EXOSKELETON AND MASTER

Abstract

The invention relates to the improvement of exoskeletons and masters thereof and to their use in teleoperative applications in virtual worlds or the real world. Non-actuated exoskeletons can be used to transfer loads from the user, for example, heavy luggage, tools or also the body weight of the user, to the ground and to relieve the joint and muscle system of the user. This can increase the endurance and also effective strength of the user. Motor-driven, actuated exoskeletons can be used in different fields. They can be worn as a freely moveable robotic suit which comprises a built-in energy supply and electronic control. They can also be used to improve the force and endurance of a user whilst the user moves in an unlimited environment. Another use of the fixed exoskeleton is in the field of interaction with virtual worlds or for controlling real robots. In this instance, an exoskeleton can be used to establish a teleoperative connection between the user and the master (virtual avatar or real robot). The user users the exoskeleton to directly transfer control commands to the master. The elements of the user and the master then practically carry out the same movements synchronously. The aim of the invention is to improve exoskeletons and masters of the mentioned type and the associated control units. This can, in particular, be achieved by a favorable realization of rotational axes which define rotational movements of different elements which to a large extent perform a hip movement.

Claims

1. Device (1000) including a first member (80a, 80b), a second member (82), a third member (84), and a fourth member (86), wherein the first member (80a, 80b) is connected to a first rotary joint (81) via which the second member (82) is rotatably supported about a first axis (93), the second member (82) is connected to a second rotary joint (83) via which the third member (84) is rotatably supported about a second axis (94), the third member (84) is connected to a third rotary joint (85) via which the fourth member (86) is rotatably supported about a third axis (95), the axes (93, 94, 95) pass substantially through a common point (91) and the first axis (93) with the second axis (94) forms a first angle (?.sub.1) and the second axis (94) with the third axis (95) forms a second angle (?.sub.2).

2. Device according to claim 1, characterized in that the first axis (93) is substantially perpendicular to the main plane of the first element (80a, 80b).

3. Device according to claim 1, characterized in that the first axis (93) is rotated about a vertical axis passing through the common point (91) by a third angle (?) with a value unequal to zero.

4. Device according to claim 1, characterized in that the first axis (93) is rotated about a horizontal axis passing through the common point (91) by a fourth angle (?) with a value unequal to zero.

5. Device according to claim 1, characterized in that the first angle (?.sub.1) has a value in the range of 25-45 degrees and preferably 35 degrees.

6. Device according to claim 1, characterized in that the second angle (?.sub.2) has a value in the range of 60-80 degrees and preferably 70 degrees.

7. Device according to claim 1, characterized in that the third angle (?) and/or the fourth angle (?) has a value in the range of 10-30 degrees and preferably 20 degrees.

8. Device according to claim 1, characterized in that the sum of the first angle (?.sub.1) and the second angle (?.sub.2) is in the range of 85-120 degrees and the first angle (?.sub.1) is in the range of 15-45 degrees.

9. Device according to claim 1, characterized in that at least one of the elements (82, 84, 86) is subdivided into at least two sub-elements (82a, b, c) and adjacent ones of these sub-elements (82a, b, c) are rotatably connected to each other, respectively about an axis (94a, 94b, 94c), these axes passing substantially through the common point (91).

10. Device also according to claim 1, characterized in that a fifth element (90; 9000) is rotatably mounted about a further axis (910) and has a surface (904) which runs substantially parallel to the further axis (910), this surface (904) having, at least on its side remote from the axis (910), a profile which corresponds to at least two circular segments with different radii.

11. Device according to claim 10, characterized in that the circles belonging to said circle segments have their centers in the vicinity of the user and/or are parallel to the frontal plane of the user.

12. Device also according to claim 1, characterized in that fastening means are provided which are designed and arranged in such a way that a user can preferably be firmly connected with his hip, his torso and/or his thighs to at least one of the elements (80a, 80b; 82; 84; 86; 90) and/or to parts of a back plate.

13. Device according to claim 12, characterized in that the fastening means comprise straps, shells and/or harness.

14. Device according to claim 12, characterized in that the fastening means are designed and arranged such that the user is connected to the first element (80a, 80b).

15. Device according to claim 12, characterized in that the position of the fastening means can be changed by adjustment means.

16. Device according to claim 12, characterized in that the force carried by the fastening means can be varied by adjustment means.

17. Device according to claim 16, characterized in that the force carried by the fastening means can be measured and influenced by means of the adjustment means and a control loop.

18. Device according to claim 1, characterized in that means are provided suitable to move the foot surface (904) relative to the user.

19. Device according to claim 1, characterized in that the fastening means are designed and controllable in such a way that they can be relaxed or moved and thus the degree of relief can be changed.

20.-25. (canceled)

26. Device also according to claim 1, characterized in that a rotation unit (211) is provided with a first rotational member (200) rotatably mounted about a first rotational axis (205), a second rotational member (201) rotatably mounted to said first rotational member (200) about a second rotational axis (206), a third rotational member (202) rotatably mounted to said second rotational member (201) about a third rotational axis (207), an exoskeleton (203) rotatably mounted to the third rotation element (202) about a fourth rotation axis (208).

27. Device according to claim 26, characterized in that the mount between the exoskeleton (203) and the third rotational element (202) is arranged in neutral position above the connection between the third rotational element (202) and the second rotational element (201).

28. Device according to claim 26, characterized in that in-between the exoskeleton (203) and the third rotary element (202) a back mount (204) is arranged.

29. Device according to claim 26, characterized in that the exoskeleton (203) and/or its working space and/or its back mount (204) and/or a user fixed to the exoskeleton (203) collides with other parts of the device during a complete 360 degree rotation about the fourth axis of rotation (208).

30. Device according to claim 29, characterized in that mechanical and/or electrical means are provided, such as mechanical or electronic limiters and/or suitably designed components such as axles, gears, bearings and/or motors, which limit the range of rotation of the exoskeleton (203) about the fourth axis of rotation (208) in such a way that a collision of the exoskeleton (203) and/or its working space and/or its back mount (204) and/or a user fastened to the exoskeleton (203) with other parts of the system is avoided.

31. A device according to claim 1, characterized in that at least one further rotational element is rotatably mounted between the third rotational element (202) and the exoskeleton (203) and/or back mount (204) at both ends, which cannot be rotated 360 degrees about the further axes of rotation without colliding with the exoskeleton (203).

32. Device also according to claim 1, characterized in that at least two actuators (304a-304f) are provided which are connected with a first side to a solid base (303) and are connected with a second side to a working platform (302), whereby an exoskeleton (300) is mounted to the working platform (302) by means of a mounting element (301).

33. Device according to claim 32, characterized in that between the second side of at least one of the actuators (304a-304f) and the working platform a support (305a-305c) is arranged.

34. Device also according to claim 32, characterized in that the distance between the attachment points of the supports to the ground is greater than the minimum length of the actuators.

35. Device also according to claim 32, characterized in that the exoskeleton is connected to the platform by at least one movable element (301), such as a gimbal suspension or a robot arm.

Description

[0094] Further details and advantages of the present invention are explained in the following by means of preferred embodiments with corresponding figures. These show:

[0095] FIG. 1 a perspective representation of an exoskeleton 1000

[0096] FIG. 2 top view of the exoskeleton 1000

[0097] FIGS. 3-5 illustration of different angles for exoskeleton 1000

[0098] FIG. 6-11 different representations of exoskeleton 1001

[0099] FIGS. 12-17 different representations of exoskeleton 1002

[0100] FIGS. 18-23 different representations of exoskeleton 1003

[0101] FIGS. 24-26 different representations of the divided second element (82a-c)

[0102] FIGS. 27-31 different representations of the actuator 2001

[0103] FIGS. 27-31 different representations of the actuator 2001

[0104] FIG. 32 side view of actuator 2002

[0105] FIGS. 33-37 different representations of the actuator 2003

[0106] FIGS. 38-41 different representations of the actuator 2004

[0107] FIG. 42, 43 different representations of the actuator 2005

[0108] FIGS. 44-46 different representations of the actuator 2006

[0109] FIGS. 47-49 different representations of the actuator 2007

[0110] FIGS. 50-52 different representations of the actuator 2008

[0111] FIGS. 53-54 different representations of the actuator 2009

[0112] FIGS. 55-58 different representations of the motion simulator 3000

[0113] FIG. 59 the exoskeleton 203 with back mount

[0114] FIGS. 60-63 different representations of the foot 9000

[0115] FIG. 64, 65 different representations of the Stewart platform 4000

[0116] FIG. 1 shows a perspective representation of a preferred execution example for an exoskeleton 1000. This contains a first element 80a, also called Exo back plate, which is fixed in normal operation relative to the hip bone of a user. This exo back plate 80a comprises in the lower area on each side an axle mounting region 80b, which are inclined inwards and are also called mounting elements 80b. On each of these mounting elements 80b a second element 82 is rotatably mounted by means of a shaft 81. By means of a further shaft 83 (see FIG. 2) a third element 84, consisting of the two legs 84a, 84b, is rotatably connected to the second element 82. Since the two elements 82, 84 take over the essential functions of a hip joint, they are also called the first exo-hip joint 82 and the second hip joint 84 respectively. Via a further shaft 85, a fourth element 86 is rotatably connected to the second exo hip joint 84, which is also known as the exo thigh. Underneath thereof is a fifth element 88, also known as the exo lower leg, which is rotatably connected to the exo thigh 86 via a shaft 87. Below thereof, a fifth element 90, also known as the exo foot, is connected to the exo lower leg 88 by means of a hinge joint 89.

