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

• US 10,058,994 B2
• Filed: 12/20/2016
• Issued: 08/28/2018
• Est. Priority Date: 12/22/2015
• Status: Active Grant

• Current Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Original Assignee: Ekso Bionics, Inc. (Ekso Bionics Holdings, Inc.)
• Inventors: Angold, Russ, Lubin, James, Solano, Mario, Paretich, Chris, Mastaler, Tom
• Primary Examiner(s): Oh, Harry Y
• Application Number:
  US15/385,336
• Publication Number:
  US 20170173783A1
• Time in Patent Office: 616 Days
• Field of Search: 700261
• CPC Class Codes: A61H 1/0281 Shoulder
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B25J 9/109 comprising mechanical programming means, e.g. cams
• CPC Class Codes: Y10S 901/02 Arm motion controller

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.

Claims

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;

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; and

a cuff coupled to the arm support assembly and configured to be coupled to the arm of the wearer.

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, further comprising a mounting bar, a third link and a detent rail, wherein:

the mounting bar is directly coupled to the spinal column;

the first link includes a first end directly coupled to the mounting bar and a second end directly coupled to a first end of the second link;

the second link includes a second end directly coupled to a first end of the third link;

the third link includes a second end directly coupled to the arm support assembly;

the detent rail is directly coupled to the arm support assembly and the cuff;

the mounting bar is configured to allow the first link to be located at a plurality of different positions relative to the spinal column, thereby enabling the exoskeleton to be adjusted to fit different wearers;

the detent rail is configured to allow the cuff to be located at a plurality of different positions relative to the arm support assembly, thereby further enabling the exoskeleton to be adjusted to fit different wearers;

the third link is configured to pivot in a transverse plane about a third vertical axis, thereby further allowing the arm support assembly to move relative to the spinal column;

the first link pivots relative to the mounting bar about the first vertical axis;

the first and second links pivot relative to one another about the second vertical axis;

the second and third links pivot relative to one another about the third vertical axis; and

the third link and the arm support assembly pivot relative to one another about the horizontal axis.

6. The exoskeleton of claim 1, wherein the cuff is configured to be coupled to the arm of the wearer between an elbow and a shoulder of the arm.

7. The exoskeleton of claim 4, further comprising a mounting bar, wherein:

the arm support assembly, the first link, the second link and the cuff form at least a portion of a support arm;

the mounting bar connects the support arm to the spinal column; and

the mounting bar is configured to allow the support arm to be located at a plurality of different positions relative to the spinal column, thereby enabling the exoskeleton to be adjusted to fit different wearers.

8. The exoskeleton of claim 7, further comprising a detent rail, wherein:

the detent rail connects the cuff to the arm support assembly; and

the detent rail is configured to allow the cuff to be located at a plurality of different positions relative to the arm support assembly, thereby further enabling the exoskeleton to be adjusted to fit different wearers.

9. The exoskeleton of claim 4, wherein the arm support assembly, the first link, the second link and the cuff 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.

10. 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.

11. 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.

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

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

14. 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.

15. 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;

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; and

a cuff coupled to the arm support assembly and configured to be coupled to an arm of a wearer, 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 provided by the arm support assembly.

16. The method of claim 15, further comprising:

varying the assistive force provided by the arm support assembly depending on a pivotal position of the arm support assembly relative to the horizontal axis.

17. The method of claim 15, wherein the spring of the arm support assembly is a gas spring, and generating the assistive torque includes generating the assistive torque with the gas spring.

18. The method of claim 15, wherein the exoskeleton further comprises:

a torso support configured to be coupled to a torso of the wearer; and

a spinal column;

the method further comprising;

transferring a weight of the arm of the wearer to the torso support with the spinal column, 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.

19. The method of claim 15, wherein the method does not comprise:

controlling an amount of assistive force provided by the arm support assembly with an electronic control system;

sensing a pivotal position of the arm support assembly relative to the horizontal axis with a sensor;

or

generating the assistive torque with a powered electric, hydraulic or pneumatic actuator.