Apparatus for human arm supporting exoskeleton

• US 9,889,554 B2
• Filed: 05/18/2016
• Issued: 02/13/2018
• 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
• Primary Examiner(s): King, Anita M
• Application Number:
  US15/158,113
• Publication Number:
  US 20160339583A1
• Time in Patent Office: 636 Days
• Field of Search: 248118, 623 58
• 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: B65H 1/10 comprising weights B65H1/022 takes precedence

Abstract

An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user'"'"'s arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the user'"'"'s arm.

Claims

1. An arm supporting exoskeleton configured to be coupled to a person, the arm supporting exoskeleton comprising:

a shoulder base configured to be coupled to a trunk of the person; and

an arm link mechanism configured to be coupled to said shoulder base, the arm link mechanism comprising;

a proximal link; and

a distal link configured to rotate relative to the proximal link about a rotating joint and along a first rotational axis;

at least one arm-coupler attached to the distal link and adapted to couple an upper arm of the person to said distal link;

a tensile force generator coupled to said proximal link at a first end of the tensile force generator and coupled to said distal link at a second end of the tensile force generator,

wherein the tensile force generator is configured to provide a torque to flex said distal link relative to said proximal link; and

a protrusion located substantially at said rotating joint, wherein;

when said distal link extends past a toggle angle, said protrusion constrains said tensile force generator, and the torque provided by said tensile force generator remains at or below a torque of a second torque mode; and

when said protrusion does not constrain said tensile force generator, said torque generated by the tensile force generator between said proximal link and said distal link is at or above a torque of a first torque mode and flexes said distal link relative to said proximal link, thereby reducing human shoulder forces and torques required to raise said upper arm of the person.

2. An arm supporting exoskeleton configured to be coupled to a person, the arm supporting exoskeleton comprising:

a shoulder base configured to be coupled to a trunk of the person; and

an arm link mechanism configured to be coupled to said shoulder base, the arm link mechanism comprising;

a proximal link; and

a distal link configured to rotate relative to the proximal link about a rotating joint and along a first rotational axis;

at least one arm-coupler attached to the distal link and adapted to couple an upper arm of the person to said distal link; and

a tensile force generator coupled to said proximal link at a first end of the tensile force generator and coupled to said distal link at a second end of the tensile force generator;

a protrusion located substantially at said rotating joint and configured to constrain the tensile force generator,

wherein the tensile force generator is configured to provide a torque to flex said distal link relative to said proximal link, wherein;

when an angle between said proximal link and said distal link is smaller than a toggle angle, said torque generated by the tensile force generator between said proximal link and said distal link is above a first amount and flexes said distal link relative to said proximal link, thereby reducing human shoulder forces and torques required to raise the upper arm of the person, and to impose reaction forces and torques on said shoulder base; and

when said angle between said proximal link and said distal link is larger than said toggle angle, said torque generated by the tensile force generator between said proximal link and said distal link is below a second amount allowing said person to freely move said upper arm.

3. An arm supporting exoskeleton configured to be coupled to a person, the arm supporting exoskeleton comprising:

a shoulder base configured to be coupled to a trunk of the person;

an arm link mechanism configured to be coupled to said shoulder base, the arm link mechanism comprising;

a proximal link; and

a distal link configured to rotate relative to the proximal link around a first rotational axis;

at least one arm-coupler attached to the distal link and adapted to couple an upper arm of the person to said distal link;

at least one torque generator coupled to said proximal link and said distal link and configured to generate a torque between said proximal link and said distal link;

a protrusion located substantially at a rotating joint of the first rotational axis and configured to constrain the at least one torque generator, wherein;

when an angle between said proximal link and said distal link is smaller than a toggle angle, said torque generated by the at least one torque generator between said proximal link and said distal link is above a first amount and flexes said distal link relative to said proximal link, thereby reducing human shoulder forces and torques required to raise the upper arm of the person, and to impose reaction forces and torques on said shoulder base; and

when said angle between said proximal link and said distal link is larger than said toggle angle, said torque generated by the at least one torque generator between said proximal link and said distal link is below a second amount allowing said person to freely move said upper arm.

