Apparatus for human arm supporting exoskeleton

• US 10,071,477 B2
• Filed: 12/20/2017
• Issued: 09/11/2018
• Est. Priority Date: 05/18/2015
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Van Engelhoven, Logan, Kazerooni, Homayoon
• Primary Examiner(s): King, Anita M
• Application Number:
  US15/848,409
• Publication Number:
  US 20180111262A1
• Time in Patent Office: 265 Days
• CPC Class Codes: B25H 1/10 with provision for adjusting holders for tool or work
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: B65H 1/10 comprising weights B65H1/022 takes precedence

Abstract

An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user'"'"'s arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small, When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

Claims

1. An arm supporting exoskeleton comprising:

an arm link mechanism, configured to be coupled to an upper arm of a person, the arm link mechanism comprising;

a proximal link;

a distal link, configured to rotate relative to the proximal link around a first rotational axis;

at least one arm coupler, attached to the distal link and adapted to couple the upper arm of the person to the distal link;

at least one torque generator, coupled to the proximal link and the distal link and configured to generate a torque between the proximal link and the distal link; and

a protrusion, located substantially at a rotating joint of the first rotational axis and configured to constrain the at least one torque generator, wherein;

when an angle between the proximal link and the distal link is smaller than a toggle angle, the torque generated by the at least one torque generator between the proximal link and the distal link remains at or above the torque of a first torque mode, and

when the angle between the proximal link and the distal link is larger than the toggle angle, the torque generated by the at least one torque generator between the proximal link and the distal link remains at or below the torque of a second torque mode.

4. The arm supporting exoskeleton of claim 1,

wherein the proximal link comprises an upper bracket, coupled to the at least one torque generator, and

wherein a location of the upper bracket is adjustable along the proximal link for adjusting the torque provided by the at least one torque generator.

5. The arm link mechanism of claim 4, further comprising an upper bracket screw, wherein the location of the upper bracket is adjustable relative to the proximal link using the upper bracket screw.

6. The arm supporting exoskeleton of claim 1,

wherein the distal link comprises a lower bracket, coupled to the at least one torque generator, and

wherein a location of the lower bracket is adjustable along the distal link for adjusting the torque provided by the at least one torque generator.

7. The arm supporting exoskeleton of claim 6, further comprising a lower bracket screw, wherein the location of the lower bracket is adjustable relative to the distal link using the lower bracket screw.

8. The arm supporting exoskeleton of claim 1, wherein the at least one arm coupler comprises a load bearing coupler, coupled to the distal link and capable of imposing an upward force on the upper arm of the person.

9. The arm supporting exoskeleton of claim 8, wherein the load bearing coupler comprises at least one cuff, partially encircling the upper arm of the person.

10. The arm supporting exoskeleton of claim 8, wherein the load bearing coupler comprises an arm rotation joint, operable to allow the at least one cuff to rotate relative to the distal link about an axis substantially parallel to the first rotational axis.

11. The arm supporting exoskeleton of claim 8, wherein the load bearing coupler is operable to allow for internal rotation and external rotation of the upper arm of the person.

12. The arm supporting exoskeleton of claim 1,

wherein the at least one arm coupler comprises an arm coupling mechanism, capable of coupling the at least one arm coupler to the upper arm of the person, and

wherein the arm coupling mechanism comprises an element or a combination of elements selected from the group consisting of a rigid material, a semi-rigid material, and a compliant material, operable to prevent separation of the upper arm of the person from the at least one arm coupler.

13. The arm supporting exoskeleton of claim 1, wherein a location of the at least one arm coupler is adjustable with respect to the distal link.

14. The arm supporting exoskeleton of claim 1, wherein the first rotational axis passes approximately through a glenohumeral joint of the person when the arm link mechanism is coupled to the upper arm of the person.

15. The arm supporting exoskeleton of claim 1, further comprising at least one horizontal rotation joint, acting about a second rotational axis substantially orthogonal the first rotational axis.

16. The arm supporting exoskeleton of claim 15, further comprising a spring, wherein rotation of the proximal link about the at least one horizontal rotation joint is biased by the spring.

17. The arm supporting exoskeleton of claim 15, wherein rotation of the proximal link about the at least one horizontal rotation joint is lockable.

