Exoskeleton for the human arm, in particular for space applications

• US 7,410,338 B2
• Filed: 05/22/2003
• Issued: 08/12/2008
• Est. Priority Date: 05/22/2002
• Status: Expired due to Fees

• Current Assignee: Organisation Intergouvernementale Dite Agence Spatiale Europeenne
• Original Assignee: Organisation Intergouvernementale Dite Agence Spatiale Europeenne
• Inventors: Visentin, Gianfranco, Schiele, Andre
• Primary Examiner(s): UNDERWOOD, DONALD W
• Application Number:
  US10/443,111
• Publication Number:
  US 20030223844A1
• Time in Patent Office: 1,909 Days
• Field of Search: 414/5, 414/4, 345/156, 700/245, 700/264, 340/407.1, 318/568.16, 744/71.XY
• US Class Current: 414/4
• CPC Class Codes: A61H 1/0274 for the upper limbs
• CPC Class Codes: A61H 1/0277 Elbow
• CPC Class Codes: A61H 1/0281 Shoulder
• CPC Class Codes: A63B 21/00178 for active exercising, the apparatus being also usable for passive exercising
• CPC Class Codes: A63B 21/00181 comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
• CPC Class Codes: A63B 21/4017 to the upper limbs
• CPC Class Codes: A63B 21/4019 to the hand
• CPC Class Codes: A63B 21/4021 to the wrist
• CPC Class Codes: A63B 21/4025 Resistance devices worn on the user's body A63B21/065 takes precedence
• CPC Class Codes: A63B 21/4047 Pivoting movement weight pivoting A63B21/0615
• CPC Class Codes: A63B 2208/12 specially adapted for children
• CPC Class Codes: A63B 23/03508 For a single arm or leg, A63B21/0726 takes precedence
• CPC Class Codes: A63B 23/12 for upper limbs or related muscles, e.g. chest, upper back or shoulder muscles bench press exercises A63B21/078; for teaching music G09B15/06
• CPC Class Codes: A63B 23/1209 Involving a bending of elbow and shoulder joints simultaneously
• CPC Class Codes: A63B 23/1245 Primarily by articulating the shoulder joint A63B23/129 takes precedence
• CPC Class Codes: A63B 23/1263 Rotation about an axis passing through both shoulders, e.g. cross-country skiing-type arm movements
• CPC Class Codes: B25J 9/0006 Exoskeletons, i.e. resembling a human figure

Abstract

The invention relates to an arm exoskeleton comprising a moving system of joints placed in parallel with the joints of the human arm, the exoskeleton comprising a shoulder exoskeleton, an elbow exoskeleton, and a wrist exoskeleton. In all, the exoskeleton has sixteen joints providing sixteen degrees of freedom. A support worn on the torso of a human operator comprises a rigid front plate and a rigid back plate. The shoulder exoskeleton has its proximal end fixed to the front plate, whereby the front plate provides a fixed reference for all movements of the exoskeleton, and the wrist exoskeleton is fixed to a rigid glove worn on the hand of the operator. Active joints are controlled by flexible cable tendons bridging the exoskeleton, said tendons themselves being actuated by control units disposed on the rigid back plate. Inflatable cushions prevent the wrist exoskeleton and the shoulder exoskeleton from moving relative to the arm of the operator. The invention is applicable in particular to remotely controlling a robot in space.

Claims

1. An arm exoskeleton for acquiring data representative of the movements of arm joints of a human body and/or exerting torques to said arm joints, the exoskeleton comprising a sleeve for wearing on at least one arm of a human person so as to provide a moving system of exoskeleton joints, said sleeve comprising a first subassembly “

shoulder exoskeleton”

having at least six exoskeleton joints associated with a shoulder joint of said human body, a second subassembly “

elbow exoskeleton”

comprising at least four exoskeleton joints associated with an elbow joint of said human body, and a third subassembly “

wrist exoskeleton”

comprising at least six exoskeleton joints associated with a wrist joint of said human body, and actuating units for controlling said first, second and third subassemblies, such that said first, second and third subassemblies are mechanically dissociated so as to be capable of being controlled individually by said actuating units.

2. An exoskeleton according to claim 1, wherein said wrist exoskeleton includes a distal end securable to a hand of a person.

3. An exoskeleton according to claim 2, wherein said actuating units comprise flexible tendons comprising cables threaded in spiral-type guide sheaths, and wherein motor-driven control units are placed on a back plate for actuating said flexible tendons.

4. An exoskeleton according to claim 3, wherein the first, second and third determined number of joints is equal to sixteen, thereby providing sixteen degrees of freedom, respectively.

5. An exoskeleton according to claim 4, wherein said shoulder exoskeleton comprises six joints, each associated with a respective axis, and wherein first, second, fourth, fifth, and sixth of said six joints are rotary and said third joint of said six joints is sliding.

6. An exoskeleton according to claim 5, wherein said shoulder exoskeleton includes a first member affixed to a chest plate and associated with the first and second rotary joints.

