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US 10,463,560 B2Granted
Upper-body robotic exoskeleton
AssigneeBoard of Regents, The University of Texas System
InventorsAshish Deshpande, Bongsu Kim
Life of this patent
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Abstract
The present disclosure includes a robotic exoskeleton comprising a back portion providing at least two degrees of freedom, two shoulder portions, each shoulder portion providing at least five degrees of freedom, two elbow portions, each elbow portion providing at least one degree of freedom, and two forearm portions, each forearm portion providing at least one degree of freedom. The present disclosure may also relate to associated robotic forearm joints and robotic shoulder joints.
Claims9
A robotic exoskeleton comprising:
- a back portion providing at least two degrees of freedom;
- two shoulder portions, each shoulder portion providing at least five degrees of freedom;
- two elbow portions, each elbow portion providing at least one degree of freedom;
- and
- two forearm portions, each forearm portion providing at least one degree of freedom;
- each of the two forearm portions including:
- a first hinge joint with a first axis of rotation;
- a grounded linkage coupled to the first hinge joint;
- a second linkage coupled to the grounded linkage via the first hinge joint and coupled to a third linkage via a second hinge joint;
- a fourth linkage coupled to the third linkage via a third hinge joint and coupled to the grounded linkage via a fourth hinge joint;
- a first pulley coupled to the second linkage;
- and
- a second pulley coupled to the third linkage;
- wherein the second linkage and the fourth linkage rotate with respect to the grounded linkage and translate the third linkage along a first curvature radius, and the second pulley revolves around a center of revolution with the first curvature radius, the center of revolution adapted to be located inside of a human forearm;
- and
- wherein the first and second pulleys are connected by a transmission such that as the second pulley revolves around the center of revolution, the second pulley simultaneously rotates about a center point of the second pulley such that a same face of the forearm portion is adapted to face the human forearm as the second pulley revolves around a second axis of rotation.
13 more elements
A robotic forearm joint comprising:
- a first hinge joint with a first axis of rotation;
- a grounded linkage coupled to the first hinge joint;
- a second linkage coupled to the grounded linkage via the first hinge joint and coupled to a third linkage via a second hinge joint;
- a fourth linkage coupled to the third linkage via a third hinge joint and coupled to the grounded linkage via a fourth hinge joint;
- a first pulley coupled to the second linkage;
- and
- a second pulley coupled to the third linkage;
- wherein the second linkage and the fourth linkage rotate with respect to the grounded linkage and translate the third linkage along a first curvature radius, and the second pulley revolves around a center of revolution with the first curvature radius, the center of revolution adapted to be located inside of a human forearm;
- and
- wherein the first and second pulleys are connected by a transmission such that as the second pulley revolves around the center of revolution, the second pulley simultaneously rotates about a center point of the second pulley such that a same face of the forearm portion is adapted to face the human forearm as the second pulley revolves around a second axis of rotation.
7 more elements
Dependencies are inferred from the claim text.