Exoskeleton
First Claim
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1. A system comprising:
- an upper link member coupled to a support frame at a shoulder joint;
a lower link member coupled to the upper link member at an elbow joint;
a hand member coupled to the lower link member at a wrist joint;
a plurality of transducers affixed to at least one of the upper link member, the lower link member, and the hand member;
a driver coupled to the frame and at least one of the upper link member, the lower link member and the hand member and wherein the driver is configured to control at least one of position and velocity relative to the frame; and
a processor configured to execute instructions to control the driver based on a signal received from at least one transducer of the plurality of transducers; and
wherein the upper link member and the lower link member are configured for attachment to an arm of a user and wherein a rotation axis of each of the shoulder joint, the elbow joint and the wrist joint are aligned with corresponding axes of the user.
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Abstract
This document discloses, among other things, a wearable structure having links and joints corresponding to those of a human upper body. Transducers are located on the wearable structure and are coupled to a processor. The transducers exchange energy and information between the user and the wearable structure and enable control of the movement of the structure.
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Citations
25 Claims
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1. A system comprising:
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an upper link member coupled to a support frame at a shoulder joint;
a lower link member coupled to the upper link member at an elbow joint;
a hand member coupled to the lower link member at a wrist joint;
a plurality of transducers affixed to at least one of the upper link member, the lower link member, and the hand member;
a driver coupled to the frame and at least one of the upper link member, the lower link member and the hand member and wherein the driver is configured to control at least one of position and velocity relative to the frame; and
a processor configured to execute instructions to control the driver based on a signal received from at least one transducer of the plurality of transducers; and
wherein the upper link member and the lower link member are configured for attachment to an arm of a user and wherein a rotation axis of each of the shoulder joint, the elbow joint and the wrist joint are aligned with corresponding axes of the user. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method comprising:
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generating an image of a scene;
receiving information from a transducer of a wearable exoskeleton, wherein the wearable exoskeleton includes a plurality of links, each link having an articulating joint, wherein each joint is aligned with an axis of an anatomical joint, the information corresponding to a simulated limb interacting in the scene; and
modifying performance of the simulated limb based on an element in the scene. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A method comprising:
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coupling a user to an exoskeleton having a plurality of exoskeleton links and a plurality of exoskeleton joints, the plurality of exoskeleton links corresponding to an upper limb of the user and each of the plurality of exoskeleton joints corresponding to an anatomical joint of the upper limb of the user and wherein the axis of each joint of the exoskeleton is aligned with a corresponding anatomical joint of the user;
receiving a feedback signal from a surface sensor coupled to the user;
executing an algorithm to determine a torque for at least one exoskeleton joint based on the feedback signal; and
applying the torque to the least one exoskeleton joint. - View Dependent Claims (19, 20, 21, 22, 23, 24, 25)
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Specification