METHOD, APPARATUS AND SYSTEM FOR AUTOMATION OF BODY WEIGHT SUPPORT TRAINING (BWST) OF BIPED LOCOMOTION OVER A TREADMILL USING A PROGRAMMABLE STEPPER DEVICE (PSD) OPERATING LIKE AN EXOSKELETON DRIVE SYSTEM FROM A FIXED BASE

US6666831B1 · kind B1 · utility

Assignees

• The Regents of the University of California · US
• CALIFORNIA INSTITUTE OF TECHNOLOGY · US

Inventors

• V. Reggie Edgerton · Los Angeles, US
• M. Kathleen Day · Santa Monica, US
• Susan J. Harkema · Louisville, US
• Antal K. Bejczy · Pasadena, US
• James R. Weiss · Pasadena, US

Key dates

• Filing date: Aug 21, 2000
• Grant date: Dec 23, 2003
• Expiry date: Apr 29, 2021

Classification

• Technology area (CPC A): Human Necessities
• CPC primary: A61H2230/60
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

A robotic exoskeleton and a control system for driving the robotic exoskeleton, including a method for making and using the robotic exoskeleton and its control system. The robotic exoskeleton has sensors embedded in it which provide feedback to the control system. Feedback is used from the motion of the legs themselves, as they deviate from a normal gait, to provide corrective pressure and guidance. The position versus time is sensed and compared to a normal gait profile. Various normal profiles are obtained based on studies of the population for age, weight, height and other variables.