US 12,390,390 B2
Apparatus and systems for controlled collapse of an exoskeleton
Amit Goffer, Kiryat Tivon (IL); Saman Naser, Tira (IL); and Roman Rabkin, Haifa (IL)
Assigned to Lifeward Ltd., Yokneam (IL)
Filed by Lifeward Ltd., Yokneam (IL)
Filed on Apr. 19, 2021, as Appl. No. 17/234,705.
Application 17/234,705 is a continuation of application No. 16/093,904, granted, now 10,980,698, previously published as PCT/IL2017/050453, filed on Apr. 13, 2017.
Claims priority of provisional application 62/323,512, filed on Apr. 15, 2016.
Prior Publication US 2021/0236375 A1, Aug. 5, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61H 3/00 (2006.01); A61H 1/02 (2006.01); B25J 9/00 (2006.01); B25J 9/16 (2006.01); H02P 3/12 (2006.01)
CPC A61H 3/00 (2013.01) [A61H 1/0262 (2013.01); B25J 9/0006 (2013.01); B25J 9/16 (2013.01); H02P 3/12 (2013.01); A61H 2201/0176 (2013.01); A61H 2201/5005 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5079 (2013.01); A61H 2201/5084 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A method for facilitating a controlled collapse of an exoskeleton device including a motor operably connected thereto to cause powered movement of the exoskeleton device, the method comprising:
upon the occurrence of one or more of a power fault, an electrical fault, a software fault and a mechanical fault of the exoskeleton device, the exoskeleton being configured to initiate a fall to a ground, and
establishing a low impedance between a positive terminal and a negative terminal of the motor of the exoskeleton device via a controlled collapse circuit so as to cause generation of an electro-magnetic force of the motor to resist or slow down the fall of the exoskeleton device.