wire221may be hard wired to the power source230or may eliminated in favor of a wireless connection.

The embodiments described herein give the wearer2a greater amount of control of the exoskeleton1, increasing the sense of safety and control of the user2and enhancing safety and reliability of the exoskeleton1.

It is to be understood that the power disconnect mechanisms11,111,211described herein (i.e., switches and pads) can cut power either when released or over-pressed in some embodiments. Alternatively, some embodiments rely on only one of release and over-pressure. In an embodiment that disconnects power when released or over-pressed, the controller is programmed with a range of pressure that allows the human exoskeleton to be powered. It is only within the programmed range that the human exoskeleton1is powered. A pressure applied to an interface of the power disconnect mechanism below the range (e.g., release by user) or a pressure applied above the range deactivates power of the human exoskeleton.