[0117] It should be noted that the exoskeleton 1000 is in so far mirror-symmetrical as it contains the above-mentioned elements, such as exo-hip joint 82, 84, exo-thigh 86, exo-lower leg 88 and exo-foot 90 as well as the associated joints 81, 83, 85, 87, 89, twice each, once on the right and on the left side. Because of the arrangement of the exo-foot 90 (tips to the left below) the usual forward direction of walking can be recognized. This is relevant for the designations right and left in this and the following illustrations. For clarification, right side and left side are indicated accordingly in FIG. 1. It is further pointed out that for the designs described here, the first element 80a, 80b has both the function as exo back plate and the function as exo hip plate. Therefore both terms hip plate and back plate are used equally here. In other designs, which are not discussed here, at least one separate back plate can be provided to actuate the back. Then the hip can move relative to the back by changing the joint angle between hip and spine.

[0118] FIG. 2 shows a top view of the exoskeleton 1000, where in particular its elements are shown, which are located on its left side. In addition to the described elements, FIGS. 1 and 2 also show some axes, which result in particular from the arrangement of the shafts 81, 83, 85, 87 and 89. This will be discussed in more detail below.

[0119] As shown in FIGS. 1 and 2, a first axis 93 runs through the shaft 81, so that the first exo hip joint 82 can be rotated around the first axis 93 relative to the back plate 80a or the corresponding right or left fastening element 80b. In FIG. 1, the first axis 93 is marked both on the right and on the left. Further axes in FIG. 1, 2 are usually only drawn or marked on the right or left sidedepending on where the corresponding axis is best recognizable. A second axis 94 is defined by the arrangement of the shaft 83. This allows the second exo hip joint 84 to rotate around this axis 94 relative to the corresponding first exo hip joint 82. A third axis 95 is defined by the arrangement of the shaft 85. This allows the exo thigh 86 to rotate about the third axis 95 with respect to the associated second exo hip joint. Accordingly [0120] a fourth axis 96 between the exo thigh 86 and the exo lower thigh 88 according to the arrangement of the shaft 87, and [0121] a fifth axis 97 between the exo lower leg 88 and the exo foot 90 according to the shaft 89
are defined.

[0122] The fourth axis 96 is in neutral position (straight, upright posture; as shown in FIG. 1) parallel or almost parallel to the mediolateral axis or axis of the user's knee and passes through his knee joint.

[0123] The fifth axis 97 lies in neutral position (see FIG. 1) parallel or almost parallel to the mediolateral axis or the axis of the ankle joint and runs through the human ankle joint. As can be seen from FIGS. 1 and 2, the shafts 81, 83, 85 are arranged in such a way that the corresponding axes 93, 94, 95 run through a point 91 on the right-hand side or a point 91 on the left-hand side (in FIG. 2 this is also surrounded by a dotted circle). These points 91 represent the center points of the right or left hip joint. In FIG. 1, 2 another axis 92 is drawn on the right side as well as on the left side. It is defined thereby that it runs on the one hand through the center point 91 of the associated right or left hip joint and on the other hand parallel to the sagital axis. Furthermore, the axes 92, 93, 94, 95 and the associated joints are designed and arranged so as to define an angle ?1 between the first axis 93 and the second axis 94 and an angle ?2 between the second axis 94 and the third axis 95. In addition, the first axis 93 can, under certain conditions, form an angle with axis 92 ? (see FIG. 2), which will be discussed in more detail below.

[0124] The arrangement of the axes 93, 94 and 95 and the associated joints forms the core of the exo hip joint. These axes are three independent rotary axes, all of which intersect at the center 91 of the user's hip joint. They form a gimbal suspension with the center of the hip joint as the center.

[0125] The axes 93, 94, 95 of this gimbal suspension do not have to be perpendicular to each other. This is also not always possible or desirable, depending on the required working space of the mechanism or the desired type of actuation.

[0126] The first axis 93 can be oriented relative to the user's hip, or equivalent to the exo-hip, depending on the desired application and need, in space through the angles ? and ?, or an equivalent transformation, as shown in FIG. 3-5. However, the first axis 93 always passes through the center 91 of the user's hip joint. For this purpose, the distance between the Exo hip and the user must be adjusted accordingly. For ?=?=0 the first axis 93 is parallel to the sagital axis and runs through the center of the hip joint 91. For ? and/or ? unequal to zero, first a rotation of the angle ? around the vertical axis takes place and then a rotation of the angle ? around a vector, with a support point in 91, which is perpendicular to the plane which intersects the transverse plane perpendicularly and runs through 92b (according to FIG. 4).

[0127] The figures so far mainly serve to explain the principle of the present invention. In the following figures several examples of execution are shown. For the sake of clarity, the reference symbols are drawn in only to the extent necessary for comprehension.

[0128] FIGS. 6-11 shows a first preferred example of execution. Here, the first axes 93 of the left and right side both stand at right angles on the first element 80a, are parallel to the sagital axis and lead through the centers of the femoral heads. By only actuating around these first axes 93 a pure abduction and adduction of the thigh is made possible. In the first example, the angles have the following values:

?1=35 degrees; ?2=70 degrees; ?=0 degrees; ?=0 degrees.

[0129] FIGS. 6 and 7 show different views of an exoskeleton 1001 after the first example, whereby a neutral posture is shown. Thereby the third axes 95 in the neutral position are parallel to the mediolateral axis. They are therefore responsible for the pure flexion and extension of the thigh.

[0130] The choice of the third axis 95 in this direction facilitates the actuation of the thigh when walking or running. Then most of the work is done here and the largest angle variations are present.

[0131] The fourth axis 96 and the fifth axis 97 in the neutral position are parallel to the mediolateral axis. They are thus responsible for the pure flexion and extension of the lower leg (fourth axis 96) or the foot (fifth axis 96).

[0132] The choice of the position of the second axis 94 is not trivial. For an application in walking, standing and running, it cannot run vertically through the hip joint (then all three axes would be at right angles to each other in the neutral position), since a hinge joint would then have to be located either in the upper body or in the thigh. The angle between the first axis 93 and the second axis 94 is ?0=35?. The angle between the second axis 94 and the third axis 95 is ?2=70?. In this arrangement, with axis 93 parallel to the sagital axis and with the third axis 95 of the hip, the fourth axis 96 of the knee and the fifth axis 97 of the foot 90 parallel to the transveral axis, from the sum of the angles of ?1+?2=105? the maximum internal rotation of the leg of ?1+?2?90?=105??90?=15? results. Then all axes 93-95 lie simultaneously in a plane parallel to the transverse plane. The maximum rotation of the leg around the vertical axis is not so easy to determine and essentially depends on the shape and size of the elements 80, 82, 84. If it is assumed that the individual parts can penetrate each other, or should be constructed in such a way that they do not penetrate each other or collide with each other, then the maximum external rotation of the foot 90 in the last described case, is

??1+?2?90?=?35?+70??90?=?55?.

[0133] The difference between maximum internal and external rotation is 2.Math.?1=70?.

[0134] FIGS. 8 and 9 show different perspectives of the first execution example with maximum internal rotation of 15 degrees and maximum external rotation of approx. 45 degrees.

[0135] FIGS. 10 and 11 also show different perspectives of the first execution example with a maximum simultaneous external rotation of approx. 32 degrees. It enables almost any posture and movement, even extreme ones. This includes walking, running, running, jumping, turnaround on the spot, deep lunge, side steps, cross steps, close combat, sitting on chairs or benches and more. Structure 1 allows a wide amplitude of the external rotation of the feet (45? external rotation, 15? internal rotation). Other constructions can be realized according to the requirements of an application.

[0136] As already mentioned above, the first axis 93 does not necessarily have to run parallel to the sagital axis. In particular, it can be useful to rotate them around the vertical axis so that the feet can be rotated inwards around the vertical axis over a larger range. This is the second example of the execution described using FIGS. 12-17, which has the following angles:

?1=35 degrees; ?2=70 degrees; ?=20 degrees; ?=0 degrees.

[0137] FIGS. 12 and 13 show an exoskeleton 1002 in neutral position according to the second example.

[0138] FIGS. 14 and 15 show the exoskeleton 1002 with maximum internal rotation of 35 degrees and maximum external rotation of 35 degrees.

[0139] FIGS. 16 and 17 show the exoskeleton 1002 with a maximum simultaneous external rotation of approx. 28 degrees. The second example demonstrates how the maximum internal rotation of the foot can be increased by choosing a ?>0?. In addition, FIG. 15 shows that the maximum travel range of the second element 82 is increased, and thus the theoretical maximum of the outer rotation of the foot 90 can be reached. In the first example, this rotation was limited by the fact that the second element 82 could collide with element 1. Thus, instead of the theoretical maximum external rotation of 55?, only 45? was achieved. Thus, the second design example makes it possible e.g. to change the walking direction faster than the first design example, with full ground contact without sliding.

[0140] With the exoskeleton 1002, however, the maximum outward rotation of the feet 90 about the vertical axis is automatically reduced by the same amount. For outward rotation, the quantification of the maximum angle again depends on the size and nature of elements 80a, 82, 84 in particular, as they may collide depending on the angles selected and your their other specific geometry. However, this is not the case in the second example (see in particular FIG. 15, right leg). Here, the maximum possible inward and outward rotation of the foot is 35?.

