ARM SUPPORTING EXOSKELETON WITH A VARIABLE FORCE GENERATOR

• US 20190143503A1
• Filed: 01/08/2019
• Published: 05/16/2019
• 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
• Granted Patent: US 10,391,627 B2
• Time in Patent Office: 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: B25J 9/104 with cables, chains or ribbons
• CPC Class Codes: B65H 1/10 comprising weights B65H1/022 takes precedence

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.

Claims

1. An arm supporting exoskeleton comprising an arm link mechanism, the arm link mechanism comprising:

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 configured to couple an upper arm of a person to the distal link; and

a variable force generator, comprising a first spring and a second spring, configured to create a torque between the proximal link and the distal link, and is configured to generate at least a first stiffness rate and a second stiffness rate, wherein;

when the variable force generator is in a first force mode, the variable force generator generates the first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and,

when the variable force generator is in second force mode, the variable force generator generates the second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.

2. The arm supporting exoskeleton of claim 1,

wherein the variable force generator is configured to generate at least the first stiffness rate and the second stiffness rate between a first element and a second element,

wherein the first spring having a first end and a second end, the first spring constrained by the first element from the first end and by the second element from the second end

the second spring having a first end and a second end, the second spring constrained by the first element from the first end;

a constraining mechanism configurable to have at least a first position and a second position, wherein;

when the constraining mechanism is in the first position, the second end of the second spring is not constrained by the second element causing the second stiffness rate not to affect motion between the first element and the second element and

when the constraining mechanism is in the second position, the second end of the second spring is constrained by the second element causing the second stiffness rate to act in parallel with the first spring and to affect the motion between the first element and the second element.

3. The arm supporting exoskeleton of claim 2,

wherein the first stiffness rate of the first spring is substantially smaller than the second stiffness rate of the second spring, and

wherein when constraining mechanism is in the first position, the motion between the first element and the second element generates a substantially small force between the first element and the second element and variable force generator allows free, relatively unsupported motion of the upper arm of the person.

4. The arm supporting exoskeleton of claim 2,

wherein the first spring further comprises a first spring element and a first spring bracket, and

wherein the first spring element provides the first stiffness rate of the first spring, and

wherein the first spring bracket is coupled to the first spring and transfers force between the first spring and the second element, and also transfers force between the constraining mechanism and the second element when the constraining mechanism is in the second position.

5. The arm supporting exoskeleton of claim 2,

wherein the second spring further comprises a second spring element and a second spring bracket,

wherein the second spring element provides the second stiffness rate of the second spring, and

wherein the second spring bracket is coupled to the second spring element and transfers force between the second spring element and the constraining mechanism.

7. The arm supporting exoskeleton of claim 2,

wherein the first element is a cylindrical first element,

wherein the first spring and the second spring are arranged concentrically within the cylindrical first element and constrained by the cylindrical first element from the first end, and

wherein the second element comprises a line passing through cylindrical first element.

8. The arm supporting exoskeleton of claim 1, wherein the variable force generator comprises an orientation sleeve that radially constrains the first spring relative to the second spring.

9. The arm supporting exoskeleton of claim 8, wherein the variable force generator a first orientation element that rotationally constrains the orientation sleeve relative to the first element.

10. The arm supporting exoskeleton of claim 8, wherein the variable force generator a second orientation element that rotationally constrains the first spring relative to the orientation sleeve.

11. The arm supporting exoskeleton of claim 2, wherein the constraining mechanism rotationally constrains the second spring relative to the first element in the first position.

12. The arm supporting exoskeleton of claim 2, wherein the constraining mechanism rotationally constrains the second spring relative to the first spring in the second position.

13. The arm supporting exoskeleton of claim 2, wherein the variable force generator comprises an orientation sleeve that radially constrains the first spring relative to the second spring, and wherein the variable force generator comprises a first orientation element that axially constrains the first element to the orientation sleeve, the first spring, the second spring, or any combination thereof.

14. The arm supporting exoskeleton of claim 13, wherein at least one of the first spring or the second spring is preloaded when constrained by the first orientation element.

15. The arm supporting exoskeleton of claim 13, wherein the variable force generator comprises a preload element that axially constrains the first element to at least one of the first spring or the second spring and is configured to preload at least one of the first spring or the second spring when constrained relative to the first orientation element.

16. The arm supporting exoskeleton of claim 2, wherein the constraining mechanism is translationally coupled to the second spring and configured to slide into a profile within first spring and couple the first spring to the second spring in a manner that transfers the second stiffness rate of the second spring to at least one of the first spring of the second element.

17. The arm supporting exoskeleton of claim 2, wherein the first spring comprises a contoured surface that forces the constraining mechanism to the first position, allowing the first spring to align with the second spring at a transition position.

18. The arm supporting exoskeleton of claim 2, wherein the constraining mechanism is made of a magnetic material.

19. The arm supporting exoskeleton of claim 2, wherein the first spring further comprises a first magnet that attracts the constraining mechanism into the second position.

20. The arm supporting exoskeleton of claim 19, wherein the first element further comprises a second magnet that attracts the constraining mechanism.

21. The arm supporting exoskeleton of claim 20, wherein influence of the second magnet on the constraining mechanism is stronger than influence of the first magnet on the constraining mechanism for all positions of the constraining mechanism.

22. The arm supporting exoskeleton of claim 20,

wherein the first element further comprises a switch, and

wherein the switch is positioned relative to the first element at a first switch position where second magnet attracts the constraining mechanism to a second switch position where the second magnet does not attract the constraining mechanism.

23. The arm supporting exoskeleton of claim 2, wherein the constraining mechanism comprises a contoured surface that forces the constraining mechanism into the second position if the constraining mechanism is caught between a first switch position corresponding and a second switch position as the first spring and the second spring begin to compress.

24. The arm supporting exoskeleton of claim 2, wherein when the first spring and the second spring are positioned relative to the first element, a transition position is achieved wherein there are no forces acting on the constraining mechanism, allowing the constraining mechanism to transition between the first position and the second position or from the second position to the first position.

25. The arm supporting exoskeleton of claim 24, wherein an angle between the proximal link and the first element when the first spring and second spring of variable torque generator are at a transition position comprises a transition angle.

26. The arm supporting exoskeleton of claim 25, wherein a length of the second element between the first spring and the proximal link is adjustable to alter the transition angle.

27. The arm supporting exoskeleton of claim 26, wherein a length of the second element is adjustable using a screw connection with the first spring.

28. The arm supporting exoskeleton of claim 1, further comprising a shoulder base, for attaching to a trunk of the person.

29. The arm supporting exoskeleton of claim 2, configured to create a compressive force between first element and second element.

6. The arm supporting exoskeleton of claim 0, wherein the arm supporting exoskeleton is configured to create a tensile force between the first element and the second element.

30. An arm supporting exoskeleton comprising an arm link mechanism, the arm link mechanism comprising:

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 an upper arm of a person to the distal link; and

a variable force generator, comprising a first spring and a second spring configured to create a torque between proximal link and the distal link and adaptable to exhibit at least a first stiffness rate and a second stiffness rate, wherein;

when variable force generator is in a first force mode, the variable force generator exhibits the first stiffness rate defined by the first spring that allows free, relatively unsupported motion of the upper arm of the person, and

when variable force generator is in second force mode it exhibits the second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against gravity forces.