System and apparatus for robotic device and methods of using thereof

Patent metadata

Field	Value
Publication number	US-10201435-B2
Application number	US-201715845505-A
Country	US
Kind code	B2
Filing date	Dec 18, 2017
Priority date	Apr 9, 2010
Publication date	Feb 12, 2019
Grant date	Feb 12, 2019

Abstract

A robotic assembly control system is disclosed. The robotic assembly control system includes an exoskeleton apparatus adapted to be worn by a user, at least one robotic assembly, the at least one robotic assembly controlled by the user by way of the exoskeleton, and at least one mobile platform, the at least one mobile platform controlled by the user and wherein the at least one robotic assembly is attached to the at least one mobile platform.

First claim

What is claimed is:

1. A robotic assembly control system comprising:
an exoskeleton apparatus adapted to be worn by a user comprising at least one tactor motor;
at least one robotic assembly, separate from the exoskeleton, the at least one robotic assembly controlled by the user by way of the exoskeleton, the at least one robotic assembly comprising a robotic arm comprising:
a hand assembly; and
a shoulder joint; and

at least one mobile platform comprising at least one wheel, the at least one mobile platform controlled by the user and separate from the exoskeleton and wherein the at least one robotic assembly is attached to the at least one mobile platform,

wherein the at least one tactor motor provides feedback related to torque of the shoulder joint on the at least one robotic assembly.

2. The robotic assembly control system of claim 1 , the exoskeleton further comprising:
an attachment system comprising a plurality of straps, the attachment system for attaching to a user; and
a frame comprising a lower portion and an upper portion wherein the upper portion telescopingly connects to the lower portion wherein the frame is adjustable.

3. The robotic assembly control system of claim 2 , the frame further comprising a ball detent mechanism for adjusting the frame.

4. The robotic assembly control system of claim 1 , further comprising at least one potentiometer.

5. The robotic assembly control system of claim 1 , further comprising at least two ball joints.

6. The robotic assembly control system of claim 1 , further comprising a compliance section wherein the compliance section senses sternoclavicular motion by a user.

7. The robotic assembly control system of claim 6 , wherein the compliance section is a torsion spring.

8. The robotic assembly control system of claim 7 , wherein the torsion spring is preloaded with a hard stop, wherein the hard stop is adjustable.

9. The robotic assembly control system of claim 1 , further comprising a tactor strap for each tactor motor wherein the tactor strap attaches to a user.

10. The robotic assembly control system of claim 9 , wherein the at least one tactor motor is a vibration motor.

11. The robotic assembly of claim 1 , wherein the hand portion comprising:
a thumb force sensor;
an index finger sensor; and
a middle finger sensor.

12. The robotic assembly control system of claim 11 , the hand portion comprising at least one tactor motor wherein the tactor motor provides feedback of the robotic assembly thumb force sensor to the user.

13. The robotic assembly control system of claim 11 , the thumb force sensor further comprising at least one potentiometer.

14. The robotic assembly of claim 1 , wherein the hand assembly comprising:
a thumb structure;
an index finger structure; and
a middle finger structure.

15. A method for controlling a robotic assembly comprising:
providing an exoskeleton apparatus adapted to be worn by a user comprising at least one tactor motor;
providing at least one robotic assembly, separate from the exoskeleton, the at least one robotic assembly controlled by the user by way of the exoskeleton, the at least one robotic assembly comprising a robotic arm comprising:
a hand assembly; and
a shoulder joint; and

providing at least one mobile platform comprising at least one wheel, the at least one mobile platform controlled by the user and separate from the exoskeleton and wherein the at least one robotic assembly is attached to the at least one mobile platform,
wherein the at least one tactor motor providing feedback related to torque of the shoulder joint on the at least one robotic assembly, and
wherein the at least one robotic assembly moving in response to movement of the exoskeleton.

16. The method of claim 15 , further comprising providing at least one potentiometer.

17. The method of claim 15 , further comprising providing a compliance section and sensing the sternoclavicular motion by a user.

18. The method of claim 15 , wherein the at least one tactor motor is a vibration motor.

19. The method of claim 15 , wherein the hand portion comprising:
a thumb force sensor;
an index finger sensor; and
a middle finger sensor.

20. The method of claim 19 , further comprising providing at least one tactor motor in the hand portion, the tactor motor providing feedback of the robotic assembly thumb force sensor to the user.

Assignees

• Deka Products Lp

Inventors

• Van Der Merwe Dirk A
• Langenfeld Christopher C
• Coulter Stewart M
• Werner Christopher M
• Slate Michael J
• Stern Ethan D

Classifications

• A61F2/70

  electrical · CPC title

• A61F2250/008

  Alarm means · CPC title

• A61F2250/0074

  Torque-limiting means · CPC title

• A61F2002/6881

  optical · CPC title

• A61F2/78

  Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump · CPC title