US 11,944,581 B2
Systems and methods for bilateral wireless communication
Luke Mooney, Sudbury, MA (US); Jean-François Duval, Belmont, MA (US); and Rachel Harris, Cambridge, MA (US)
Assigned to Dephy, Inc., Maynard, MA (US)
Filed by Dephy, Inc., Maynard, MA (US)
Filed on Oct. 18, 2021, as Appl. No. 17/504,248.
Application 17/504,248 is a continuation of application No. 17/084,111, filed on Oct. 29, 2020, granted, now 11,147,733.
Claims priority of provisional application 63/034,748, filed on Jun. 4, 2020.
Prior Publication US 2022/0031552 A1, Feb. 3, 2022
This patent is subject to a terminal disclaimer.
Int. Cl. A61H 3/00 (2006.01); G16H 20/30 (2018.01); G16H 40/67 (2018.01)
CPC A61H 3/00 (2013.01) [G16H 20/30 (2018.01); G16H 40/67 (2018.01); A61H 2003/007 (2013.01); A61H 2201/1207 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/165 (2013.01); A61H 2201/5097 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A system, comprising:
a first exoskeleton, for at least one of a first foot or a first ankle of a user, comprising:
an actuator to provide torque about an axis of rotation;
a sensor; and
a controller comprising one or more processors, coupled to memory, to:
communicate, via a wireless connection, one or more packets with a second exoskeleton for the user;
identify a latency of the wireless connection between the first exoskeleton and the second exoskeleton based on a time difference associated with the one or more packets transmitted between the first exoskeleton and the second exoskeleton during the communication; and
generate, based on the latency of the wireless connection, a command for the actuator to provide the torque.
 
16. A method, comprising:
providing a first exoskeleton for at least one of a first foot or a first ankle of a user, the first exoskeleton comprising:
an actuator to provide torque about an axis of rotation;
a sensor; and
one or more processors coupled to memory;
communicating, by the one or more processors via a wireless connection, one or more packets with a second exoskeleton for the user;
identifying, by the one or more processors, a latency of the wireless connection between the first exoskeleton and the second exoskeleton based on a time difference associated with the one or more packets transmitted between the first exoskeleton and the second exoskeleton during the communication; and
generating, by the one or more processors based on the latency of the wireless connection, a command for the actuator to provide the torque.