[0141] In order to allow the widest possible abduction of the thigh, it is necessary to maintain a lateral distance between the thigh or hip of the user and the nearest components on the third axis 95. These parts rotate in a circle around the center of the head of the femur when the leg is abducted, i.e. rotated predominantly around the first axis 93. These circles also intersect the parts of the upper body (hips and upwards). The greater the radius of these circles between the centre of the hip joint and the innermost part along the third axis, the greater the maximum abduction angle of the leg. Likewise, the exo plate 80a should be kept narrow (in a lateral direction) so that it does not conflict with the third element 84 if the leg is further abducted.

[0142] The exo 86 thigh in the preferred embodiment is attached to the outside of the user's leg. The third element 84 is attached along the third axis 95 then distally to the exo-thigh 86. This means that the thigh is attached to the inside of the Cardan suspension. Then it is easy to attach the user's thigh to it without too great a distance. The Exo thigh 86 then automatically has a stop in the swing direction to the rear on the second element 82 or on the third element 84, so that an overturning can be prevented. If, however, a particularly large distance between the user and the exoskeleton is required in the area of the third axis 95, e.g. to allow a particularly large abduction of the leg, the thigh can also be attached to the outside of the third element 84.

[0143] The elements 82 and 84, which are the brackets of the gimbal, are preferably designed in such a way that the inner element is smaller than the outer element, in such a way that the inner element does not collide with the outer element at extreme angles and external rotation of the foot 90, thus limiting the freedom of movement. Elements 82, 84 are preferably designed as brackets, but can also be designed as circular arcs, so that they resemble more the elements of a typical Cardan suspension.

[0144] FIGS. 18-23 show another exoskeleton 1003 according to a third execution example. This has the following angles: [0145] ?.sub.1=35?, ?.sub.2=70?, ?=20?, ?=20?.

[0146] For this case FIGS. 18 and 19 show the exoskeleton 1003 in a neutral position. FIGS. 20 and 21 show the exoskeleton 1003 with a maximum internal rotation of 33 degrees and a maximum external rotation of approx. 37 degrees. In addition is pointed out, that exo back plate 82 can be shorter than shown here.

[0147] FIGS. 22 and 23 show the exoskeleton 1003 with a maximum simultaneous outer rotation of approx. 26 degrees.

[0148] By the raised second element 82 the exoskeleton 1003 of this execution example allows in principle longer steps than in the previous execution examples. However, these longer steps are usually no longer covered by the natural working space of most humans. The space created at the back of the user's legs, however, also allows other devices such as tactile elements or armour to be attached to the user's thighs. This design is interesting for mobile applications because it makes sitting even easier and reduces the risk of colliding with the environment. The structure also allows, for example, deeper kneeling without the feet 90 of the exoskeleton colliding with the hip elements.

[0149] The examples of execution described so far are preferred. However, there are a large number of other configurations which refer to all the execution examples described so far. Some of these improvements are briefly discussed below.

[0150] In the previous execution examples, the elements 82 and 84 are designed in such a way that between the first axis 93 and the third axis 95 only one further axis is provided, namely the second axis 94, which results from the joint 83 between the elements 82 and 84. It is also possible to use not only provide a second axis 94 between preserved axes 93 and 95, but to introduce additional axes (e.g. axes 94a, 94b, etc.) using more than 2 brackets or arcs. Especially if all or some of these elements can be completely folded into each other, this has the advantage that the difference between maximum inner rotation and maximum outer rotation of the corresponding foot 90 can be increased.

[0151] FIGS. 24-26 show different perspectives of such an example, in which element 82 is divided into three parts, which are here referred to as 82a, 82b and 82c. Each of these parts is rotatably connected to its neighboring part, resulting in the axes 94a, 94b and 94c. Preferably each axis is updated. This can also be done by actuators on the not shown elements 80 or 86. The smaller elements in the example cover an angle of 30? each and the larger one an angle of 60?. With this construction a foot could be rotated (by means of the external or internal rotation of the hip joint) by 60? inwards as well as outwards (for a hip plate with ?=?=0?). It is possible to attach elements 81, 82a, 82b, 82c, etc, 84, 86 in any order inside or outside to each other. In addition, the angles ?.sub.i of the elements can be different from each other. Elements 82-84, which are arranged from the inside to the outside as in the example according to FIGS. 24-26, can never intersect, independent of the angles ?.sub.i used. If however at least some of elements should be arranged from outside to inside, cutting of each other can be avoided, if the next element (e.g. element 82c is next element of 82b) covers a much smaller angle than previous element. It is also possible that element 82a is outside of the following elements 82b, etc. but is first attached to element 80. By using some of these measures or by combining them, it can be prevented that the diameter of the entire hip joint increases too much with increasing number of elements.

[0152] Due to the use of more than 3 axes for the hip joint, there is generally no longer a unambiguous assignment for the choice of the driven axis angles (joint angles). However, it is preferable to correlate the angle between axis 93 and axis 95 tabularly or functionally bijective with a vector of the to be actuated angles (joint angles) of axes 94a, 94b, etc. This ensures that the mechanism behaves safely and predictably. In general, it is necessary that element 84 does not deviate too far from the horizontal.

[0153] This would impede the free swinging of the leg. This type of actuation can also be operated in the other direction to increase an external rotation of the hip. This type of actuation can also be operated in the other direction to increase an external rotation of the hip. Then, however, it can happen that the hip elements of the left and right leg easily come into conflict with each other.

[0154] It is generally important that the last element (here 84) to which the exo thigh 86 is attached, in all states of the hip joint mechanism, allows the exo thigh 86 to swing during gait. Since in the preferred execution examples the exo thigh 86 is fastened internally to the third element 84, the area of the third axis 95 of element 84 is preferably flat on the inside. This corresponds to the representations used here. However, element 84 may be round, especially if the exo thigh 86 should be attached externally, or if the distance between the exo thigh 86 and element 84 along the third axis 95 should be so large that a free swing of the exo thigh 86 should not be significantly restricted.

[0155] Due to a particularly wide choice of hip elements, preferably as segments of spherical shells, the hip mechanism can correspond even more closely to a foldable part of a spherical shell. This can be used e.g. as protection or armour.

[0156] In the shown exoskeleton forms 1000, 1001, 1002, 1003, the third element 84 is formed in such a way that the two brackets 84, 84b are arranged almost perpendicular to each other. As a result, the third element 84 protrudes quite far sideways in the various movements. In order for the third element 84 to occupy less lateral space, it is possible to shorten the first bracket 84a, preferably so that the second bracket 84b runs parallel to the sagittal axis in the neutral position. This facilitates the swinging of the arms when walking and saves weight. This facilitates the swinging of the arms when walking and saves weight. For this purpose, the angle between the brackets 84a and 84b is to be adjusted accordingly.

[0157] For reasons of clarity, the necessary bearings, axle mounts and actuators are not explicitly specified in the examples described. Actuators can be mounted in or on any element. Correspondingly, fixed axle connections or e.g. ball bearing connections become necessary. As shown in the first example, however, it is preferred that an actuator in an exo lower leg 88 actuators the fifth axis 97 to the exo foot 90. A first actuator in exo thigh element 86 actuators the fourth axis 96 of the knee joint, a second actuator in exo thigh element 86 actuators the third axis 95 of the exo hip joint, an actuator in element 84 actuators the second axis 94 of the hip joint, and an actuator on, in, or on the exo hip or exo back plate 80a actuates the first axis 93.

[0158] Below are described novel actuators which can be used to drive all joints of the described exoskeleton in the preferred design. Regardless of this, the mechanism of the exoskeleton can also be driven by other actuators. This includes normal geared motors, linear actuators, hydraulic or pneumatic cylinders, direct drive by gearless torque motors, drive by cables and Bowden cables and rollers and more. Particularly advantageous is the drive via motors with back-drivable ball-bearing worm gears (ball worm, ball worm gear, recirculating ball worm drive according to U.S. Pat. No. 3,468,179 A), with global roll spindles or harmonic drive gears.

[0159] Especially the exo-foot 90 generally can have an additional axis and necessary components with which pronation and supination can be actuated. A particularly advantageous further development of the Exo-Foot is described below and is called Exo-Foot 9000.

[0160] It can be advantageous if the two axes of the Exo 86 thigh are not parallel to each other. However, the fourth axis 96 must always be parallel or almost parallel to the axis of the knee joint. However, the third axis 95 can generally be oriented arbitrarily. In this way it can be influenced, according to the effect of the angle ?, to what extent the external and internal rotation of the leg is possible. The described hip mechanism, with at least 3 axes, which intersect in the center of the hip joint, is in practice quite tolerant regarding deviations in the axial direction. Also, the user may be larger, smaller, too far forward, or too far back, too far left, or too far right of the ideal position. This can be used to use an exoskeleton of one size for more than one user. Also the adjustment of the center distances and angles to a special user is facilitated. However, the principle of the mechanism is not lost by these deviations. It is intended to design mounting points and bearings of axles to be displaceable and adjustable. It is advantageous to be able to adjust the distance from the user's back to the hip plate, as well as its vertical position, in order to align the center of his hip joint with the intersection of the axes.

[0161] Due to the largely athropomorphic nature of the exoskeleton, it is possible to design most of the described elements in such a way that they encompass the user, and not only, as in the illustrations, stand laterally to him.

