US 11,918,535 B2
Wearable exoskeleton
Jonathan Decastro, Arlington, MA (US); Soon Ho Kong, Arlington, MA (US); Nikos Arechiga Gonzalez, San Mateo, CA (US); Frank Permenter, Cambridge, MA (US); and Dennis Park, Fremont, CA (US)
Assigned to TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed by TOYOTA RESEARCH INSTITUTE, INC., Los Altos, CA (US)
Filed on Apr. 13, 2020, as Appl. No. 16/847,380.
Prior Publication US 2021/0315764 A1, Oct. 14, 2021
Int. Cl. A61H 3/00 (2006.01)
CPC A61H 3/00 (2013.01) [A61H 2201/0103 (2013.01); A61H 2201/0173 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1659 (2013.01); A61H 2201/5007 (2013.01); A61H 2230/625 (2013.01)] 14 Claims
OG exemplary drawing
 
1. A wearable device comprising:
a frame;
at least one robotic joint operatively coupled to the frame;
at least one sensor coupled to the frame, the sensor configured to sense a movement of the frame;
a memory storing a user profile of a user, the user profile including a health condition;
a controller coupled to the at least one robotic joint and the at least one sensor, the controller configured to:
detect an event from the movement of the frame;
classify the event as one of a fall prevention event or a fall protection event when the movement of the frame exceeds a stability envelope defining a normal body position of the user based on the user profile;
in response to detecting a fall prevention event, actuate the at least one robotic joint to counter the movement of the frame; and
in response to detecting a fall protection event, actuate the at least one robotic joint into a protected position.