18. The arm supporting exoskeleton of claim 15, wherein an orientation of the proximal link is adjustable and capable of being held in place relative to the second rotational axis along an axis substantially parallel to the first rotational axis, thereby allowing adjustment of a position of the toggle angle relative to the second rotational axis.

19. The arm supporting exoskeleton of claim 1 further comprising;

a shoulder base, configured to be coupled to the arm link mechanism and further configured to be coupled to a trunk of the person, wherein;

when the torque generated by the at least one torque generator remains at or above the first torque mode, forces are applied to the upper arm of the person by the at least one arm coupler and reaction forces and torques are applied to the shoulder base, thereby reducing human shoulder forces and torques required to raise the upper arm of the person; and

when the torque generated by the at least one torque generator remains at or below the second torque mode, the person is allowed to freely move the upper arm.

20. The arm supporting exoskeleton of claim 19, wherein the shoulder base further comprises at least one shoulder bracket operable for quick connect and disconnect coupling of the arm link mechanism to the shoulder base.

21. The arm supporting exoskeleton of claim 19, wherein the shoulder base further comprises:

a load bearing structure, configured to be coupled to the arm link mechanism and further configured to support the reaction forces and torques applied to the shoulder base; and

a coupling mechanism, configured to couple the load bearing structure to the trunk of the person such that the shoulder base is operable to move in unison with the trunk of the person.

22. The arm supporting exoskeleton of claim 21, wherein the load bearing structure comprises:

a back frame, configured to locate substantially behind a back of the person,

the back frame comprising an upper frame and a lower frame, wherein;

the upper frame is coupled to the arm link mechanism and configured to support at least a portion of the reaction forces and torques applied to the shoulder base from the arm link mechanism, and

the lower frame is coupled to the upper frame and configured to support at least a portion of the reaction forces and torques applied to the upper frame;

at least one hip loading belt, coupled to the lower frame,

wherein the at least one hip loading belt is configured to transfer at least a portion of the reaction forces and torques from the back frame to hips of the person.

23. The arm supporting exoskeleton of claim 22, wherein a location of the upper frame relative to the lower frame is adjustable along an axis substantially parallel to a spine of the person to accommodate a height of a torso of the person.

24. The arm supporting exoskeleton of claim 22, wherein the back frame further comprises a spine frame, wherein the spine frame is coupled to the upper frame on an upper end of the spine frame and is rotatably coupled to the lower frame on a lower end of the spine frame, allowing for rotation of the upper frame relative to the lower frame in a frontal plane of the person.

25. The arm supporting exoskeleton of claim 24, wherein the coupling mechanism allows the upper frame to move with the trunk of the person and further allows the lower frame to move with hips of the person.

26. The arm supporting exoskeleton of claim 22,

wherein the back frame comprises a spine frame, and

wherein the spine frame is coupled to the lower frame on a lower end of the spine frame, and is rotatably coupled to the upper frame on an upper end of the spine frame, allowing for rotation of the upper frame relative to the lower frame along a major axis of the spine frame.

27. The arm supporting exoskeleton of claim 19, where in the shoulder base is configured to be coupled to a trunk supporting exoskeleton.

28. The arm supporting exoskeleton of claim 19, further comprising at least one rotation joint allowing the proximal link to rotate relative to the shoulder base along at least one scapular rotation axis substantially orthogonal to a gravity line.

29. The arm supporting exoskeleton of claim 28, wherein the at least one scapular rotation axis is perpendicular to a frontal plane of the person.

30. The arm supporting exoskeleton of claim 19, further comprising a shoulder bracket allowing the arm link mechanism to move relative to the shoulder base along a plane parallel to a frontal plane of the person.

2. The arm supporting exoskeleton of claim I,

wherein the at least one torque generator comprises a tensile force generator, comprising a first end and a second end, the tensile force generator being coupled to the proximal link at the first end of the tensile force generator and being coupled to the distal link at the second end of the tensile force generator, and

wherein the tensile force in the tensile force generator provides the torque to flex the distal link relative to the proximal link.

3. The arm supporting exoskeleton of claim 2., wherein the tensile force generator comprises:

a coil spring element;

a line element, coupling the coil spring element to the proximal link; and

a pulley, coupled to the distal link, wherein the line element at least partially encircles the pulley before the line element is coupled to the proximal link.