Device and method for strengthening the arms of human exoskeletons

Patent metadata

Field	Value
Publication number	US-10596059-B2
Application number	US-201716085296-A
Country	US
Kind code	B2
Filing date	Mar 17, 2017
Priority date	Mar 18, 2016
Publication date	Mar 24, 2020
Grant date	Mar 24, 2020

Abstract

An exoskeleton includes an arm brace coupled to an arm of a wearer and a tensile member connected to the arm brace. An actuator exerts a pulling force on the tensile member. The pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at an elbow.

First claim

The invention claimed is:

1. An exoskeleton comprising:
an arm brace configured to be coupled to and extend across an elbow of an arm of a wearer;
a tensile member connected to the arm brace;
an actuator configured to exert a pulling force on the tensile member, wherein the pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at the elbow; and
a torso brace configured to be coupled to a torso of the wearer, wherein the actuator is coupled to the torso brace.

2. The exoskeleton of claim 1 , further comprising a glove coupled to the arm brace.

3. The exoskeleton of claim 2 , wherein the glove includes an inelastic palm structure.

4. The exoskeleton of claim 2 , further comprising:
a first strap connecting the glove to the arm brace; and
a second strap connecting the glove to the arm brace.

5. The exoskeleton of claim 1 , wherein:
the arm brace includes an upper arm brace configured to be coupled to an upper arm of the wearer;
the arm brace also includes a forearm brace configured to be coupled to a forearm of the wearer; and
the tensile member is connected to the forearm brace.

6. The exoskeleton of claim 1 , wherein:
the arm brace includes an upper arm brace configured to be coupled to an upper arm of the wearer;
the arm brace also includes a forearm brace configured to be coupled to a forearm of the wearer; and
the tensile member is connected to the upper arm brace.

7. The exoskeleton of claim 1 , wherein the torso brace includes a chest structure and a back structure, and the actuator is located within the chest structure or the back structure.

8. The exoskeleton of claim 1 , further comprising a tensile member guide assembly configured to guide the tensile member.

9. The exoskeleton of claim 8 , wherein the tensile member guide assembly is coupled to the torso brace.

10. The exoskeleton of claim 9 , wherein the torso brace includes a shoulder structure, and the tensile member guide assembly is coupled to the shoulder structure.

11. The exoskeleton of claim 8 , wherein the tensile member guide assembly includes a pivoting tensile member guide body having a horizontal or vertical guide configured to contact the tensile member.

12. The exoskeleton of claim 1 , further comprising a second tensile member connected to the arm brace, wherein exerting a pulling force on the second tensile member also causes the arm of the wearer to bend at the elbow.

13. The exoskeleton of claim 1 , wherein the actuator is a winch.

14. The exoskeleton of claim 13 , further comprising an electric motor configured to drive the winch.

15. The exoskeleton of claim 1 , wherein the actuator is a spring.

16. The exoskeleton of claim 1 , further comprising a tool coupled to the arm brace.

17. The exoskeleton of claim 16 , wherein the tool is a hook.

18. An exoskeleton comprising:
an arm brace configured to be coupled to and extend across an elbow of an arm of a wearer, the arm brace including an upper arm brace configured to be coupled to an upper arm of the wearer and a forearm brace configured to be coupled to a forearm of the wearer, wherein the forearm brace includes an elbow spur and a pulley connected to the elbow spur;
a tensile member connected to the upper arm brace and the tensile member is routed through the pulley; and
an actuator configured to exert a pulling force on the tensile member, wherein the pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at the elbow.

19. A method of providing assistance to an arm of an exoskeleton wearer, the method comprising: exerting a pulling force on a tensile member, connected to an arm brace coupled to and extending across an elbow of the arm of the wearer, with a torso brace configured to be coupled to a torso of the wearer and an actuator coupled to the torso brace, wherein the pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at the elbow.

Assignees

• Ekso Bionics Inc

Inventors

• Angold Russ
• Fleming Nicholas
• Rogers Emily
• Jaeger Brett
• Paretich Chris

Classifications

• A45F3/08 Primary

  Carrying-frames; Frames combined with sacks · CPC title

• B25J9/104

  with cables, chains or ribbons · CPC title

• A61H2201/1207

  with electric or magnetic drive · CPC title

• A61H2201/165

  Wearable interfaces · CPC title

• B25J9/0006

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