4. The arm supporting exoskeleton of claim 3, wherein said shoulder base comprises:

a load bearing structure coupled to said arm link mechanism and configured to support said reaction forces and torques on said shoulder base; and

a coupling mechanism configured to couple said load bearing structure to the trunk of the person such that the shoulder base moves in unison with the trunk of the person.

5. The arm supporting exoskeleton of claim 4, wherein said load bearing structure comprises:

a back frame configured to locate substantially behind a back of the person,

the back frame coupled to said arm link mechanism and configured to support at least a portion of said reaction forces and torques on said shoulder base from said arm link mechanism; and

at least one hip loading belt coupled to said back frame,

wherein said hip loading belt is configured to transfer at least a portion of said reaction forces and torques from said back frame to hips of the person.

6. The arm supporting exoskeleton of claim 4, wherein said load bearing structure comprises:

a back frame configured to locate substantially behind a back of the person,

the back frame coupled to said arm link mechanism and configured to support at least a portion of said reaction forces and torques from said arm link mechanism; and

a lower extremity exoskeleton configured to be coupled to said back frame and to legs of the person,

wherein said lower extremity exoskeletons is configured to transfer at least a portion of said reaction forces and torques from said back frame to a support surface on which the person is standing.

7. The arm supporting exoskeleton of claim 5, wherein said back frame comprises:

an upper frame coupled to said arm link mechanism;

a lower frame coupled to said hip loading belt; and

a spine frame,

wherein said spine frame is coupled to said upper frame on an upper end of the spine frame and is rotatably coupled to said lower frame on a lower end of the spine frame, allowing for rotation of said upper frame relative to said lower frame in a frontal plane of the person.

8. The arm supporting exoskeleton of claim 5, wherein said back frame comprises:

an upper frame coupled to said arm link mechanism;

a lower frame coupled to said hip loading belt; and

a spine frame, wherein said spine frame is coupled to said lower frame on a lower end of the spine frame, and is rotatably coupled to said upper frame on an upper end of the spine frame, allowing for rotation of said upper frame relative to said lower frame along a major axis of said spine frame.

9. The arm supporting exoskeleton of claim 8, wherein said lower frame comprises:

a lower middle bar; and

first and second lower corner bars,

wherein each of the first and second lower corner bars is adapted to be coupled to said lower middle bar at various locations on said lower middle bar to provide selective hip width adjustment for said lower frame.

10. The arm supporting exoskeleton of claim 8, wherein said lower frame further comprises first and second lower side brackets,

wherein each of said first and second lower side brackets is adapted to be coupled to a body of said lower frame at various locations on said lower frame to provide selective hip depth adjustment for said lower frame.

11. The arm supporting exoskeleton of claim 8, wherein said upper frame comprises:

an upper middle bar; and

first and second upper corner bars,

wherein each of the first and second upper corner bars is adapted to be coupled to said upper middle bar at various locations on said upper middle bar to provide selective shoulder width adjustment for said upper frame.

12. The arm supporting exoskeleton of claim 8, wherein said upper frame further comprises first and second upper side brackets,

wherein each of said first and second upper side brackets is adapted to be coupled to a body of said upper frame at various locations on said upper frame to provide selective shoulder depth adjustment for said upper frame.

13. The arm supporting exoskeleton of claim 5, wherein said back frame further comprises a hammock structure spanning a curve in said back frame and configured to evenly distribute at least a portion of said reaction forces to shoulders of the person.

14. The arm supporting exoskeleton of claim 7, wherein said coupling mechanism comprises:

a chest strap configured to at least partially encircle a chest of the person and to couple to said upper frame at locations substantially behind said person; and

first and second anchor straps coupling said chest strap to said upper frame and configured to extend over respective shoulders of the person,

wherein coupling said chest strap and said anchor strap to said upper frame allows said upper frame to move in unison with the chest and shoulders of the person.

15. The arm supporting exoskeleton of claim 4, wherein said coupling mechanism comprises an element selected from a group consisting of a belt, a vest, a chest strap, anchor strap, shoulder straps, sternum strap, suspender strap, and combinations thereof.

16. The arm supporting exoskeleton of claim 4, where said coupling mechanism is adaptable to be coupled to a safety harness worn by said person from a number of safety harness attachment points without modification of said safety harness.