7. An exoskeleton according to claim 6, wherein said shoulder exoskeleton includes a second member fitted with an inflatable cushion engaged on an upper portion of said at least one arm so as to secure said arm to said shoulder exoskeleton, a clamp, said clamp comprising an annular member disposed between the ends of a U-shaped piece, and wherein said ends are associated with said fifth rotary joint.

8. An exoskeleton according to claim 7, wherein said shoulder exoskeleton includes a third member having a telescopic tube surrounded by a pre-tensioning spring, said third member being fixed by a first end free to rotate about the axis of said second joint to said first member and by a second end to a point on the base of said U-shape, said fixing point establishing the fourth rotary joint, said third member forming said sliding joint, and wherein said spring is actuated by one of said flexible tendons exerting a force thereon so as to compress or extend the spring depending on the direction of said exerted force.

9. An exoskeleton according to claim 5, wherein said first, second, and sixth rotary joints are “

active”

, being actuated by said actuating units, and wherein said fourth and fifth rotary joints are “

passive”

, not being actuated by any of said actuating units.

10. An exoskeleton according to claim 4, wherein said elbow exoskeleton comprises four joints, each associated with a respective axis, and wherein said first, third, and fourth joints are rotary and said second joint is sliding.

11. An exoskeleton according to claim 10, wherein said elbow exoskeleton includes a first member comprising an angularly shaped first piece and a horseshoe-shaped second piece secured to each other by telescopic tubes adjustable in length, a screw device for adjusting the length of said tubes and said first piece and at least one second piece adapted to be worn above the elbow of an operator on the upper portion of an arm of the operator.

12. An exoskeleton according to claim 11, wherein said elbow exoskeleton includes a second member comprising a horseshoe-shaped third piece connected to said horseshoe-shaped second piece via an intermediate piece, said third piece adapted to be worn below the elbow of the operator on the forearm portion of the arm of the operator.

13. An exoskeleton according to claim 5, wherein said first and fourth rotary joints are “

active”

, adapted to be actuated by said actuating units, wherein said second and third joints are of the rotary type and are “

passive”

, not being actuated by any of said actuating units, and wherein said third joint is of the sliding type and “

passive”

, not being actuated by any of said actuating units.

14. An exoskeleton according to claim 4, wherein said wrist exoskeleton comprises six rotary joints, each associated with a respective axis of rotation.

15. An exoskeleton according to claim 14, wherein the wrist exoskeleton includes a first member associated with a first rotary joint and having an inflatable cushion adapted to be worn on a forearm of said operator close to the hand of the operator, so as to prevent said exoskeleton from moving relative to the wrist, said inflatable cushion being secured in an annular piece.

16. An exoskeleton according to claim 15, wherein the wrist exoskeleton includes a rigid glove adapted to receive an operator'"'"'s hand by insertion in the rigid glove, said wrist exoskeleton includes a second member comprising a fixing piece for said rigid glove.

17. An exoskeleton according to claim 16, wherein said rigid glove has openings for fingers of said hand, and said fixing piece being constituted by a self-fastening cloth.

18. An exoskeleton according to claim 16, wherein said wrist exoskeleton includes a third member forming a hinged mechanical connection device between said first and second members, wherein said hinged connection device includes a fixing piece on said annular piece, said fixing piece being associated with said second rotary joint, and first and second connection rods hinged at a first end about an intermediate piece associated with said fourth rotary joint, wherein said first rod is secured at a second end to said fixing piece on said annular piece, to turn freely about an axis associated with said third joint, wherein said second end is connected to said fixing piece on said rigid glove to turn freely about an axis associated with said fifth joint, and wherein said fixing piece for said rigid glove is also associated with fifth and sixth rotary joints.

19. An exoskeleton according to claim 14, wherein said first, second, fourth, and sixth rotary joints are “

active”

, being actuated by said actuating joints.

20. An exoskeleton according to claim 9, wherein said active joints include pulleys for driving rotary shafts coinciding with axes of said joints, and wherein a number of said cables are arranged to drive said pulleys in either the clockwise direction or the counterclockwise direction so as to impart corresponding turning movement to the joint associated with said pulley.

21. An exoskeleton according to claim 3, including pre-tensioning members disposed on said shoulder exoskeleton for subjecting said flexible tendons to an initial force of predetermined amplitude, constituting a fraction of the maximum load to be supported.

22. An exoskeleton according to claim 21, wherein said pre-tensioning members comprise clamping and unclamping screws adapted to act on ends of said cable guide sheaths.

23. An exoskeleton according to claim 3, wherein said control units actuating said flexible tendons are DC motors disposed on a back plate.

24. An exoskeleton according to claim 4, further including angle sensors fitted to said joints for measuring turning of the axes associated with said joints.

25. An exoskeleton according to claim 2, further including self-fastening straps of cloth for attaching chest and back plates of a support of the exoskeleton to each other.

26. A shoulder exoskeleton adapted to be worn on a shoulder of a human person, said shoulder exoskeleton having a moving system comprising at least six exoskeleton joints and six degrees of freedom thereby adapted to provide a full range of movements of a shoulder of a human person.