Kurt Amundson,Russdon Angold,Nathan Harding,Homayoon Kazerooni
申请号：
US12468487
公开号：
US08894592B2
申请日:
2009.05.19
申请国别(地区):
US
年份:
2014
代理人:
摘要：
A lower extremity exoskeleton includes: at least one power unit； two leg supports designed to rest on the ground； two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports； an exoskeleton trunk rotatably connectable to the leg supports； and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
