Arm supporting exoskeleton with a variable force generator

Patent metadata

Field	Value
Publication number	US-12202137-B2
Application number	US-202318199177-A
Country	US
Kind code	B2
Filing date	May 18, 2023
Priority date	May 18, 2015
Publication date	Jan 21, 2025
Grant date	Jan 21, 2025

Abstract

Described herein is an arm supporting exoskeleton including a proximal link, a distal link, a torque generator, and a bracket. The distal link is configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link. The torque generator is configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person. The bracket is coupled to one of the proximal link or the distal link. A location of the bracket is adjustable to adjust an effective length of the torque generator to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.

First claim

What is claimed is:

1. An arm supporting exoskeleton configured to be coupled to a person to reduce shoulder forces required to raise an upper arm of the person, the arm supporting exoskeleton comprising:
a proximal link;
a distal link configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link;
a torque generator configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person; and
a bracket coupled to one of the proximal link or the distal link,
wherein a location of the bracket is adjustable to adjust an effective length of the torque generator to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.

2. The arm supporting exoskeleton of claim 1 , further comprising a second bracket on the other of the proximal link or the distal link, wherein the location of the second bracket is adjustable to adjust a preload of the torque generator.

3. The arm supporting exoskeleton of claim 1 , wherein the bracket adjusts a distance between the torque generator and the first rotational axis.

4. The arm supporting exoskeleton of claim 1 , further comprising a neutral zone in the torque profile where the torque is substantially zero.

5. The arm supporting exoskeleton of claim 1 , wherein the torque generator further comprises a line element selected from the group consisting of a wire rope, a rope, a cable, a twine, a strap, a chain, or any combination thereof.

6. The arm supporting exoskeleton of claim 5 , further comprising a protrusion located substantially at the first rotational axis and configured to constrain the line element in a position substantially centered about the first rotational axis,
wherein when the protrusion constrains the line element the torque remains substantially small.

7. The arm supporting exoskeleton of claim 1 , further comprising a toggle angle, wherein:
when the first angle is smaller than the toggle angle, the torque generated by the torque generator between the proximal link and the distal link is above a first amount and flexes the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the upper arm of the person, and
when the first angle is larger than the toggle angle, the torque generated by the torque generator between the proximal link and the distal link is below a second amount allowing the person to freely move the upper arm.

8. The arm supporting exoskeleton of claim 1 , further comprising:
an arm coupler configured to couple the distal link to the upper arm of the person, wherein the arm coupler is configured to apply the supporting force to the upper arm of the person;
a shoulder base coupled to the proximal link, wherein the shoulder base is configured to be coupled to a trunk of the person and to transfer at least a portion of a reaction force from the torque profile to a hip of the person; and
a horizontal rotation joint configured to allow the arm coupler to rotate relative to the shoulder base about at least a second rotational axis substantially orthogonal to the first rotational axis.

9. The arm supporting exoskeleton of claim 1 , wherein the first rotational axis is oriented substantially orthogonal to a gravity line and configured to cross approximately through a glenohumeral joint of the person.

10. An arm supporting exoskeleton configured to be coupled to a person to reduce the shoulder forces required to raise the upper arm of the person, the arm supporting exoskeleton comprising:
a distal link configured to rotate about a first rotational axis oriented substantially orthogonal to a gravity line and configured to cross approximately through a glenohumeral joint of the person;
at least one torque generator configured to provide a torque profile to the distal link about the first rotational axis thereby producing a supporting force onto the upper arm of the person; and
a bracket,
wherein a location of the bracket is adjustable along the distal link to adjust an amplitude of the torque profile thereby adjusting the supporting force onto the upper arm of the person.

11. The arm supporting exoskeleton of claim 10 , wherein the bracket adjusts a distance between the torque generator and the first rotational axis.

12. The arm supporting exoskeleton of claim 10 , wherein the bracket adjusts a preload of the torque generator.

13. The arm supporting exoskeleton of claim 10 , further comprising a protrusion configured to constrain the torque generator, wherein, when the protrusion constrains the torque generator, the torque remains substantially small.

14. The arm supporting exoskeleton of claim 10 , further comprising a line element selected from the group consisting of a wire rope, a rope, a cable, a twine, a strap, a chain, or any combination thereof.

15. The arm supporting exoskeleton of claim 14 , further comprising a protrusion located substantially at the first rotational axis and configured to constrain the line element in a position substantially centered about the first rotational axis,
wherein when the protrusion constrains the line element the torque remains substantially small.

16. The arm supporting exoskeleton of claim 14 , further comprising a protrusion formed by a first joint pin that forms a first joint acting about the first rotational axis, wherein the protrusion is configured to prevent the line element from passing over the first rotational axis.

17. The arm supporting exoskeleton of claim 10 , further comprising a neutral zone in the torque profile where the torque is substantially zero.

18. The arm supporting exoskeleton of claim 10 , wherein the torque profile is configured to match an arm weight torque profile for angles substantially above a horizon line therefore approximately canceling the arm weight torque profile.

19. The arm supporting exoskeleton of claim 10 , further comprising:
an arm coupler configured to couple the distal link to the upper arm of the person, wherein the arm coupler is configured to apply the supporting force to the upper arm of the person;
a shoulder base configured to be coupled to a trunk of the person and to transfer at least a portion of a reaction force from the torque profile to a hip of the person; and
a horizontal rotation joint configured to allow the arm coupler to rotate relative to the shoulder base about a second rotational axis substantially orthogonal to the first rotational axis.

20. An arm supporting exoskeleton configured to be coupled to a person to reduce shoulder forces required to raise an upper arm of the person, the arm supporting exoskeleton comprising:
a proximal link;
a distal link configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link;
a torque generator configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person; and
a bracket coupled to one of the proximal link or the distal link,
wherein a location of the bracket is adjustable to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.

Assignees

• Univ California

Inventors

• VAN ENGELHOVEN Logan
• Kazerooni Homayoon

Classifications

• B65H1/10

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

• B25H1/10

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

• B25J9/104

  with cables, chains or ribbons · CPC title

• B25J19/0016

  using springs · CPC title

• B25J9/0006 Primary

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