17. The arm supporting exoskeleton of claim 3, wherein said torque generator comprises:

a tensile force generator coupled to said proximal link at a first end of the tensile force generator and coupled to said distal link at a second end of the tensile force generator, wherein tensile force in said tensile force generator provides the torque to flex said distal link relative to said proximal link.

18. The arm supporting exoskeleton of claim 17, wherein said tensile force generator comprises a coil spring element.

19. The arm supporting exoskeleton of claim 18, wherein said tensile force generator comprises a line element coupling said coil spring element to said proximal link.

20. The arm supporting exoskeleton of claim 19, wherein said line element at least partially encircles a pulley coupled to said distal link before the line element is coupled to said proximal link.

21. The arm supporting exoskeleton of claim 17,

wherein when said distal link extends past said toggle angle, and wherein said protrusion constrains said tensile force generator such that the torque provided by said tensile force generator will remain substantially small.

22. The arm supporting exoskeleton of claim 17, wherein orientation of said proximal link can be adjusted and held in place relative to said shoulder base along an axis substantially parallel to said first rotational axis, thereby allowing adjustment of position of said toggle angle relative to said shoulder base.

23. The arm supporting exoskeleton of claim 17, wherein said proximal link comprises an upper bracket coupled to said tensile force generator, wherein a location of said upper bracket can be adjusted along said proximal link to adjust the torque provided by said tensile force generator.

24. The arm supporting exoskeleton of claim 17, wherein said distal link comprises a lower bracket coupled to said tensile force generator, wherein a location of said lower bracket can be adjusted along said distal link to adjust a preload force of said tensile force generator.

25. The arm supporting exoskeleton of claim 3, wherein said arm link mechanism contains at least one horizontal rotation joint that allows said proximal link to rotate relative to said shoulder base about a second rotational axis substantially orthogonal to said first rotational axis passing approximately through a glenohumeral joint of the person.

26. The arm supporting exoskeleton of claim 3, wherein said shoulder base comprises at least one shoulder bracket that allows for quick connect and disconnect coupling of said arm link mechanism to said shoulder base.

27. The arm supporting exoskeleton of claim 3, wherein said shoulder base comprises at least one shoulder bracket that couples said arm link mechanism to said shoulder base in such a manner that a position of said arm link mechanism can be adjusted relative to said shoulder base.

28. The arm supporting exoskeleton of claim 3, wherein said arm link mechanism contains at least one rotation joint that allows said proximal link to rotate relative to said shoulder base along at least one scapular rotation axis substantially orthogonal to a gravity line.

29. The arm supporting exoskeleton of claim 3, wherein said shoulder base comprises at least one shoulder bracket rotatably coupled to said shoulder base and coupled to said arm link mechanism, wherein said shoulder bracket rotates along a stow axis and can be held stationary allowing arm link mechanism to be stored behind said person substantially out of a person'"'"'s active workspace.

30. An arm supporting exoskeleton configured to be coupled to a person, the arm supporting exoskeleton comprising:

a back frame configured to locate substantially behind a back of the person;

a lower extremity exoskeleton configured to be coupled to said back frame and to legs of the person;

a coupling mechanism configured to couple said back frame to a trunk of the person such that said back frame moves in unison with the trunk of the person;

at least one arm link mechanism configured to be coupled to said back frame comprising;

a proximal link; and

a distal link configured to rotate relative to the proximal link around a first rotational axis;

at least one arm-coupler attached to the distal link and adapted to couple an upper arm of the person to said distal link;

at least one torque generator coupled to said proximal link and said distal link and configured to generate a torque between said proximal link and said distal link;

a protrusion located substantially at a rotating joint of the first rotational axis and configured to constrain the at least one torque generator, wherein;

when an angle between said proximal link and said distal link is smaller than a toggle angle, said torque generated by the at least one torque generator between said proximal link and said distal link is above a first amount and flexes said distal link relative to said proximal link, thereby reducing human shoulder forces and torques required to raise the upper arm of the person, and to impose reaction forces and torques on a shoulder base; and

when said angle between said proximal link and said distal link is larger than said toggle angle, said torque generated by the at least one torque generator between said proximal link and said distal link is below a second amount allowing said person to freely move said upper arm.