Exoskeleton and method of providing an assistive torque to an arm of a wearer

Patent metadata

Field	Value
Publication number	US-10569413-B2
Application number	US-201816059631-A
Country	US
Kind code	B2
Filing date	Aug 9, 2018
Priority date	Dec 22, 2015
Publication date	Feb 25, 2020
Grant date	Feb 25, 2020

Abstract

An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.

First claim

The invention claimed is:

1. An exoskeleton comprising:
a first link configured to pivot in a transverse plane about a first vertical axis;
a second link coupled to the first link and configured to pivot in a transverse plane about a second vertical axis distinct from the first vertical axis; and
an arm support assembly coupled to the second link and configured to pivot about a horizontal axis, wherein:
the arm support assembly is connected to the first link by the second link;
the arm support assembly includes a spring configured to generate an assistive torque that counteracts gravity;
the arm support assembly is configured to provide the assistive torque to an arm of a wearer to support the arm of the wearer;
the arm support assembly further includes a cam profile and a cam follower; and
the arm support assembly is configured such that the spring causes the cam follower and cam profile to be pressed into contact and contact between the cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly.

2. The exoskeleton of claim 1 , wherein the cam profile is configured so that the assistive force provided by the arm support assembly varies depending on a pivotal position of the arm support assembly relative to the horizontal axis.

3. The exoskeleton of claim 1 , wherein the spring is a gas spring.

4. The exoskeleton of claim 1 , further comprising:
a torso support configured to be coupled to a torso of a wearer; and
a spinal column configured to transfer a weight of the arm of the wearer to the torso support, wherein the first and second links connect the arm support assembly to the spinal column, thereby allowing the arm support assembly to move relative to the spinal column.

5. The exoskeleton of claim 4 , wherein the arm support assembly, the first link and the second link form at least a portion of a support arm, and wherein the support arm does not go over a top of a shoulder of the wearer when connected to the spinal column.

6. The exoskeleton of claim 4 , wherein, relative to the spinal column, the first and second links only move in the transverse plane.

7. The exoskeleton of claim 4 , wherein the arm support assembly is configured to pivot about the horizontal axis in a sagittal plane, a coronal plane, or a plane intermediate to the sagittal and coronal planes.

8. The exoskeleton of claim 1 , wherein the exoskeleton does not include an electronic control system configured to control an amount of assistive force provided by the arm support assembly.

9. The exoskeleton of claim 1 , wherein the exoskeleton does not include a sensor configured to sense a pivotal position of the arm support assembly relative to the horizontal axis.

10. The exoskeleton of claim 1 , wherein the exoskeleton does not include a powered electric, hydraulic, or pneumatic actuator configured to generate the assistive torque.

11. The exoskeleton of claim 1 , further comprising a spinal column, wherein:
the arm support assembly, the first link and the second link form at least a portion of a support aim; and
the exoskeleton does not include a mounting bar configured to allow the support arm to be located at a plurality of different positions relative to the spinal column.

12. The exoskeleton of claim 1 , wherein the exoskeleton does not include a detent rail connecting the cuff to the arm support assembly.

13. The exoskeleton of claim 1 , further comprising a third link connecting the arm support assembly to the second link, wherein the third link is configured to pivot in a transverse plane about a third vertical axis.

14. The exoskeleton of claim 1 , further comprising a cuff coupled to the arm support assembly and configured to be coupled to the aim of the wearer.

15. The exoskeleton of claim 14 , wherein the cuff is configured to be coupled to the arm of the wearer between an elbow and a shoulder of the arm.

16. The exoskeleton of claim 15 , further comprising:
a forearm cuff configured to be coupled to a forearm of the arm of the wearer; and
strapping configured to couple the forearm cuff to the cuff.

17. The exoskeleton of claim 14 , wherein the cuff is configured to closely fit surface contours of the arm of the wearer, and the cuff is configured to deflect away from the arm near edges of the cuff to prevent contact between the edges and the arm.

18. The exoskeleton of claim 14 , wherein the cuff is a hanger-type cuff including:
a cuff mount configured to connect the cuff to the arm support assembly;
a riser extending upward from the cuff mount;
a hanger extending away from the riser; and
a flexible support strap configured to be suspended beneath the hanger.

19. The exoskeleton of claim 18 , wherein the cuff further includes padding coupled to the hanger.

20. The exoskeleton of claim 14 , wherein the cuff is a hammock-type cuff including:
a cuff mount configured to connect the cuff to the arm support assembly;
a support bow extending from the cuff mount;
an inner support beam coupled to the support bow;
an outer support beam coupled to the support bow; and
a flexible support strap configured to be suspended between the inner support beam and the outer support beam.

21. The exoskeleton of claim 14 , further comprising a rigid support insert including a mount configured to connect the rigid support insert to the arm support assembly, wherein the cuff is configured to receive the rigid support insert, thereby coupling the cuff to the rigid support insert.

22. The exoskeleton of claim 21 , wherein the rigid support insert further includes a rail, and the cuff is configured to receive the rail.

23. The exoskeleton of claim 22 , wherein the rail is curved.

24. The exoskeleton of claim 21 , wherein the cuff is made from a textile, a non-woven fabric, a flexible polymer or a flexible composite material.

25. The exoskeleton of claim 21 , wherein the cuff includes a pocket configured to receive the rigid support insert.

26. The exoskeleton of claim 21 , wherein the cuff includes a layer of semi-rigid padding configured to circumferentially distribute pressure into the arm of the wearer when the cuff is coupled to the arm of the wearer.

27. A method of providing an assistive torque to an arm of a wearer with an exoskeleton, the exoskeleton including: a first link configured to pivot in a transverse plane about a first vertical axis; a second link coupled to the first link and configured to pivot in a transverse plane about a second vertical axis distinct from the first vertical axis; and an arm support assembly coupled to the second link and configured to pivot about a horizontal axis, wherein the arm support assembly is connected to the first link by the second link, and the arm support assembly includes a spring, a cam profile and a cam follower, the method comprising:
generating an assistive torque, counteracting gravity, with the spring;
providing the assistive torque to the arm of the wearer with the arm support assembly to support at least the arm of the wearer; and
determining an amount of the assistive force provided by the arm support assembly with the cam profile and cam follower, wherein the arm support assembly is configured such that the spring causes the cam follower and cam profile to be pressed into contact and contact between the cam follower and cam profile determines the amount of the assistive force pr

Assignees

• Ekso Bionics Inc

Inventors

• Angold Russ
• Lubin James
• Solano Mario
• Paretich Chris
• Mastaler Tom
• Cunningham Claire
• Dacey Kevin

Classifications

• A61H2201/0192

  Specific means for adjusting dimensions · CPC title

• A61H2201/1697

  Breathability of the material · CPC title

• A61H2201/1645

  contoured to fit the user · CPC title

• B25J9/106

  with articulated links · CPC title

• A61H2205/06

  Arms · CPC title