[0162] It should be noted that, surprisingly, with the preferred simple hip mechanism (e.g. FIG. 1-25), also in connection with the described exoskeleton, generally only extremely low torques are required to actuate the second axis 94. This is also true if the exoskeleton, as in teleoperative applications, has to carry the entire weight of the user, while it is itself, on the hip or back, carried by a movement simulator. If, for example, the user's weight rests only on an extended leg and is transferred to an exo leg entirely by means of his foot on the foot element of the exoskeleton, the centre of gravity of the leg and of the user is always perpendicular under or above his loaded hip joint (point 91). If ?=0?, and the weight of the elements 82 and 94 can be neglected compared to the other weights, only changes in the joint angles of the axes 93 and 94 can change the potential energy by raising the center of gravity. For this, considerable torques are required. The actuation of axis 94, however, is also possible without changing the potential energy if axes 93 and 95 are moved in such a way that a single external rotation or internal rotation (external or internal rotation of the hip joint) of the foot is achieved. The centre of gravity remains at the same height and therefore no work is performed and no axial torques occur. However, since the position of elements 82 and 84 in a gravity field generally changes due to the modified joint angle of axis 93, a low axial torque must be applied or absorbed by the actuator. However, the transversal torques on this axis are generally very high when a leg is loaded with significant parts of the body weight. The joints must be of a correspondingly strong design. Friction forces in the bearings, which are low, must also be overcome. The external or internal rotation of the leg is force-wise only weakly developed in humans. Therefore, the torques to be actuated of axis 94, which mainly serves this degree of freedom, are also low compared to other torques occurring in the exo legs. Accordingly, actuators there can be smaller and weaker.

[0163] Similarly, the axial torques of a body with several elements 82, 82b, etc. (FIG. 24-26) are only low. The rather small actuators can therefore be easily located on or in these elements for all configurations, but can also be remote (Bowden cables). This also applies if only one element 82 is used. Even if ? should not be equal to 0?, these axial torques are low, as long as ? remains small.

[0164] All described structures and combinations of properties can be used not only for exoskeletons but also for humanoid robots and virtual avatars or virtual machines. In virtual cases, real components must be replaced by corresponding virtual ones.

[0165] As already mentioned, the previous description of the preferred exoskeletons 1001, 1002, 1003 did not include the representation and description of associated actuators. Particularly suitable actuators are described in the following.

[0166] FIGS. 27-31 shows a first execution example of a new actuator 2001.

[0167] FIG. 27 shows in a perspective view the actuator 2001 closed from the front, i.e. inside its housing.

[0168] FIG. 28 shows the actuator 2001 from a similar perspective as before. Here, however, parts of the housing are removed, namely a front base plate 106a and a base frame 107.

[0169] FIG. 29 shows the actuator 2001 in a similar way as before. Here a front chain 110 is missing as well as elements 108, 109, 104a and 105a, which concern their drive.

[0170] FIG. 30 shows the actuator 2001 in perspective view from the back, without housing parts.

[0171] FIG. 31 shows the actuator 2001 in side view with the front view without the front base plate 106a.

[0172] The actuator 2001 has two parallel chains 110, 113, which run on one side of the actuator 2001 in a plane with a ball screw 114 and at the same distance to it. The actuator 2001 is designed in integral construction, which means that the housing parts 106a, 106b and 107 perform the functions of the basis, i.e. structural functions. However, parts of this function are here also taken over by a linear guide support 121 and by the frame 123 of a motor 124, which are mounted in a force-locked manner to the base. A nut 117 is force-locked to a connecting block 118, which is mounted in a force-locked manner to chains 110, 113 by suitable means. This actuator 2001 has a dedicated driven shaft 101, a dedicated idler shaft 102 and a dedicated fixed shaft 103. Driven sprockets 108, 111 are connected to a driven axle 101 by suitable means, such as direct (welding, screwing) or indirect (hub, clamping set, spoke hub). The 101 axle and sprockets 108 and 111 can also be manufactured as a single component. The driven shaft 101 is connected to the base by suitable bearings 104a, 104b so that it can rotate around its axis but cannot shift. The dedicated idler shaft 102 is also mounted in the same way, by means of bearings 105a, 105b. The free-running sprockets 109, 112 are preferably mounted in a friction-locked fashion to the deflection shaft 102. However, the bearing arrangement can also be different, such as individually or together on an internal axis and not on an external axis as is the case here. It is also possible to dispense with the dedicated fixed shaft 103 (it is used to attach other actuators to the example actuator) and to provide other attachments. It is also possible to use the fixed shaft to support the bearings of the free-running axle or free-running sprockets (as e.g. in the actuator 2003).

[0173] In Aktuator 2001, the sprockets and chains on one side can be dispensed with. Then, however, depending on the given load, considerable transverse torques can occur, which must be absorbed by the nut and linear guide. Basic elements, axles, bearings, etc. should then of course be adapted to the new geometry, as space and weight can be saved.

[0174] FIG. 32 shows a side view of an actuator 2002 for a second execution example. This actuator 2002 corresponds almost completely to the actuator 2001 described above. However, the driven axis is shorter here and the driven component X of an exoskeleton or robot is fastened to the driven axis inside the housing, using suitable space-saving means. The housing is modified accordingly. Variations as with the actuator 2001 are of course also applicable here.

[0175] A third actuator 2003 after another execution example is shown in FIGS. 33-37. FIG. 33 shows actuator 2003 completely in perspective view, but without optional housing

[0176] FIG. 34 shows the actuator 2003 from above, wherein a linear guide support 121b is particularly characterized which is combined with the base and which is separately shown in FIG. 35 as a side view.

[0177] FIG. 36 shows a side view of the actuator 2003 without the front parts 108, 109, 110

[0178] FIG. 37 shows a perspective view of the actuator 2003, but without the front parts 108, 109, 110 and without the bearings 104c and 125a.

[0179] The actuator 2003 is designed in differential design. So it does not necessarily need a housing. However, a suitable housing can be connected to a 121b linear guide support, which is combined with the base, to increase the load capacity. The linear guide support 121b combined with the base is now, in comparison to the linear guide support 121 shown above, designed in such a way that bearings and axles can also be attached to it. The actuator 2003 has a central bearing 104c, which carries the driven shaft and allows only the axial degree of freedom. The fixed shaft 103 is here firmly connected to the linear guide support 121b. The free-running sprockets are fastened to it with suitable bearings. This Actuator 2003 can of course also be implemented in such a way that a dedicated idler shaft and a dedicated fixed shaft are used, as in Actuator 2001. All shafts would then be mounted with 121b suitably connected, by bearing or fixed. Also the actuator 2003, like the actuator 2001, can be built in a one-sided variant, similar to FIG. 36 (without free, unused bearing and detail adjustments). All actuators shown here can be manufactured in integral or differential design.

[0180] A fourth actuator 2004 according to another execution example is shown in FIGS. 38-41.

[0181] FIG. 38 shows a perspective view of the actuator 2004.

[0182] FIG. 39 shows a side view of the actuator 2004 without the front base plate 106a.

[0183] FIG. 40 shows a top view of the actuator 2004 without base frame 107.

[0184] Actuator 2004 is a modification of Actuator 2004 with only one linear guide.

[0185] The 2004 actuator demonstrates a space-saving design with only one chain marked 113. The two linear guides 119 are attached directly or indirectly to the chain 113 by suitable means. They are attached here above the chain 113. The double arrangement doubles the load capacity without affecting the length. Due to their position, the linear rails 119 can be significantly longer than the straight section, and therefore longer carriages or double carriages can be used at greater distances from each other. All this increases the load capacity for torques. Although the ball nut 117 of the recirculating ball screw 114 must absorb considerable torques, since it is firmly connected to the bearings of the linear guide by suitable means, these torques have little effect on operation. In a variation 2004 this actuator can also be operated with only one linear guide 109 (FIG. 41), if the associated limitations are accepted. Nut, linear guide carriages or carriage and connection block can also be manufactured as one component. The bearings of the ball screw are directly or indirectly connected to the base by suitable means, in the illustration with the base 108.

[0186] A fifth 2005 actuator after another execution example is shown in FIGS. 42 and 43. FIG. 42 is a perspective view on actuator 2005 and FIG. 43 is a side view.

[0187] The actuator 2005 corresponds to the actuator 2004 with only one linear guide (see FIG. 41). The chain 113 is attached directly or indirectly to the linear guide carriage. Here, the linear guide is preferably moved in a plane with the chain 113 and the ball screw so that the torques along a transverse axis become practically zero. This case is not fully realized in FIG. 42 for drawing reasons, since the center of the recirculating ball bearing guide of the linear rail is not in the plane of the chain center and the axis of the ball screw plane. For this purpose, the spacer 126, which is firmly connected to the base and the linear rail or can be part of it, would have to be slightly thicker. As can be seen, the base/housing can partly be designed even narrower. Of course also here a differential construction can be chosen. You are also free to choose between exclusively dedicated axes or non-dedicated axes. Linear rail and ball screw can change places here (as with the 2006 actuator described below). Then the chain 113 is attached directly or indirectly to the nut of the ball screw. In such a design, however, the effects of torque on the nut and linear guide are greater.

[0188] A sixth actuator 2006 after another execution example is shown in FIGS. 44 to 46. FIG. 44 is a perspective representation on actuator 2006 and FIG. 45 is a side view. Furthermore, FIG. 46 shows an actuator 2006 with only one guide rail 119.

