US 12,213,934 B2
Exoskeleton legs to reduce fatigue during repetitive and prolonged squatting
Wayne Tung, Berkeley, CA (US); Minerva V. Pillai, Redwood City, CA (US); James Hatch, Oakland, CA (US); Homayoon Kazerooni, Berkeley, CA (US); Theerapat Yangyuenthanasan, Berkeley, CA (US); Yusuke Maruo, Berkeley, CA (US); and David Cuban, Oakland, CA (US)
Assigned to The Regents of the University of California, Oakland, CA (US); and suitX, Inc., Emeryville, CA (US)
Filed by The Regents of the University of California, Oakland, CA (US); and suitX, Inc., Emeryville, CA (US)
Filed on Mar. 22, 2021, as Appl. No. 17/208,900.
Application 17/208,900 is a continuation of application No. 15/813,013, filed on Nov. 14, 2017, granted, now 10,966,894, issued on Apr. 6, 2021.
Application 15/813,013 is a continuation in part of application No. 15/647,856, filed on Jul. 12, 2017, granted, now 9,980,873, issued on May 29, 2018.
Application 15/647,856 is a continuation of application No. 15/194,489, filed on Jun. 27, 2016, granted, now 9,744,093, issued on Aug. 29, 2017.
Claims priority of provisional application 62/421,720, filed on Nov. 14, 2016.
Claims priority of provisional application 62/185,185, filed on Jun. 26, 2015.
Prior Publication US 2021/0315765 A1, Oct. 14, 2021
Int. Cl. A61H 3/00 (2006.01); A61H 1/02 (2006.01)
CPC A61H 3/00 (2013.01) [A61H 1/024 (2013.01); A61H 2201/1207 (2013.01); A61H 2201/1246 (2013.01); A61H 2201/164 (2013.01); A61H 2201/1642 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1652 (2013.01); A61H 2201/1676 (2013.01); A61H 2201/5007 (2013.01); A61H 2201/5058 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5069 (2013.01); A61H 2201/5084 (2013.01); A61H 2203/0406 (2013.01); A61H 2203/0418 (2013.01); A61H 2205/102 (2013.01)] 23 Claims
OG exemplary drawing
 
1. An exoskeleton leg wearable by a person, the exoskeleton leg comprising:
a thigh link configured to move in unison with a thigh of the person;
a shank link rotatably coupled to the thigh link and comprising a tooth; and
a locking block coupled to the thigh link and comprising a locking face, the locking block movable relative to the thigh link between a first position and a second position,
wherein the shank link and the tooth rotate together relative to the thigh link and the locking block, and
wherein when the locking block is at the first position, the tooth contacts the locking face when the shank link is at a first angle relative to the thigh link, thereby preventing a flexion motion of the shank link relative to the thigh link, but allowing an extension motion of the shank link relative to the thigh link.