METHOD AND SYSTEM FOR CONTROL AND OPERATION OF MOTORIZED ORTHOTIC EXOSKELETON JOINTS

System and method for providing both powered and free swing operation in a powered orthotic exoskeleton joint. The joint comprises a processor controllable ratchet wheel and pawl type clutch, configured to engage or disengage upon receiving force from a servo actuator. When the processor determines...

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Bibliographische Detailangaben
Hauptverfasser:	Smith, Jonathon A, Bhugra, Kern
Format:	Patent
Sprache:	eng
Schlagworte:	ARTIFICIAL RESPIRATION BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSESOR SPECIFIC PARTS OF THE BODY CHAMBERS PROVIDED WITH MANIPULATION DEVICES HAND TOOLS HUMAN NECESSITIES HYGIENE MANIPULATORS MASSAGE MEDICAL OR VETERINARY SCIENCE PERFORMING OPERATIONS PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING ORSTIMULATING REFLEX POINTS IN THE BODY PORTABLE POWER-DRIVEN TOOLS TRANSPORTING
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Beschreibung
Zusammenfassung:	System and method for providing both powered and free swing operation in a powered orthotic exoskeleton joint. The joint comprises a processor controllable ratchet wheel and pawl type clutch, configured to engage or disengage upon receiving force from a servo actuator. When the processor determines that the clutch should be engaged, it directs the powered actuator to couple the pawls to the ratchet wheel, allowing torque to be transferred from the joint's powered motor, through the clutch, to the gearing that subsequently controls the motion of the joint. Conversely, the processor can direct the powered actuator to decouple the pawls from the ratchet wheel. This in turn decouples the ratchet wheel from the motor, thus allowing the remainder of the joint and any associated joint gearing to engage in relatively free swing motion, without any interference from the motor.