[0189] In the actuator 2006 or 2006, one or two linear guides 119 run approximately parallel to the ball screw 114, which is led close to the chain to reduce torques. All parts are suitably connected to the base and axes corresponding to the other examples.

[0190] A seventh actuator in 2007 after another example is shown in FIGS. 47 to 49. FIG. 47 is a perspective representation on actuator 2007 and FIG. 48 is a side view. FIG. 49 also shows an actuator 2007 with only one guide rail 119.

[0191] In the actuator 2007 or 2007, one or two linear guides 119 run below the ball screw 114, which is led close to the chain 113 to reduce torques. All parts are suitably connected to the base and axes according to the other examples. This saves space compared to actuator 2006.

[0192] All these actuators can be converted to serial elastic actuators by known means, especially known spring elements and their coupling to ropes, rods, axles, etc. An example of this is an actuator 2008, as symbolically indicated in FIGS. 50-52. Elements not shown here are to be supplemented according to the previous examples. The decisive factor is that spring elements 127 are preferably fitted coaxially to a section of the chain 113. The coaxial fixing makes the guidance of the springs 127 unnecessary or very simple, since there are hardly any transverse forces. The two springs 127 are connected here on each of their sides with a connecting block, which has abutments and is marked 118b here. On the other side they can either be connected directly to the chain 113 or, as shown in FIGS. 50-52, with a chain-spring connection element 128. This is connected to the chain 113. Disc springs, leaf springs, elastomers, cush drives, etc. can also be used as springs. The use of these elements also reduces negative influences due to the polygon effect. The chain 113 can also be attached as before to a nut or linear carriage etc. and the springs can be part of the chain. An associated spring mechanism may also be coaxial with the ball screw as part of the connecting block. This is particularly easy to implement if the ball screw is loaded axially only, since there is no need for additional strong guides for the springs. As known, the spring can also be a torsion spring of the driven shaft or a hub mounted there (which in turn holds the driven sprockets). The driven axis can also be attached to a torsion spring to which the next driven element of the robot is attached. The torsion spring can also be part of this next element of the robot. In FIG. 51, 52 an element 128 is connected to the chain and the springs with two sides of element 118b. The chain 113 must be passed through 118b here. The structure can also be reversed, where 128 becomes part of 128b, and the spring holders of 118b are connected to the chain and one spring each, or the springs are directly integrated into the chain and the chain is driven between the springs.

[0193] It is generally advantageous to attach not only the drive or actuator for the third axis 95, but also for the fourth axis 96 (knee joint) to the exo-thigh 86 (or to the thigh of a humanoid robot). These two actuators can be stacked on top of each other. However, it is preferable that they share the axles for driven wheels and pulleys. A driven axle then holds the bearings for the deflection rollers of the other axle. FIG. 53, 54 is an example of a suitable actuator for 2009 in which bearings 129 for a freewheeling sprocket and bearings 130 for axles are also shown. It should be noted that the principle of Actuator 2009 can be applied to all other actuators presented and implied here. It is preferable to install a torque sensor, such as a suitable sensor hub, between the bearings of the idler pulleys and the axles. This allows residual torques of the idler pulleys rotating relative to the shaft to be measured and used to correct measured main torques of this shaft. Preferably, the free-running sprockets are not mounted individually as shown in the picture, but are first mounted on a common axle, which is then mounted opposite the coaxial driven axle. It is also possible to measure axial torques acting on the driven shaft at various points, e.g. by means of strain gauges, and thus separate individual influences on the shaft. It is of course also possible to integrate actuators with multiple bases of differential or integral designs in one housing.

[0194] Another arrangement of the actuator provides that the driven shaft drives a Bowden cable mechanism. For this purpose, e.g. suitable pulleys are preferably fixed directly at this shaft, or the rope is wound directly around the shaft. The shaft or rollers may have suitable cable guides/grooves. Several ropes can be used, each for the same or opposite direction of pull. The rope or ropes can be anchored to the axle or pulley by known means to ensure the transmission of force. Bowden cables can be used to route the ropes in such a way that one or more additional pulleys or axles are driven at remote points. Here, too, known means can be used again, such as spring-loaded Bowden cables or spring-loaded rollers, to achieve the properties of an ordinary serial elastic actuator. The pulley diameters of the Bowden cable mechanism can now be used to further influence the gear ratio by known means. It is also possible to transmit the power via ropes, but without Bowden cables, but only via pulleys and corresponding means.

[0195] Similar to the Bowden cable mechanism, two hydraulic-rotary transducers (HRT) can also be used. One HRT on the actuator is rotatably driven by the driven shaft and generates pressure and underpressure in the two connected pressure lines. At the remote HRT, this causes a corresponding movement of the actuated joint. This has the advantage over Bowden cables that lower losses occur and the system reacts less flexibly.

[0196] The free-running sprockets, rollers, cylinders, etc. are always shown here in such a way that they have the same diameter as the driven sprockets, rollers, cylinders, etc. However, they can have different diameters. In addition, several small free-running idler pulleys can be used. This allows, for example, the available stroke to be increased, the path of the chain, rope, etc. in the housing to be influenced in such a way as to create axes for further shafts or devices, such as power electronics. The free running rollers (etc.) can also be replaced by alternative deflection elements such as slide rails, Bowden cables, Teflon guides, channels in the base, etc.

[0197] Usually suitable tensioning devices are necessary to pretension chains, ropes, belts, etc. These can preferably be mounted on the side of the actuator that is opposite of the ball screw or integrated into the support of the axes in order to slightly change the distance between the axes. These means may include spring elements.

[0198] An advantage of all described actuators is that they have a constant gear ratio from motor to driven axis. Especially for joints which have to be actuated over a large angular range this can be advantageous. This makes it possible to build robots and exoskeletons that are more articulated than before. Also, the position of the actuator in the exoskeleton or robot does no longer directly influence the previously angle-dependent transmission ratios. This simplifies the design process.

[0199] A further advantage of the mentioned execution examples is that almost the entire length of an actuator is now available as the usable travel range of the ball screw. This permits larger actuating angle ranges with constant diameters of the rollers of the driven shaft. Conversely, larger roller diameters and thus larger power transmission ratios can also be achieved. This can reduce the number of actuators and/or motors in robots and exoskeletons and/or increase strength or power.

[0200] A further advantage of the design examples mentioned is that the chain is always mounted close to the guided nut. This reduces oscillations and uncontrolled elastic behaviour. In addition, the actuation is completely identical in both directions; and do not show a stable traction behavior in one direction and an unstable push behavior in the other. This increases the controllable forces and speeds.

[0201] It is possible to replace the ball screw and the brushless DC motor with a linear motor (such as a linear, electric, brushless motor or piezo actuators). The high response time of this drive can be advantageous. It is also possible to stack several linear motors and have them drive a chain, ropes, etc. together, thus making use of the available volume to enable high forces and power.

[0202] It is also possible to integrate electrical or mechanical brakes into the actuators. This is preferably done directly on the motor. Because low braking torques there result in high braking torques on the driven axle.

[0203] All actuators can be equipped with obvious means with position encoders, angle encoders, torque sensors and limit switches. Cables are preferably routed from one actuator to the next through the shafts. For this purpose, openings may be provided in the shafts for inserting and removing cables. For this purpose, openings may be provided in the shafts for inserting and removing cables. All actuators can be realized with chains, ropes, belts and suitable deflection and tensioning devices.

[0204] The actuators can also be used for other robotic systems, or any other application requiring high torque transmission. In order to achieve greater forces, two ball screws can also be used, each of which has the means described to attach a common chain.

[0205] The spindles are then located on opposite sides of the sprockets (e.g. mirrored on the plane of the axis of the driven axis and the free axis) and each drive a different straight section of the chain. The nuts then drive the chain in the same direction of rotation, but in the opposite direction in space. If there are several straight sections of the chain, if there are several rotating wheels or driven wheels, more than 2 spindles, motors, etc. can also be used. Likewise, several spindles can drive parallel mechanisms, each of which drives a common drive shaft. This corresponds approximately to the illustration in FIG. 53, 54, except that there is only one driven shaft which is driven by all chains, motors and spindles etc. The storage would have to be adapted to this situation.

[0206] In order to achieve unlimited actuating ranges, it can be provided that, for example, in a system with 2 ball screws which drive a common chain, only one spindle at a time must engage in the chain with suitable means in order to perform work. The other spindle can then retract the connected nut and chain gripping mechanism, engage the chain, and begin to perform work or exert force. Then the other gripping mechanism can release itself from the chain, move to its new starting position, grip the chain and start performing work on the chain, or exert force. This procedure is similar to turning a steering wheel with two hands, where only one hand is needed at a time to keep control of the steering wheel. The torques, forces, speeds and/or positions on the chain must be precisely controlled, especially when engaging and disengaging, so that no discontinuities occur. Similar mechanisms can again be realized with ropes or belts. The design of suitable actuators and gripper profiles for gripping and holding chains etc. is obvious (e.g. rope clamps, cableways), pliers with tooth profiles on both sides. Also several ball screws can be used in parallel (similar to FIG. 53, 54, but with only one driven axis) to drive a common shaft. However, also here the structures can be designed in such a way that they can engage and disengage in the chains, etc., and thus arbitrary axial travel of the driven axis can be achieved. Likewise, the sprockets, axles, hubs, etc. can be equipped with coupling mechanisms. Then the chains can remain connected to the nuts/ball spindles and the sprockets or shafts can be decoupled and retracted before being operated again in drive direction and engaged to perform work or generate forces. The principle of engaging and disengaging drives of several rotating ball screws can also be applied to actuator examples with only one-sided chain loading. Then such an actuator, with two driven sprockets and two ball screws, is not or not substantially larger than an actuator with chain loading on both sides. Here it is also possible to use only one chain (or structure of phased chains), which is driven from one side each by a nut and ball screw. Here it must be prevented that the gripping mechanisms collide, if one is decoupled and driven back.

