ARM SUPPORTING EXOSKELETON WITH A VARIABLE FORCE GENERATOR

• US 20190321965A1
• Filed: 06/28/2019
• Published: 10/24/2019
• 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 10,639,785 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 19/0016 using springs
• 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. 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;

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 first element and the second 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 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.

2. The variable force generator of claim 1, wherein:

one of the first element or the second element comprises a cylindrical opening,

the first spring and the second spring are arranged in parallel within the cylindrical opening, and

another one of the first element or second element comprises a line element or combination of line elements selected from the group consisting of a rigid material, a semi-rigid material, a flexible material, a wire rope, a rope, a cable, a twine, a strap, a chain, or any combination thereof.

3. The variable force generator of claim 1, wherein the first spring stiffness of the first spring is substantially smaller than the second spring stiffness of the second spring such that when the at least one constraining mechanism is in the first position, the first element and the second element move freely relative to each other thereby the force generator exhibits a turned-off behavior.

4. The variable force generator of claim 1, wherein the variable force generator is configured to create a tensile force between the first element and the second element.

5. The variable force generator of claim 1, wherein the variable force generator is configured to create a compressive force between the first element and the second element.

6. The variable force generator of claim 1, wherein:

at least one of the first spring or the second spring comprises a spring bracket, comprising a profile, and

when the at least one constraining mechanism is in in the second position, the at least one constraining mechanism is configured to be constrained by the profile.

7. The variable force generator of claim 1 further comprising a switch operable by a person and movable between a first switch position and a second switch position, wherein:

the at least one constraining mechanism is moved to the first position when the switch is moved into the first switch position by the person and,

the at least one constraining mechanism is moved to the second position when the switch is moved into the second switch position by the person.

8. The variable force generator of claim 7, wherein:

the switch is a slidable switch mounted on one of the first element or the second element, and the person slides the switch between the first switch position and the second switch position.

9. The variable force generator of claim 7, wherein:

the switch is a rotatable switch mounted on one of the first element or the second element, and

the person rotates the switch between the first switch position and the second switch position.

10. The variable force generator of claim 7, wherein:

at least one of the at least one constraining mechanism and the switch is made of magnetic materials, and

magnetic forces between the at least one constraining mechanism and the switch allow the positioning of the at least one constraining mechanism based on the switch position.

11. The variable force generator of claim 1, wherein the first spring and the second spring are selected from the group consisting of coil springs, gas springs, compression springs, tensile springs, or a combination thereof.

12. The variable force generator of claim, 1 wherein the first spring and the second spring are arranged in parallel to each other.

13. The variable force generator of claim 1, wherein the first spring and the second spring are arranged concentrically.

14. The variable force generator of claim 1, wherein:

the at least one constraining mechanism is translationally coupled to the second spring, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to slide into a profile arranged in at least one of the first spring or the second element thereby causing the second spring stiffness to affect the motion between the first element and the second element.

15. The variable force generator of claim 1, wherein:

the at least one constraining mechanism is rotationally coupled to the second spring, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to rotate into a profile arranged in at least one of the first spring or the second element thereby causing the second spring stiffness to affect the motion between the first element and the second element.

16. The variable force generator of claim 1, wherein:

the at least one constraining mechanism is translationally coupled to one of the first spring or the second element, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to slide into a profile arranged in the second spring thereby causing the second spring stiffness to affect the motion between the first element and the second element.

17. The variable force generator of claim 1, wherein:

the at least one constraining mechanism is rotationally coupled to one of the first spring or the second element, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to rotate into a profile arranged in the second spring thereby causing the second spring stiffness to affect the motion between the first element and the second element.

18. A variable force generator comprising:

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.

19. The variable force generator of claim 18, wherein the line element comprises an element or a combination of elements selected from the group consisting of a rigid material, a semi-rigid material, a flexible material, a wire rope, a rope, a cable, a twine, a strap, a chain, or any combination thereof.

20. The variable force generator of claim 18 further comprising a switch operable by a person and movable between a first switch position and a second switch position, wherein:

the at least one constraining mechanism is moved to the first position when the switch is moved into the first switch position by the person and,

the at least one constraining mechanism is moved to the second position when the switch is moved into the second switch position by the person.

21. The variable force generator of claim 20, wherein the switch is a slidable switch mounted on one of the first or second elements wherein the person slides the switch between the first and the second position of the switch.

22. The variable force generator of claim 18, wherein the first spring and the second spring are arranged concentrically.

23. The variable force generator of claim 18, wherein:

the at least one constraining mechanism is translationally coupled to the second spring, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to slide into a profile arranged in at least one of the first spring or the second element thereby causing the second spring stiffness to affect the motion between the first element and the second element.

24. The variable force generator of claim 18, wherein:

the at least one constraining mechanism is rotationally coupled to the second spring, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to rotate into a profile arranged in at least one of the first spring or the second element thereby causing the second spring stiffness to affect the motion between the first element and the second element.

25. A variable force generator comprising:

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.

26. The variable force generator of claim 25, further comprising a switch operable by a person and movable between a first switch position and a second switch position, wherein:

the at least one constraining mechanism is moved to its first position when the switch is moved into the first switch position by the person and,

the at least one constraining mechanism is moved to its second position when the switch is moved into the second switch position by the person.

27. The variable force generator of claim 26, wherein the switch is a slidable switch mounted on one of the first or second elements wherein the person slides the switch between the first switch position and the second switch position.

28. The variable force generator of claim 25, wherein the first spring and the second spring are arranged concentrically.

29. The variable force generator of claim 25, wherein:

the at least one constraining mechanism is translationally coupled to the second spring, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to slide into a profile arranged in at least one of the first spring or the second element thereby causing the second spring stiffness to affect the motion between the first element and the second element.

30. The variable force generator of claim 25, wherein:

the at least one constraining mechanism is rotationally coupled to the second spring, and

when the at least one constraining mechanism is in the second position, the at least one constraining mechanism is configured to rotate into a profile arranged in at least one of the first spring or the second element thereby causing the second spring stiffness to affect the motion between the first element and the second element.