Electronically adjustable joint, and associated systems and methods

Patent metadata

Field	Value
Publication number	US-10909884-B2
Application number	US-201615189968-A
Country	US
Kind code	B2
Filing date	Jun 22, 2016
Priority date	Jun 22, 2015
Publication date	Feb 2, 2021
Grant date	Feb 2, 2021

Abstract

Disclosed is an electronically adjustable joint, and associated systems and methods. A joint position of a multiple-axis joint, e.g., a 3-axis joint, can be tracked, as the joint moves through two or more dimensions. In an illustrative embodiment, the joint can provide a mechanical equivalent of a physical joint, e.g., a shoulder, elbow, hip, or knee, which can accommodate motion in rotational angle and/or tilt angle. In some embodiments, the joint includes electronically adjustable friction. An illustrative application provide electronically adjustable joints for an aging simulation suit, wherein one or more joints can be controllably stiffened in selective ranges, such that a wearer of the suit can experience the effects of aging, arthritis and/or other ailments. In an illustrative embodiment, a sensor can use four discrete 2-axis magnetometers to calculate the position of the magnet on the arm of the joint, to continuously sense and track the angle of the joint. In some embodiments, the system includes a mechanism, e.g., a servo, which can controllably tighten a socket around a ball joint, wherein the system can controllably adjust friction on the joint.

First claim

What is claimed is:

1. An aging simulation suit, comprising:
a plurality of electronically adjustable joints that are each configured for rotational movement in two or more dimensions, wherein each of the plurality of electronically adjustable joints includes a first socket assembly member adjustably coupled to a second opposing socket assembly member, each of which define a ball socket housing therebetween;
a mechanical structure connectable to a user, wherein the mechanical structure includes the plurality of electronically adjustable joints and a series of elements that pivotably connect through the electronically adjustable joints;
a mechanism for tracking the rotational movement of each of the plurality of electronically adjustable joints, wherein the mechanism for tracking the rotational movement includes a ball assembly having a ball that is housed within the defined ball socket housing, a magnet fixed to the ball via a cantilever, a sensor board affixed to one of the first or second socket assembly members, and a plurality of magnetic field sensing sensors which are arranged on the sensor board, within each of the plurality of electronically adjustable joints; and
a mechanism for electronically adjusting friction in one or more of the electronically adjustable joints.

2. The aging simulation suit of claim 1 , wherein the mechanism for tracking the rotational movement of each of the plurality of electronically adjustable joints comprises tracking the rotational movement of a ball housed within a defined ball socket.

3. The aging simulation suit of claim 2 , wherein the mechanism for tracking the rotational movement includes measuring rotational movement of the ball based on movement of the magnet in relation to the plurality of magnetic field sensing sensors.

4. The aging simulation suit of claim 1 , wherein the mechanism for electronically adjusting friction comprises an electronically driven servo linked to a jack screw assembly for tightening the defined ball socket housing around the housed ball by decreasing a distance between first socket assembly and the second socket assembly member.

5. The aging simulation suit of claim 2 , wherein one of the socket assembly members includes any of a brake pad or frictional material in contact with the ball.

6. The aging simulation suit of claim 1 , wherein the mechanism for electronically adjusting friction includes adjustable sliders of a user interface.

7. The aging simulation suit of claim 1 , wherein the mechanism for electronically adjusting the friction includes controllably increasing or decreasing friction in selective ranges.

8. The aging simulation suit of claim 1 , further comprising:
a mechanism for controllably adjusting one or more ranges of motion for a selected joint.

9. The aging simulation suit of claim 8 , wherein movement of the selected joint is freely permitted through a certain range of motion, and stiffened or locked up through another range of motion.

10. The aging simulation suit of claim 1 , wherein each of the plurality of electronically adjustable joints further comprises:
a processor, operably coupled to the sensor board, configured to
receive a control signal, and
adjust friction between the socket assembly members and the housed ball in response to the received control signal.

11. The aging simulation suit of claim 1 , wherein at least one of the plurality of electronically adjustable joints provides a mechanical simulation of any of a shoulder joint and an elbow joint.

12. The aging simulation suit of claim 1 , wherein the mechanical structure further comprises:
a user attachment mechanism, wherein each of the plurality of electronically adjustable joints is in an alignment with a corresponding joint of the user respectively.

13. The aging simulation suit of claim 12 , wherein the alignment includes at least one rotation direction that is common to an aligned electronically adjustable joint and a corresponding joint of the user which the aligned electronically adjustable joint is in alignment with.

14. The aging simulation suit of claim 1 , wherein the mechanism for tracking the rotational movement further includes:
a first end of the cantilever fixed to the magnet and a second end of the cantilever fixed to the ball that is housed within the defined ball socket housing such that the first end of the cantilever extends away from the housed ball in at least two directions.

15. The aging simulation suit of claim 1 , wherein the mechanism for electronically adjusting friction in one or more of the electronically adjustable joints includes rotating an electronically adjustable joint component.

Assignees

• Applied Minds Llc

Inventors

• Lariviere Donald G
• Foor David
• Mcgraw Andrew
• Keesling Michael

Classifications

• B25J9/0006

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

• A61F2005/0146

  combining rotational and sliding movements, e.g. simulating movements of a natural joint · CPC title

• A61F5/0125

  the device articulating around a single pivot-point · CPC title

• G09B9/00

  Simulators for teaching or training purposes (for the use of weapons F41; computing aspects G06; {protocols for games, networked simulations or virtual reality H04L67/131}) · CPC title

• G09B19/00

  Teaching not covered by other main groups of this subclass (teaching or practice apparatus for gun-aiming or gun-laying F41G3/26) · CPC title