Apparatus for human arm supporting exoskeleton

• US 10,124,485 B2
• Filed: 12/20/2017
• Issued: 11/13/2018
• 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:
  US15/848,487
• Publication Number:
  US 20180111263A1
• Time in Patent Office: 328 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; and

at least one torque generator, comprising a first end and a second end,

the first end coupled to the proximal link,

the second end coupled to the distal link,

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

the least one torque generator comprising an upper bracket, coupling the proximal link to the least one torque generator,

a location of the upper bracket being adjustable along the proximal link to adjust the torque provided by the at least one torque generator.

2. 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.

3. The arm supporting exoskeleton of claim 1, 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.

4. The arm supporting exoskeleton of claim 1, wherein the distal link comprises a lower bracket, coupled to the at least one torque generator, wherein a location of the lower bracket is adjustable along the distal link to adjust a preload force of the at least one torque generator.

5. The arm supporting exoskeleton of claim 4, 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.

6. The arm supporting exoskeleton of claim 1, wherein the at least one torque generator comprises a coil spring element.

7. The arm supporting exoskeleton of claim 6, wherein the at least one torque generator further comprises a line element coupling the coil spring element to the proximal link.

8. The arm supporting exoskeleton of claim 7, further comprises a pulley, wherein the line element at least partially encircles the pulley coupled to the distal link before the line element is coupled to the proximal link.

9. The arm supporting exoskeleton of claim 1, further comprising:

a protrusion, located substantially at a first 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.

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

11. The arm supporting exoskeleton of claim 10, further comprising a spring, wherein the rotation of the proximal link about the horizontal rotation joint is biased by the spring.

12. The arm supporting exoskeleton of claim 10, wherein the rotation of the proximal link about the horizontal rotation joint is lockable.

13. The arm supporting exoskeleton of claim 10, wherein an orientation of the proximal link is adjustable and 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.

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

15. The arm supporting exoskeleton of claim 14, wherein the load bearing coupler comprises at least one cuff, the at least one cuff at least partially encircling the upper arm of the person.

16. The arm supporting exoskeleton of claim 14, wherein the load bearing coupler comprises an arm rotation joint, allowing the at least one cuff to rotate relative to the distal link along an axis substantially parallel to the first rotational axis.

17. The arm supporting exoskeleton of claim 14, wherein the load bearing coupler allows for internal and external rotation of the upper arm of the person.

18. The arm supporting exoskeleton of claim 1,

wherein the arm coupler comprises an arm coupling mechanism, capable of coupling the 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, or a compliant material, configured to prevent separation of the upper arm of the person from the arm coupler.

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

20. 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.

21. The arm supporting exoskeleton of claim 20, wherein the shoulder base further comprises:

a load bearing structure, configured to be coupled to the arm link mechanism and further configured to support 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 moves in unison with the trunk of the person.

22. The arm supporting exoskeleton of claim 21, wherein the coupling mechanism comprises an element selected from the group consisting of a belt, a vest, a chest strap, an anchor strap, a shoulder strap, a sternum strap, a suspender strap, and combinations thereof.

23. The arm supporting exoskeleton of claim 21, further comprising safety harness attachment points, wherein the coupling mechanism is adaptable to be coupled to a safety harness, worn by the person, using the safety harness attachment points.

24. 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,

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

the lower frame coupled to the upper frame and configured to support at least another portion of the reaction forces and torques on 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.

25. The arm supporting exoskeleton of claim 24, 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.

26. The arm supporting exoskeleton of claim 24, wherein the lower frame comprises:

a lower middle bar;

a first lower corner bar; and

a second lower corner bar,

wherein each of the first lower corner bar and the second lower corner bar is adapted to be coupled to the lower middle bar at various locations on the lower middle bar to provide selective hip width adjustment for the lower frame.

27. The arm supporting exoskeleton of claim 24,

wherein the lower frame further comprises a first lower side bracket and a second lower side bracket, and

wherein each of the first lower side bracket and the second lower side bracket is adapted to be coupled to a body of the lower frame at various locations on the lower frame to provide selective hip depth adjustment for the lower frame.

28. The arm supporting exoskeleton of claim 24, wherein the upper frame comprises:

an upper middle bar;

a first upper corner bar; and

a second upper corner bar,

wherein each of the first upper corner bar and the second upper corner bar is adapted to be coupled to the upper middle bar at various locations on the upper middle bar to provide selective shoulder width adjustment for the upper frame.

29. The arm supporting exoskeleton of claim 24,

wherein the upper frame further comprises a first upper side bracket and a second upper side bracket, and

wherein each of the first upper side bracket and the second upper side bracket is adapted to be coupled to a body of the upper frame at various locations on the upper frame to provide selective shoulder depth adjustment for the upper frame.

30. The arm supporting exoskeleton of claim 24, wherein the load bearing structure further comprises a hammock structure, spanning a curve in the load bearing structure and configured to evenly distribute at least a portion of the reaction forces to the person.

31. The arm supporting exoskeleton of claim 24,

wherein the back frame further comprises a spine frame, and

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.

32. The arm supporting exoskeleton of claim 31, wherein the coupling mechanism is operable to allow the upper frame to move with the trunk of the person and to allow the lower frame to move with the hips of the person.

33. The arm supporting exoskeleton of claim 24,

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.

34. The arm supporting exoskeleton of claim 20, wherein the arm link mechanism comprises at least one rotation joint that allows the proximal link to rotate relative to the shoulder base along at least one scapular rotation axis substantially orthogonal to a gravity line.

35. The arm supporting exoskeleton of claim 34, wherein the at least one scapular rotation axis is perpendicular to a frontal plane of the person.

36. The arm supporting exoskeleton of claim 20, 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.

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

38. The arm supporting exoskeleton of claim 20, wherein the shoulder base comprises at least one shoulder bracket coupling the arm link mechanism to the shoulder base in such a manner that a position of the arm link mechanism is adjustable relative to the shoulder base.

39. The arm supporting exoskeleton of claim 20, wherein the shoulder base comprises at least one shoulder bracket rotatably coupled to the shoulder base and coupled to the arm link mechanism, wherein the shoulder bracket rotates along a stow axis and is configured to be held stationary allowing the arm link mechanism to be stored behind the person substantially out of an active workspace of the person.

40. The arm supporting exoskeleton of claim 20, wherein the shoulder base is operable to couple to a trunk supporting exoskeleton.

41. The arm supporting exoskeleton of claim 20, wherein the shoulder base is operable to couple to a leg supporting exoskeleton.

42. 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; and

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

a lower bracket coupling the distal link to the torque generator, wherein a location of the lower bracket is adjustable along the distal link to adjust the torque provided by the torque generator.