Cable driven joint actuator and method

Patent metadata

Field	Value
Publication number	US-9597217-B2
Application number	US-201514597598-A
Country	US
Kind code	B2
Filing date	Jan 15, 2015
Priority date	May 31, 2006
Publication date	Mar 21, 2017
Grant date	Mar 21, 2017

Abstract

A cable driven actuator and actuator method involve a movable link that is movable about a path by a cable connected to the link, and a movable support member having a cable routing element. The support member is movable in a manner to change a moment arm of the cable acting on the link to control torque applied to the joint.

First claim

What is claimed is:

1. A cable driven actuator comprising:
a rotator defining a central axis and a wrapping surface,
a cable engaged to the wrapping surface of the rotator,
a motor operatively connected to the cable to cause rotation of the rotator about the central axis when the cable is driven by the motor;
a first shaft disposed on the rotator and extending outwardly from the rotator and located a predetermined distance from the central axis of the rotator;
a support member defining an elongated body having a first end and a second end, the first end of the support member being engaged to the central axis to permit rotation of the first end relative to the central axis of the rotator; and
a tensioning arrangement having a first end and a second end, the first end of the tensioning arrangement being coupled to a proximal anchor that rotates about the first shaft of the rotator and the second end of the tensioning arrangement being coupled to a distal anchor that rotates about a second shaft that extends from the second end of the support member.

2. An orthosis comprising the cable driven actuator of claim 1 .

3. The orthosis of claim 2 , further comprising the motor for causing rotation of the rotator about the central axis.

4. The system of claim 3 , further comprising:
a controller for controlling the strategy of the actuator and a power source for powering the motor.

5. The system of claim 4 , wherein at least one of the controller and the power source is configured to be worn on a belt.

6. The system of claim 4 , wherein the controller is programmed for an assistive strategy that provides assistance to the user of the system.

7. The system of claim 4 , wherein the controller is programmed for a resistive strategy that provides resistance to the user of the system.

8. An orthosis comprising the system of claim 7 .

9. The system of claim 4 , wherein controller is configured to adjust a torque applied to the actuator by the motor, on the basis of the position of the rotator and a position of a limb of the user.

10. An orthosis comprising the system of claim 9 .

11. An orthosis comprising the system of claim 4 .

12. The orthosis of claim 2 , further comprising a thigh strap and an ankle strap.

13. The orthosis of claim 2 , wherein the rotator has a first orientation in which the rotator is positioned adjacent to a knee joint.

14. The orthosis of claim 2 , wherein in the first orientation, the central axis of the rotator is co-linear with an axis of rotation of the knee joint.

15. The orthosis of claim 2 , wherein in the first orientation, the first shaft disposed on the rotator extends outwardly from the rotator and towards the knee joint.

16. The orthosis of claim 2 , wherein the rotator further comprises a hub and a plurality of spokes, the spokes connecting the hub to the wrapping surface of the rotator.

17. The orthosis of claim 2 , further comprising a wearable belt, wherein the motor is positioned on the belt.

18. The cable driven actuator of claim 1 , wherein the tensioning arrangement comprises a bungee cord.

Assignees

• Chicago Rehabilitation Inst

Inventors

• Patton James L
• Peshkin Michael A
• Sulzer James S

Classifications

• A61H1/0274

  for the upper limbs · CPC title

• A61H3/00

  Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) · CPC title

• A61H1/0237

  for the lower limbs · CPC title

• A61H2201/1642

  Holding means therefor · CPC title

• A61H2201/163

  holding means therefor · CPC title