[0207] Exoskeletons for the teleoperation, i.e. to control governors in a virtual (avatars) or real environment (humanoid robots), use motion simulators to exert static or time-varying body accelerations on the user. Gimbal suspensions are also used for this purpose.

[0208] The following figures describe preferred motion simulators that can be used with an exoskeleton.

[0209] FIG. 55 shows in a perspective view of a motion simulator 3000 to which an exoskeleton 203 with back mounting is attached. The Motion Simulator 3000 essentially consists of two main parts, namely [0210] a translation unit 210 with actuators 250, 252, 254 as well as suitable drive means, such as motors, shafts, ropes, etc., which are not shown here. This enables translational movements along the arrows P1, P2 and P3. [0211] a rotary unit 211 comprising a first rotary member 200, a second rotary member 201 and a third rotary member 202. These are each mounted rotatable relative to neighboring elements.

[0212] In the following, mainly the rotation unit 211 is described. FIG. 56 is also a perspective representation of the motion simulator 3000 and is used in the following to describe different rotation axes.

[0213] The first rotation element 200 is mounted with its first end at the linear actuator 254 rotatably around a first rotation axis 205, which in normal operation is essentially vertical and corresponds to the vertical axis of the linear actuator 254. At the second end of the first rotation element 200, the second rotation element 201 is mounted rotatably around a second rotation axis 206. At the other end of this second rotation element 201, the third rotation element 202 is bearing-mounted around a third rotation axis 207. At the other end of the third rotation element 202, the exoskeleton 203 is mounted rotatably about a fourth rotation axis 208. It should be noted that an appropriate bearing must be provided and arranged for each of the rotary axes mentioned. This is generally known to the expert, so that it will not be discussed further.

[0214] FIG. 57 shows that the rotation axes 205, 206, 207, 208 intersect at a point 220 and which angles are formed between the individual elements or axes, namely: [0215] the rotation axes 205 and 206 form an element angle 212 [0216] the rotation axes 206 and 207 form an element angle 213 [0217] the rotation axes 207 and 208 form an element angle 214.

[0218] The sum of the element angles must be greater than 180? to avoid a gimbal lock and to allow the user in the exoskeleton to assume all possible spatial orientations. In the figures, the rotation elements 200, 201, 202 are each equipped with only 2 axle bearings or axle mounting points (and not with two opposite ones on each side of the user). In particular, the first rotary element 200 and the second rotary element 201, counted from the attachment to the translation unit 210, can, however, also have 2 axle attachment points or axle bearings if they should be added mirror-symmetrically. However, it is advantageous not to supplement the second rotation element 201 in such a way and instead always to orient it in such a way that the legs of the exoskeleton are preferably oriented away from it. The second rotary element 201 is oval shaped to save weight and space. This, however, limits the size of the next rotation element 202 so that it can no longer be designed as a full or semicircle, otherwise the user inevitably has to collide with it.

[0219] According to the invention, the third rotation element 202 is designed as a simple, short and small arc or bracket, so it has only two fixing points for axles and axle bearings. In order to achieve the smoothest possible motion behavior in areas where the rotation unit 211 with only 3 axes would experience a gimbal lock, the angle of the third rotation element 202 is selected as large as possible.

[0220] In general, the exoskeleton 203 can then no longer rotate 360? around the axis 208 without colliding with the third rotation element 202 or colliding when the user adopts certain postures. However, these collisions must and can be prevented. In general, it is not necessary to actuate the 208 axis by 360?. (For smaller element angles 213, however, 360? actuation is possible. Then, however, the mentioned problems with high speeds and accelerations occur again increasingly.)

[0221] As can be seen in FIG. 58, the third rotation element 202 is preferably attached to exoskeleton 203 in such a way that it sits quite high overall, and the part which is attached to the second rotation element 201 sits at the bottom relative to the attachment point on the exoskeleton (in neutral position of the rotation unit, as shown in the figures). However, other types of mounting are possible. The figures also show that the third rotation element 202 is preferably mounted at an angle to the exoskeleton 203. This is achieved by a back mount 204, which can be described by two angles analogous to the axis 93 of the second element 82 of the hip (FIG. 2). It is important that the element axis 208 runs through the common intersection point of all element axes 205, 206, 207, 208. This lies preferably in the body of the user, e.g. in his head, or in his torso. Preferably a starting angle is chosen for the third rotation element 202 in the normal position and then a suitable back mount 204 is designed. This mount 204 then forms a rigid unit with the back plate (or hip plate, etc.) of the exoskeleton 203. In the example setup, element 202 is inclined by 30? from the vertical. This angle may also be different if element 202 does not collide with the back plate or other parts of the exoskeleton 203. The actuation angle of axis 208 must then be restricted to an area that is so small or smaller that the third rotation element 202 can never collide with the back plate. It is usually sufficient to select this range significantly smaller than the maximum if the effective remaining sum of the joint angles exceeds 180?. All other axes 205, 206 and 207 can be actuated over full 360?.

[0222] In the preferred design example, the element angles have the following values: Angle 212=90?; angle 213=90?; angle 214=30? (see FIG. 57).

[0223] The control is done with methods of inverse kinematics with boundary conditions. Axis 208 is preferably controlled so that in the preferred execution example it is never deflected more than +/?35? with respect to the back plate of the exoskeleton (in the illustrations, this is 30?). This angle is used to control the mechanism so that the user with his arms is kept away from the second rotation element 201). Soft or hard restraints or potentials can be used for this purpose. The control method is, for example, to first take a target orientation, e.g. the spatial position of an avatar, or a corresponding target value from a motion cueing process. In the computer, in a dynamic simulation of a model of the motion simulator or parts thereof, the given target position of the user in the exoskeleton is applied as boundary condition or restrain to the exoskeleton or end effector of the motion simulator. Then the simulated movement simulator reacts in such a way that automatically the correct joint angles are adopted in order to achieve the required orientation. These joint angles can then be used as target angles for the real motion simulator. Of course, this procedure can also be simplified and accelerated mathematically by using precise mathematical models rather than numerical simulations. An advantage of this design is that the third rotation element 202 can be located very close to the exoskeleton. This makes it small, stiff, light and close to the center of rotation. It is therefore easy and quick to actuate. It can have a very large element angle, which would require a much larger and heavier element further out. Collisions can be prevented by actuating the 208 axis in an angle range smaller than 360?. Previously, the need to avoid collisions motivated the use of larger elements. Despite the limited angular range of the 208 axis, the mechanism covers the space of all rotations so well that fluid movements with only low speeds and accelerations of all 205-208 rotary elements are possible. A gimbal lock is avoided and the system always behaves good-natured. The use of the described light element close to the user has further advantages with regard to the speed of the gimbal suspension. By the use of 4 axes and 3 elements, or more, for each or almost every orientation of the user in space, there are infinitely many, densely adjoining, actuation angles of the gimbal suspension to produce this orientation of the user. Should a new spatial position/orientation of the user be adopted quickly, generally all elements of the rotation unit must react quickly. However, this is particularly difficult with the outer elements, because they are usually large and heavy themselves and have large moments of inertia, on the one hand, and on the other hand, the entire inner structure of the motion simulator acts on them. If the inertia (approximated or precise) of the individual elements is also taken into account in the kinematic control of the rotation unit described above, it can be seen that soft acceleration behaviour occurs for the larger elements even with rapid changes in orientation and sudden reversal of the angular velocities. They can run out slowly, so to speak, and slowly reduce their rotational speed before reversing it. Fast or sudden changes occur almost exclusively in the innermost or second innermost actuator. These are small and can react quickly. This makes it possible to select larger, stiffer outer elements of the rotation unit with possibly weaker motors without slowing down the reaction of the system. Alternatively, faster movements can be performed.

[0224] In order to expand this advantage further, additional small elements can be attached to the inner element 202, just as this element 202 is attached to the exoskeleton. These additional elements, too, are generally only actuated over angle ranges smaller than 360?, especially for the desired large element angles. These additional elements, too, are generally only actuated over angle ranges smaller than 360?, especially for the desired large element angles. Thus even faster reactions of the inner elements can lead to the fact that the outer elements may react slower etc. and can be laid out accordingly.

[0225] Alternatively, it is possible to design only a gimbal suspension with 4 axes of 3 elements or more, so that individual element angles can be arbitrary, but the sum is above 180?, but preferably below 270?. This allows the resulting mechanism to avoid a gimbal lock. This allows the resulting mechanism to avoid a gimbal lock. The element angles are then generally smaller than 90?, the choice of previous motion simulators. The smaller the angle sum, the faster the joints have to be actuated and accelerated, but the construction becomes lighter and less inert. If only a limited orientation space is required, the sum of angles can be less than 180?.

