# US 10,463,560 B2 · Upper-body robotic exoskeleton > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,463,560 B2 - Document ID: US10463560B2 - Status: Granted - Kind: B2 - Application number: 15/082,783 - Filed: 2016-03-28 - Published: 2016-07-21 - Granted: 2019-11-05 - Earliest claimed: 2013-09-30 - Assignees: Board of Regents, The University of Texas System - Applicants: Board of Regents, The University of Texas System - Inventors: Ashish Deshpande; Bongsu Kim - Web page: https://patentgrep.com/patent/US10463560B2 ## CPC - A61H 1/02: Stretching or bending {or torsioning} apparatus for exercising - A61F 2/54: Artificial arms or hands or parts thereof - A61F 2/76: Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing - A61F 2/78: Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps or stockings for the limb stump - A61H 1/0274: {for the upper limbs} - A61H 1/0277: {Elbow} - A61H 1/0281: {Shoulder} - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - A61H 2201/1207: with electric or magnetic drive - A61H 2201/1215: Rotary drive - A61H 2201/1454: Special bearing arrangements - A61H 2201/1481: Special movement conversion means - A61H 2201/1614: Shoulder, e.g. for neck stretching - A61H 2201/1616: Holding means therefor - A61H 2201/1619: Thorax - A61H 2201/1621: Holding means therefor - A61H 2201/1638: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/1676: Pivoting - A61H 2201/5058: Sensors or detectors - A61H 2201/5061: Force sensors - A61H 2201/5064: Position sensors - A61H 2201/5069: Angle sensors - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The robotic exoskeleton of claim 1, wherein at least one of the first, second, third, or fourth hinge joints is coupled to an actuator to provide motive force to the at least one of the first, second, third, or fourth hinge joints. ### Claim 3 (depends on 2) The robotic exoskeleton of claim 2, wherein the at least one actuator comprises a speed reduction mechanism to increase a torque of at least one of the first, second, third, fourth, and fourth hinge joints. ### Claim 4 (depends on 2) The robotic exoskeleton of claim 2, wherein the at least one actuator comprises at least one of a sensor to detect and control a torque of the at least one actuator and a sensor to detect and control a position of the at least one actuator. ### Claim 5 (depends on 1) The robotic exoskeleton of claim 1, wherein a portion of the robotic exoskeleton is adjustably sized. ### Claim 6 (depends on 1) The robotic exoskeleton of claim 1, wherein each of the back portion, shoulder portions, elbow portions, and forearm portions work in concert to provide fluid motion of the robotic exoskeleton. ### Claim 7 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. ### Claim 8 (depends on 7) The robotic forearm joint of claim 7, wherein at least one of the first, second, third, or fourth hinge joints is coupled to an actuator to provide motive force to the at least one of the first, second, third, or fourth hinge joints. ### Claim 9 (depends on 8) The robotic forearm joint of claim 8, wherein the at least one actuator comprises a speed reduction mechanism to increase a torque of at least one of the first, second, third, and fourth hinge joints.