Variable force generators for arm supporting exoskeletons
First Claim
1. A variable force generator comprising:
- a first element;
a second element, wherein the variable force generator is configurable to exhibit at least a first stiffness rate and a second stiffness rate between the first element and the second element;
a first spring, having a first end and a second end, the first spring being constrained by the first element from the first end of the first spring and by the second element from the second end of the first spring;
a second spring, having a first end and a second end, the second spring constrained by one of the first element or the second element from the first end of the second spring; and
at least one constraining mechanism, configurable to have at least a first position and a second position;
whereinwhen the at least one constraining mechanism is in the first position, the second end of the second spring is not constrained causing a first spring stiffness to affect motion between the first element and the second element, thereby exhibiting the first stiffness rate throughout a range of motion of the second element relative to the first element; and
when the at least one constraining mechanism is in the second position, the second end of the second spring is constrained by the other one of the first element or the second element causing a second spring stiffness to affect the motion between the first element and the second element thereby exhibiting the second stiffness rate throughout the range of motion of the second element relative to the first element.
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Accused Products
Abstract
Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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Citations
30 Claims
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1. A variable force generator comprising:
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a first element; a second element, wherein the variable force generator is configurable to exhibit at least a first stiffness rate and a second stiffness rate between the first element and the second element; a first spring, having a first end and a second end, the first spring being constrained by the first element from the first end of the first spring and by the second element from the second end of the first spring; a second spring, having a first end and a second end, the second spring constrained by one of the first element or the second element from the first end of the second spring; and at least one constraining mechanism, configurable to have at least a first position and a second position;
whereinwhen the at least one constraining mechanism is in the first position, the second end of the second spring is not constrained causing a first spring stiffness to affect motion between the first element and the second element, thereby exhibiting the first stiffness rate throughout a range of motion of the second element relative to the first element; and when the at least one constraining mechanism is in the second position, the second end of the second spring is constrained by the other one of the first element or the second element causing a second spring stiffness to affect the motion between the first element and the second element thereby exhibiting the second stiffness rate throughout the range of motion of the second element relative to the first element. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A variable force generator comprising:
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an element, comprising a cylindrical opening; a line element, wherein the variable force generator is configurable to exhibit at least a first stiffness rate and a second stiffness rate between the element and the line element; a first spring, arranged within the cylindrical opening, having a first end and a second end, the first spring constrained by the element comprising the cylindrical opening and by the line element; a second spring, having a first end and a second end, arranged in parallel with the first spring and constrained by one of the element comprising the cylindrical opening or the line element, from the first end of the second spring; at least one constraining mechanism, configurable to have at least a first position and a second position, wherein; when the at least one constraining mechanism is in the first position, the second end of the second spring is not constrained causing a first spring stiffness to affect motion between the element comprising the cylindrical opening and the line element thereby exhibiting the first stiffness rate; and when the at least one constraining mechanism is in the second position, the second end of the second spring is constrained by another one of the line element or the element comprising the cylindrical opening, causing a second spring stiffness to affect the motion between the element comprising cylindrical spring and the line element thereby exhibiting the second stiffness rate. - View Dependent Claims (19, 20, 21, 22, 23, 24)
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25. A variable force generator comprising:
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a first element; a second element, wherein the variable force generator is configurable to exhibit an off mode and on mode between the first element and the second element; a first spring, having a first spring stiffness, which is substantially small, and comprising a first end and a second end, the first spring constrained by the first element from the first end of the first spring, and by the second element from the second end of the first spring; a second spring, having a second spring stiffness, which is substantially larger than the first spring stiffness, and comprising a first end and a second end, the second spring constrained by one of the first element or the second element from the first end of the second spring; and at least one constraining mechanism, configurable to have at least a first position and a second position, wherein; when the at least one constraining mechanism is moved into the first position, the second end of the second spring becomes unconstrained causing the first spring stiffness to affect motion between the first element and the second element allowing the first element and the second element to move substantially freely relative to each other thereby exhibiting the off mode of the variable force generator; and when the at least one constraining mechanism is moved into the second position, the second end of the second spring becomes constrained by the other one of the first element or the second element causing the second spring stiffness to affect the motion between the first element and the second element thereby exhibiting the on mode of the variable force generator. - View Dependent Claims (26, 27, 28, 29, 30)
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Specification