[0226] Also with only 2 elements and 3 axes of the gimbal suspension it is possible to avoid a gimbal lock and still be able to take almost any orientation in space without high velocities during the actuation of the elements need to occur. For this, the sum of the element angles must first be greater than 180?. If both element angles are equal, there is only one position, with folded elements, where the axes are parallel, and degrees of freedom are lost. The larger the sum of the angles, the better-natured the speed and acceleration behaviour in the orientation space. All axes can still lie in one plane, but there are alternative joint angles which describe the same spatial position/orientation of the user and where the axes do not lie in one plane. This design saves actuators, weight and costs compared to designs with 4 axes.

[0227] The axis bearing of the elements shown here are very short and flat. However, they can also be long and thus e.g. resemble cylinders and thus bridge distances between the elements or from one element to the exoskeleton.

[0228] The described types of gimbal suspension can also find use for any other application.

[0229] The previously described exoskeletons can be further improved by a special design of the feet 90. Exoskeletonsand also humanoid robotsusually require two degrees of freedom of the foot in order to come close to human mobility. This requires corresponding effort during actuation, which in turn requires corresponding space and weight.

[0230] FIG. 60 shows a preferred design example for an Exo foot 9000 according to the invention. This foot 9000 has an axis 910 which is approximately parallel to the transverse axis of the user's ankle joint. Parallel to this axis, preferably a shaft 902 is used to attach the foot to an actuator. Alternatively this shaft 902 is part of the actuator.

[0231] Supination and pronation of the foot can therefore not be actuated. In order to allow movement of a similar kind, although not actuated, the sole 904 of the foot 9000 is rounded off laterally, as shown in FIG. 61.

[0232] This is preferably done on the basis of a profile of two circular segments with different radii of circles or circular-like shapes, which have their centres close to the ankle joint of the user and lie parallel to the frontal plane of the user (FIG. 63). Smaller circle diameters facilitate unrolling, larger diameters allow a safer stand. It is preferable to facilitate pronation, i.e. to choose 9000 smaller radii on the inside of the foot. The profile is swept forward along the length of the foot, parallel to the sagilal axis, to define the surface of the sole in the middle of the foot 9000 (FIG. 62, 63). To define the heel area of the Exo foot 9000 the profile is rotated backwards around the axis of the ankle. In the middle part of the foot 9000, approximately forward from the ankle joint to the first toe joint, the surface of the sole 904 then forms the surface segment of a cylinder or a cylinder-like geometry on the left and right sides.

[0233] In the rear part of the foot 9000, approximately from the ankle to the back, the sole surface on the left and right resembles a surface segment of a ball or torus or the like. The front part of the exo foot 9000 has the same cross-section at the transition from the middle part of the foot as the middle part. The front part can be flat but is preferably angled upwards to allow rolling. The transition from the central to the front part can also be made in the same way as the transition from the central to the rear part by rotating/sweeping the surface profile around a transverse axis. The distance of the transverse axis to the sole 904 is preferably much greater for the front part than the distance from the sole 904 to the ankle joint. This axis is preferably located near the lower leg in order to achieve easy unrolling.

[0234] The advantage of the given foot 9000 is that now the foot 9000 of the exoskeleton (also robot or virtual avatar or virtual machine) acts like a rolling bearing. When a step is taken and the foot 9000 with the rounded heel area touches the ground, the foot 9000 rolls on the heel surface until the middle foot area touches the ground. Until this time, the distance from ankle to floor is kept practically constant, unless foot 9000 should roll strongly from left to right at the same time. Even then, the change in distance would be slow and gradual. This practically constant distance when rolling also means that by rolling the foot 9000 a firm base is created, the ankle joint, which does not change its height and therefore does not work on the upper part of the body when the user walks at constant speed (otherwise braking or acceleration forces act in or against the direction of movement). The rolling is therefore perceived as very fluid and soft, even if the sole 904 of the foot 9000 is actually made of hard material.

[0235] If the front part of the foot is shaped in the same way as the rear part, but with a larger radius when rolling forward than the heel, the same effect occurs and the foot does not do any work on large parts of the body. However, the natural movement of the knee and ankle requires a larger radius. It is also possible to select a fixed ankle position where the center of this radius lies in the knee joint. This allows extremely soft rolling even without a movable ankle. The tangential transition of the profile radii allows rolling to the left and right at any time.

[0236] The middle part of the foot 9000 is straight seen from the side. This allows a stable standing and the user has a wide range over which he can shift his center of gravity without becoming unstable. This flat area can be reduced or increased by moving the rotation axes of the profile forwards and backwards to influence manoeuvrability. The transitional area to the front area of the foot 9000 can also be moved forwards and backwards.

[0237] At the side there is no such straight area with the shown Exo foot 9000. However, it can be added. Then the centres of the circle segments in FIG. 63 would not lie on top of each other, but would be offset to the left and right. At the bottom, the sole would then have a straight section, which preferably merges tangentially into the circle segments.

[0238] The outer edges of the foot 9000 are preferably rounded with small radii to allow extreme postures and prevent injuries. The sole 904 is preferably covered with rubber etc. and/or made of this material. This improves traction and shock absorption when walking. In particular, lateral rolling is also inhibited by an elastic, damping material, which can be helpful in a cross profile without a straight section to reduce the effort required to maintain balance when standing on one foot. It is possible to use this type of foot in exoskeletons, humanoid robots, virtual avatars or virtual machines.

[0239] Stewart platforms, also known as hexapods, are also suitable as motion platforms for exoskeletons in teleoperative (virtual or real governor) systems. Stewart platforms generally have six linear actuators or similar means attached to the floor or other base on one side and to a work platform or working plane on the other.

[0240] FIGS. 64 and 65 show an example 4000 of a Stewart platform according to the invention. FIG. 64 shows a perspective view and FIG. 5 shows a front view of the Stewart platform 4000.

[0241] The Stewart 4000 platform has a fixed frame 303, also known as the base. To this, a movable frame 302 is installed over a large number of actuators 304a-304f, which are preferably designed as linear actuators. An exoskeleton 300 is attached to this by means of a mounting element 301. For the Stewart platform 4000 the working platform is formed by the movable frame 302. The exoskeleton 300 is positioned in the frame 302 by means of the mounting element 301 in such a way that the user is centered between the mounting points of the actuators 304a-304f at the frame. The actuators 304a-304f are fixed to the movable frame 302 and to the fixed base 303 or to the floor or floor supports. The usual basic arrangement for Stewart platforms with fixing points offset from each other, as shown in FIG. 64, 65, is used. To make it easier to swing the legs and arms forwards without colliding with components of the body, it is advantageous to displace the exoskeleton 300 slightly backwards. It is also advantageous if the frame 302, with the user upright, is slightly tilted backwards, as the user generally tends never to walk completely upright, thus increasing the maximum forward tilting angles. The movable platform according to the invention is equipped with long supports 305a, 305b and 305c. These supports 305a, 305b, 305c are essential to maximize the working space of the motion simulator. They raise the frame, relative to the user, and thus reduce potential for the user to collide with the frame. They also allow the working platform, or the supports themselves, to sink very low between the actuators and still tilt, swivel, and accelerate linearly without colliding with the 304a-304f actuators. This is further facilitated by the fact that the distance between the 304a-304f actuators at base 303 and their minimum length is so large that the 304a-304f actuators are not yet fully retracted even if the above and lower attachment points are practically in a plane parallel to the floor. This means that translation and rotation can still be actuated even when the working platform is in a low position. In order to enlarge the rotatory working space of the motion simulator even further, according to the invention it is provided that the exoskeleton 300 can also be rotated relative to the working platform 302 via additional rotation actuators. For example, the fastening element 301 can be designed so that it can be rotated about its longitudinal axis or its transverse axes or a combination of these. A rotation unit can also be provided directly on the exoskeleton 300. In general, a gimbal suspension or a serial robot arm can also be connected to the movable platform.

[0242] It is particularly advantageous to choose the first, preferably circular element of a gimbal suspension as frame 302. Then further elements of this suspension can preferably be mounted inside this first element. Then the actuators of the Stewart platform 4000 can be driven in such a way that they produce rotations and/or translations, or also, for example, only translations. In the latter case, the Stewart platform is used as a pure translation unit, while the gimbal suspension acts as a pure rotation unit. For the latter, the above-mentioned features according to the invention can again be adopted. A Stewart platform as a translation unit has the advantage of being very stiff and strong because it is a parallel mechanism. However, the Stewart platform can also generate rotations in addition to or in addition to the held gimbal suspension. Rotation units on the movable platform 302 can have any axis arrangement.

[0243] It can be advantageous to design the movable platform as a frame, which places the cross connections between the fixing points very high. This may for example resemble a hemisphere in strut construction, or a dome, but with long struts 305 to the attachment points with actuators 304. The cross struts can also be guided diagonally upwards between the mounting points and thus no longer lie in one plane, as in the illustrations. The base 303 is given in FIG. 64, 65 as a frame. However, this frame can also be omitted and the actuators can be fixed to the floor. The fixing points can also stand on columns. The platform can then be kept very low without the user running the risk of colliding with the floor. Then the working area of the motion simulator is enlarged, but the space requirement is increased.

[0244] Necessary joints for fixing the actuators to the platform and the base are missing in FIGS. 64, 65 and are preferably designed as Cardan shafts (U-joints).

[0245] The mounting element 301 is only indicated in the illustrations. It is preferably located behind the exoskeleton 300, but can be much stronger than in the illustrations. In particular, it can be connected to the working platform at several points, strutted, or even be part of the platform itself.

