Compact exoskeleton arm support device to compensate for gravity
First Claim
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1. A compact exoskeleton arm support device to compensate for gravity and to support an arm using a plurality of members, the plurality of members comprising:
- a first rotating joint enabling the entire arm to rotate in a yaw direction;
a second rotating joint enabling a forearm of the arm to rotate in the yaw direction;
a third rotating joint enabling the forearm of the arm to rotate in a pitch direction;
a first translating joint enabling the forearm of the arm to translate in a gravity direction; and
a second translating joint arranged between the first rotating joint and second rotating joint, and enabling the second rotating joint to translate,wherein the first rotating joint, the second rotating joint, and the second translating joint are manually driven by user force, and the third rotating joint and the first translating joint are driven by actuators.
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Abstract
A compact exoskeleton arm support device compensates for gravity. The compact exoskeleton arm support device compensating for gravity may include at least five joints. Among the at least five joints, two joints may be driven by actuators, and the remaining joints may be driven by user force. The compact exoskeleton arm support device compensating for gravity effectively uses the actuators, thereby increasing operating efficiency and reducing production costs.
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Citations
14 Claims
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1. A compact exoskeleton arm support device to compensate for gravity and to support an arm using a plurality of members, the plurality of members comprising:
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a first rotating joint enabling the entire arm to rotate in a yaw direction; a second rotating joint enabling a forearm of the arm to rotate in the yaw direction; a third rotating joint enabling the forearm of the arm to rotate in a pitch direction; a first translating joint enabling the forearm of the arm to translate in a gravity direction; and a second translating joint arranged between the first rotating joint and second rotating joint, and enabling the second rotating joint to translate, wherein the first rotating joint, the second rotating joint, and the second translating joint are manually driven by user force, and the third rotating joint and the first translating joint are driven by actuators. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13)
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14. A compact exoskeleton arm support device to compensate for gravity to assist movement of an arm using a plurality of joints, the plurality of joints comprising:
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a first rotating joint enabling the entire arm to rotate in a yaw direction, a first translating joint enabling a forearm of the arm to perform a first translation, and a second translating joint enabling the forearm of the arm to perform a second translation, to determine a position of an elbow of the arm; and a second rotating joint enabling the forearm of the arm to rotate in the yaw direction, and a third rotating joint enabling the forearm of the arm to rotate in a pitch direction to determine a position of the forearm of the arm, wherein, among the plurality of joints, the first translating joint determines the position of the elbow of the arm in a gravity direction and the third rotating joint determines the position of the forearm of the arm in a pitch direction and are driven by actuators, and remaining joints are driven by user force.
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Specification