Apparatus for human arm supporting exoskeleton

• US 10,369,690 B2
• Filed: 10/11/2018
• Issued: 08/06/2019
• 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:
  US16/157,417
• Publication Number:
  US 20190039234A1
• Time in Patent Office: 299 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 configured to be coupled to a person, the arm supporting exoskeleton comprising:

a shoulder base, configured to be coupled to a trunk of the person and comprising;

a load bearing structure coupled to an arm link mechanism and configured to support reaction forces and reaction torques on 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;

the arm link mechanism configured to be coupled to the shoulder base, the arm link mechanism comprising;

a proximal link; and

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

an arm-coupler attached to the distal link and configured to couple an upper arm of the person to the distal link;

a 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 shoulder bracket that allows for removable coupling of the arm link mechanism to the shoulder base.

2. The arm supporting exoskeleton of claim 1, wherein the shoulder bracket is coupled to the shoulder base.

3. The arm supporting exoskeleton of claim 1, wherein the first rotational axis passes through a glenohumeral joint of the person when the arm-coupler is coupled to the upper arm of the person.

4. The arm supporting exoskeleton of claim 1, further comprising a horizontal rotation joint that allows the proximal link to rotate relative to the shoulder base about a second rotational axis orthogonal to the first rotational axis.

5. The arm supporting exoskeleton of claim 4, wherein the second rotational axis is positioned to pass approximately through a glenohumeral joint of the person when the arm-coupler is coupled to the upper arm of the person.

6. The arm supporting exoskeleton of claim 4, wherein the rotation of the proximal link about the horizontal rotation joint is lockable.

7. The arm supporting exoskeleton of claim 1,

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

wherein a location of the lower bracket is adjustable along the distal link to adjust the torque generated by the torque generator between the proximal link and the distal link.

8. The arm supporting exoskeleton of claim 1,

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

wherein a location of the upper bracket can be adjusted along the proximal link to adjust the torque generated by the torque generator between the proximal link and the distal link.

9. The arm supporting exoskeleton of claim 1,

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

wherein a tensile force generated in the tensile force generator generates the torque between the proximal link and the distal link to flex the distal link relative to the proximal link.

10. The arm supporting exoskeleton of claim 9, wherein the tensile force generator comprises a coil spring element.

11. The arm supporting exoskeleton of claim 10, wherein the tensile force generator comprises a line element, coupling the coil spring element to the proximal link.

12. The arm supporting exoskeleton of claim 11, wherein the line element at least partially encircles a pulley of the torque generator coupled to the distal link before the line element is coupled to the proximal link.

13. The arm supporting exoskeleton of claim 1, 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.

14. The arm supporting exoskeleton of claim 1,

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 reaction torques on the shoulder base from the arm link mechanism,

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

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

15. The arm supporting exoskeleton of claim 14, wherein a location of the upper frame relative to the lower frame is adjustable along an axis parallel to a spine of the person, when the person wears the arm supporting exoskeleton, to accommodate a height of a torso of the person.

16. The arm supporting exoskeleton of claim 14, 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 configured 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.

17. The arm supporting exoskeleton of claim 14 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.

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

19. An arm supporting exoskeleton configured to be coupled to a person, the arm supporting exoskeleton comprising:

a shoulder base configured to be coupled to a trunk of the person;

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

an offset adjustment joint configured to adjust and fix a position of the arm link mechanism relative to the shoulder base,

wherein the arm link mechanism comprises;

a proximal link;

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

an arm-coupler, attached to the distal link and adapted to couple the upper arm of the person to the distal link; and

a 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 torque generator configured to generate a torque between the proximal link and the distal link.

20. The arm supporting exoskeleton of claim 19, wherein the offset adjustment joint is configured to rotate the proximal link relative to the shoulder base about an axis parallel with the first rotational axis.

21. The arm supporting exoskeleton of claim 19, wherein the offset adjustment joint is configured to adjust a torque profile the arm supporting exoskeleton is configured to apply to the person.

22. The arm supporting exoskeleton of claim 21, wherein a peak position of the torque profile is adjusted.

23. The arm supporting exoskeleton of claim 21, wherein a neutral zone of the torque profile is adjusted.

24. The arm supporting exoskeleton of claim 19, wherein the proximal link comprises an upper bracket coupled to the torque generator, wherein a location of the upper bracket is adjustable along the proximal link to adjust the torque generated by the torque generator.

25. The arm supporting exoskeleton of claim 19, wherein the distal link comprises a lower bracket coupled to the torque generator, wherein a location of the lower bracket is adjustable along the distal link to adjust the torque generated by the torque generator.

26. The arm supporting exoskeleton of claim 19, wherein the arm supporting exoskeleton further comprises a horizontal rotation joint that allows the proximal link to rotate relative to the shoulder base about a second rotational axis orthogonal to the first rotational axis.

27. The arm supporting exoskeleton of claim 26, wherein the second rotational axis is positioned to pass through a glenohumeral joint of the person, when the person wears the arm supporting exoskeleton.

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

a load bearing structure coupled to the arm link mechanism and configured to support reaction forces and reaction torques on 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.

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