[0246] It is preferred to use telescopic linear actuators with more than 2 coaxial elements (in figures one fixed and one movable element=2 elements). These have a greater difference between maximum and minimum length. Therefore they allow a much larger working range. For example, telescopic ball screws or hydraulic cylinders can be used. Particularly when the working platform lies low or is angled steeply, this offers considerable advantages.

[0247] It may be useful to measure at the back of the exoskeleton 300, or at other points of the mechanism, the gravitational force held and/or other forces and torques. This makes it easier to control the exoskeleton 300 in teleoperative applications.

[0248] The advantages of the described motion simulator lie in its ability to hold the user in such a way, for example in its middle, that an enlarged usable working area can be used. The user can easily be rotated around points inside or near him without the need for particularly long actuator travel. By using the supports on the movable working platform (or similar movable structures), translation can still be generated even with simple linear actuators in deep or far tilted/rotated spatial positions. The tilting range, swivelling range, turning range etc., i.e. the space of possible orientations is enlarged. These ranges are extended by using one or more additional rotation axes to pivot the exoskeleton 300. If the Stewart platform is designed to contain a gimbal suspension, arbitrary space positions can be assumed and classic boundaries of Stewart platforms are overcome. Then the Stewart platform serves as a very stiff and strong translation unit, but can also represent rotations.

[0249] The described motion simulators, with Stewart platform or translation unit and gimbal suspension, without exoskeleton, can also be combined with other input and output units for computers. Instead of the exoskeleton, an aircraft, helicopter or vehicle cockpit can be mounted to control virtual or real means of transport and to gain an improved impression of the forces acting on them in remote control or simulation applications.

[0250] The innovations described here can be combined in a variety of ways to achieve beneficial new properties in systems of teleoperation, robotics, motion simulation and actuation.

[0251] Any one of the devices or processes described, any combination of devices or processes or a combination of all devices or processes can be realized.

[0252] In the following some advantageous combinations are mentioned.

[0253] The described foot elements (FIG. 60-63 and description) for humanoid robots, virtual or real machines and exoskeletons unfold their full advantages especially with exoskeletons, robots or virtual machines, which have a hip joint according to FIG. 1-26 and above description. This hip joint allows better control of the legs and feet, even in critical situations, and can therefore derive maximum benefit from the additional degrees of freedom of the foot elements.

[0254] The described exoskeletons (also in combination with the described feet) can be combined with the described motion platforms and their variations.

[0255] The described actuators can be used in exoskeletons, remote-controlled humanoid robots and motion simulators in order to achieve larger actuating angle ranges, larger torques, lower energy consumption, smaller weight, back drivability, etc. in a small space. The exoskeletons, remote-controlled humanoid robots and motion simulators thus acquire properties that could not or only with difficulty be achieved with other actuators. In particular, the hip structure of the exoskeletons and humanoid robots described benefits from the actuators described, as the third axis in particular has to be able to perform a great deal of work and at the same time has to have a very large range of actuating angles so that the natural working range of the user is not significantly restricted. The same applies to the fourth axis 96 of the knee, although not to the same extent.

[0256] The described gimbal suspensions as motion simulator, their elements or parts thereof can be combined with the described exoskeletons, with improved hip joint, and the Stewart platform. This allows to take advantage of the improved mobility and strength of the exoskeleton, which would otherwise be constrained by limited movement simulators. For example, fast jumping, running, running, trampoline jumping, etc. are made possible by the exoskeletons described, but a suitable motion simulator is also needed to fully exploit this potential, which the motion simulators described provide.

[0257] The same applies to methods and devices for reducing or increasing the perceived force of gravity. They benefit from the described hip joints, foot elements and motion simulators, alone or in any combination. The methods and devices for reducing or increasing the perceived gravity allow, for example, the use of lighter exoskeletons when forces are reduced. However, in order to be able to perform the faster movements and position changes that are then possible, faster and better motion simulators, as described, are needed or at least helpful. If forces are increased, it is particularly important that every degree of freedom of the foot is actuated.

[0258] Fully actuated hip joints with 3 effective degrees of freedom and fully actuated feet, as described, allow heavier loads to be carried by freely moving exoskeletons that a user controls directly. If, instead, such robots are operated teleoperatively by a remote user in an exoskeleton on a motion simulator, this user benefits from the possibilities of gravity reduction described above, and by using the described foot. This also applies to virtual applications. The application of the described hips in exoskeleton and robot further improves the applicability.

[0259] The Stewart platforms described can be combined with the gimbal suspensions described. The actuators of the Stewart platform then directly or indirectly carry a gimbal suspension. The described innermost element 202, or several of them one behind the other, can also be used to mount an exoskeleton (if necessary with a mount such as 204) indirectly or directly to the mobile working platform of a Stewart platform in order to enlarge the rotational working space of the motion simulator.

[0260] It can be provided that an exoskeleton can be quickly detached from the movement platform at the back. This exoskeleton can then be used immediately as a mobile exoskeleton for force enhancement or as a humanoid robot. It is then advantageous to equip this exoskeleton with the described foot to allow easy rolling and better control etc. Then this exoskeleton or robot etc. can also have devices for gravity reduction or magnification.

[0261] When used as a walking wheelchair, exoskeletons benefit from any combination of hip joint, the described foot, and the devices and procedures of gravity compensation or gravity magnification. They allow handicapped, weak or paralyzed people to move more naturally without having to carry their full weight with their legs. Likewise, the perceived weight can be gradually increased to achieve muscle growth or adaptation. For astronauts, an impression of gravity can also be achieved, which otherwise would not exist, but here can serve to reduce muscle breakdown.

[0262] Each of the described innovations, including the combinations described above, each combination of innovations or a combination of all innovations can be realized.

REFERENCE CHARACTER LIST

[0263] 80a element 1, first element, exo hip or exo back plate [0264] 80b axle mounting region (mounting element) of 80a [0265] 81 shaft of axis 1 [0266] 82 exo hip joint 1, element 2, second element [0267] 82b exo hip joint 1b, element 2b [0268] 82c exo hip joint 1c, element 2c [0269] 83 shaft of axis 2 [0270] 84 exo hip joint 2, element 3, third element [0271] 85 shaft of axis 3 [0272] 86 element 4, fourth element, exo thigh [0273] 87 shaft of axis 4 [0274] 88 element 5, fifth element, exo-lower leg [0275] 89 shaft of axis 5 [0276] 90 element 5, sixth element, exo-foot [0277] 91 centre of the hip joint [0278] 92 axis parallel to the sagital axis through the center of the hip joint [0279] 93 axis 1, first axis [0280] 94 axis 2, second axis [0281] 94b axis 2b [0282] 94b axis 2c [0283] 95 axis 3, third axis [0284] 96 4th axis 4th axis [0285] 97 Axis 5, fifth axis [0286] 101 driven shaft/driven axle [0287] 102 deflection shank, idler shank [0288] 103 fixed shaft/fixed axle [0289] 104a bearing, front, driven axle [0290] 104b bearing, rear, driven axle [0291] 104c bearing, central, driven axis [0292] 105a bearing, front, free running axle [0293] 105b bearing, rear, free running axle [0294] 106a front base plate [0295] 106b rear base plate [0296] 107 base frame [0297] 108 driven, front sprocket [0298] 109 free-running front sprocket [0299] 110 front chain [0300] 111 driven, rear sprocket [0301] 112 free running, rear chain wheel [0302] 113 rear chain [0303] 114 ball screw [0304] 115 ball screw bearing A [0305] 116 ball screw bearing B [0306] 117 spindle nut, ball nut, nut [0307] 118 connecting block [0308] 118b connecting block with abutment for spring element [0309] 119 linear guide rail, rail [0310] 120 linear guide carriage [0311] 121 linear guide support [0312] 121b linear Guide Support combined with Base [0313] 122 shaft coupling [0314] 123 motor frame [0315] 124 motor [0316] 125a bearing, front, for free-running sprocket [0317] 125b bearing, rear, for free-running chain sprocket [0318] 126 spacers [0319] 127 spring element [0320] 128 chain-spring connection element [0321] 129 bearing for free-running sprocket [0322] 130 bearings for axles [0323] 200 element A, first rotation element [0324] 201 element B, second rotation element [0325] 202 element C, third rotation element [0326] 203 exoskeleton with back mount [0327] 204 back mount [0328] 205 axis A, first axis of rotation [0329] 206 axis B, second rotation axis [0330] 207 C axis, third axis of rotation [0331] 208 D axis, fourth rotation axis [0332] 210 translation unit [0333] 211 rotation unit [0334] 212 element angle A [0335] 213 element angle B [0336] 214 element angle C [0337] 220 intersection of 205-208 [0338] 250 first linear actuator [0339] 252 second linear actuator [0340] 254 third linear actuator [0341] 300 exoskeleton [0342] 301 mounting element [0343] 302 movable frame/working platform [0344] 303 fixed frame/base [0345] 304 actuators [0346] 304a-f linear actuators [0347] 305 supports [0348] 305a-c individual supports [0349] 902 shaft [0350] 904 sole [0351] 910 axis through 902 [0352] 1000-1003 exoskeleton [0353] 2000-2009 actuators [0354] 3000 motion simulator [0355] 4000 stewart platform [0356] 9000 exo foot [0357] X driven component