Apparatus for human arm supporting exoskeleton

Patent metadata

Field	Value
Publication number	US-10124485-B2
Application number	US-201715848487-A
Country	US
Kind code	B2
Filing date	Dec 20, 2017
Priority date	May 18, 2015
Publication date	Nov 13, 2018
Grant date	Nov 13, 2018

Abstract

An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

First claim

What is claimed is:

1. An arm supporting exoskeleton comprising:
an arm link mechanism, configured to be coupled to an upper arm of a person, the arm link mechanism comprising:
a proximal link;
a distal link, configured to rotate relative to the proximal link around a first rotational axis;
at least one arm-coupler, attached to the distal link and adapted to couple the upper arm of the person to the distal link; and
at least one torque generator, comprising a first end and a second end,
the first end coupled to the proximal link,
the second end coupled to the distal link,
the at least one torque generator configured to generate a torque between the proximal link and the distal link,
the least one torque generator comprising an upper bracket, coupling the proximal link to the least one torque generator,
a location of the upper bracket being adjustable along the proximal link to adjust the torque provided by the at least one torque generator.

2. The arm supporting exoskeleton of claim 1 , wherein the first rotational axis passes approximately through a glenohumeral joint of the person when the arm link mechanism is coupled to the upper arm of the person.

3. The arm supporting exoskeleton of claim 1 , further comprising an upper bracket screw, wherein the location of the upper bracket is adjustable relative to the proximal link using the upper bracket screw.

4. The arm supporting exoskeleton of claim 1 , wherein the distal link comprises a lower bracket, coupled to the at least one torque generator, wherein a location of the lower bracket is adjustable along the distal link to adjust a preload force of the at least one torque generator.

5. The arm supporting exoskeleton of claim 4 , further comprising a lower bracket screw, wherein the location of the lower bracket is adjustable relative to the distal link using the lower bracket screw.

6. The arm supporting exoskeleton of claim 1 , wherein the at least one torque generator comprises a coil spring element.

7. The arm supporting exoskeleton of claim 6 , wherein the at least one torque generator further comprises a line element coupling the coil spring element to the proximal link.

8. The arm supporting exoskeleton of claim 7 , further comprises a pulley, wherein the line element at least partially encircles the pulley coupled to the distal link before the line element is coupled to the proximal link.

9. The arm supporting exoskeleton of claim 1 , further comprising:
a protrusion, located substantially at a first rotating joint of the first rotational axis and configured to constrain the at least one torque generator, wherein:
when an angle between the proximal link and the distal link is smaller than a toggle angle, the torque generated by the at least one torque generator between the proximal link and the distal link remains at or above the torque of a first torque mode, and
when the angle between the proximal link and the distal link is larger than the toggle angle, the torque generated by the at least one torque generator between the proximal link and the distal link remains at or below the torque of a second torque mode.

10. The arm supporting exoskeleton of claim 1 , further comprising at least one horizontal rotation joint, acting about a second rotational axis, the second rotational axis being substantially orthogonal the first rotational axis.

11. The arm supporting exoskeleton of claim 10 , further comprising a spring, wherein the rotation of the proximal link about the horizontal rotation joint is biased by the spring.

12. The arm supporting exoskeleton of claim 10 , wherein the rotation of the proximal link about the horizontal rotation joint is lockable.

13. The arm supporting exoskeleton of claim 10 , wherein an orientation of the proximal link is adjustable and held in place relative to the second rotational axis along an axis substantially parallel to the first rotational axis, thereby allowing adjustment of a position of the toggle angle relative to the second rotational axis.

14. The arm supporting exoskeleton of claim 1 , wherein the arm coupler comprises a load bearing coupler, the load bearing coupler coupled to the distal link, the distal link capable of imposing an upward force on the upper arm of the person.

15. The arm supporting exoskeleton of claim 14 , wherein the load bearing coupler comprises at least one cuff, the at least one cuff at least partially encircling the upper arm of the person.

16. The arm supporting exoskeleton of claim 14 , wherein the load bearing coupler comprises an arm rotation joint, allowing the at least one cuff to rotate relative to the distal link along an axis substantially parallel to the first rotational axis.

17. The arm supporting exoskeleton of claim 14 , wherein the load bearing coupler allows for internal and external rotation of the upper arm of the person.

18. The arm supporting exoskeleton of claim 1 ,
wherein the arm coupler comprises an arm coupling mechanism, capable of coupling the arm coupler to the upper arm of the person, and
wherein the arm coupling mechanism comprises an element or a combination of elements selected from the group consisting of a rigid material, a semi-rigid material, or a compliant material, configured to prevent separation of the upper arm of the person from the arm coupler.

19. The arm supporting exoskeleton of claim 1 , wherein a location of the arm coupler is adjustable with respect to the distal link.

20. The arm supporting exoskeleton of claim 1 , further comprising a shoulder base, configured to be coupled to the arm link mechanism and further configured to be coupled to a trunk of the person.

21. The arm supporting exoskeleton of claim 20 , wherein the shoulder base further comprises:
a load bearing structure, configured to be coupled to the arm link mechanism and further configured to support reaction forces and torques applied to the shoulder base; and
a coupling mechanism, configured to couple the load bearing structure to the trunk of the person such that the shoulder base moves in unison with the trunk of the person.

22. The arm supporting exoskeleton of claim 21 , wherein the coupling mechanism comprises an element selected from the group consisting of a belt, a vest, a chest strap, an anchor strap, a shoulder strap, a sternum strap, a suspender strap, and combinations thereof.

23. The arm supporting exoskeleton of claim 21 , further comprising safety harness attachment points, wherein the coupling mechanism is adaptable to be coupled to a safety harness, worn by the person, using the safety harness attachment points.

24. The arm supporting exoskeleton of claim 21 , wherein the load bearing structure comprises:
a back frame, configured to locate substantially behind a back of the person,
the back frame comprising an upper frame and a lower frame,
the upper frame coupled to the arm link mechanism and configured to support at least a portion of the reaction forces and torques on the shoulder base from the arm link mechanism,
the lower frame coupled to the upper frame and configured to support at least another portion of the reaction forces and torques on the upper frame,

at least one hip loading belt coupled to the lower frame,
wherein the at least one hip loading belt is configured to transfer at least a portion of the reaction forces and torques from the back frame to hips of the person.

25. The arm supporting exoskeleton of claim 24 ,

Assignees

• Univ California

Inventors

• VAN ENGELHOVEN Logan
• Kazerooni Homayoon

Classifications

• B25J9/0006 Primary

  Exoskeletons, i.e. resembling a human figure · CPC title

• B25H1/10

  with provision for adjusting holders for tool or work · CPC title

• B25J9/0009

  Constructional details, e.g. manipulator supports, bases · CPC title

• F16M13/04

  for supporting on, or holding steady relative to, a person, e.g. by chains {, e.g. rifle butt or pistol grip supports, supports attached to the chest or head (apparatus or arrangements for taking photographs or for projecting or viewing them G03B)} · CPC title

• B65H1/10

  comprising weights {(B65H1/022 takes precedence)} · CPC title