# US 11,026,859 B1 · Wearable robotic upper body garment

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- Number: US 11,026,859 B1
- Document ID: US11026859B1
- Status: Granted
- Kind: B1
- Application number: 15/956,986
- Filed: 2018-04-19
- Granted: 2021-06-08
- Earliest claimed: 2017-04-20
- Assignees: The United States of America as represented by the Administrator of the National Aeronautics and Space Administration
- Applicants: United States of America as represented by the Administrator of NASA
- Inventors: Roger Rovekamp; Christopher Beck; Craig Cornwall
- Web page: https://patentgrep.com/patent/US11026859B1

## CPC

- A61H 1/0277: {Elbow}
- A61H 1/0281: {Shoulder}
- A41D 1/002: {adapted to accommodate electronic equipment (patients' garments for medical monitoring A41D13/1281; luminous ornaments A41D27/085)}
- B25J 9/0006: {Exoskeletons, i.e. resembling a human figure}
- A61H 2201/0176: By stopping operation
- A61H 2201/0192: Specific means for adjusting dimensions
- A61H 2201/1207: with electric or magnetic drive
- A61H 2201/1614: Shoulder, e.g. for neck stretching
- A61H 2201/1635: Hand or arm, e.g. handle
- A61H 2201/1638: Holding means therefor
- A61H 2201/165: Wearable interfaces
- A61H 2201/1671: rotational
- A61H 2201/5007: computer controlled
- A61H 2201/5061: Force sensors
- A61H 2205/062: Shoulders
- 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)
- A41D: OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- 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

A system and method is provided for a wearable robotic upper body garment. In an embodiment, an upper body garment or apparatus comprises a shoulder saddle, one or more actuators, one or more flexible tendons, back torso section, front, torso section, torso wrap, and upper arm cuff. The shoulder saddle may be comprised of a yoke and one or more elevated shoulder sections. The one or more elevated should sections may be comprised of a first elevated shoulder section. In an embodiment, the back torso and front torso sections may be structurally connected to the yoke. In an embodiment, the one or more actuators may be structurally connected to either said back torso section or front torso section. In an embodiment, the one or more flexible tendons may be operationally connected to a predetermined one or more actuators and an upper arm cuff. In an embodiment and during operations, the one or more actuators effectuate a pulling motion on one or more flexible tendons enabling or augmenting movement about an upper extremity joint.

## Claims

### Claim 1

An upper-body apparatus comprising:
a shoulder saddle wherein said shoulder saddle is comprised of a yoke and one or more elevated shoulder sections, wherein said one or more elevated shoulder sections is comprised of a first elevated shoulder section;
a back torso section structurally connected to said yoke;
a front torso section structurally connected to said yoke;
one or more actuators each structurally connected to either said back torso section or said front torso section wherein each of said one or more actuators are comprised of one or more motors and wherein said one or more motors is comprised of a first motor and a second motor;
one or more flexible tendons operationally connected to a predetermined one of said one or more actuators, wherein said one or more flexible tendons is comprised of a first flexible tendon and a second flexible tendon and wherein said first flexible tendon is operationally connected to said first motor;
an upper arm cuff in operational relationship with said one or more flexible tendons; and
a lower arm cuff in operational relationship with said one or more flexible tendons;
wherein said first flexible tendon is routed from said first motor through or around said first elevated shoulder section at a first predetermined position on said first elevated shoulder section,
wherein said first flexible tendon is connected to said upper arm cuff at a first predetermined termination point,
wherein said second flexible tendon is operationally connected to said second motor and routed from said second motor through or around said first elevated shoulder section at a second predetermined position on said first elevated shoulder section,
wherein said second flexible tendon is connected to said upper arm cuff at a second predetermined termination point,
wherein said one or more flexible tendons is further comprised of a third flexible tendon,
wherein said third flexible tendon is routed from said one or more motors through or around said first elevated shoulder section at a third predetermined position on said first elevated shoulder section,
wherein said third flexible tendon is connected to said upper arm cuff at a third predetermined termination point,
wherein said first flexible tendon, said second flexible tendon, and said third flexible tendon are configured to effectuate shoulder movement of a user,
wherein said upper arm cuff is comprised of an anterior section, a lateral section, a medial section, and a posterior section,
wherein said first predetermined position is located on an anterior side of said first elevated shoulder section,
wherein said second predetermined position is located on a lateral side of said first elevated shoulder section,
wherein said third predetermined position is located on a posterior side of said first elevated shoulder section,
wherein said first predetermined termination point is located on said anterior section of said upper arm cuff,
wherein said second predetermined termination point is located on said posterior lateral section of said upper arm cuff,
wherein said third predetermined termination point is located on said posterior section of said upper arm cuff,
wherein said one or more flexible tendons is further comprised of a fourth flexible tendon,
wherein said fourth flexible tendon is routed from said one or more motors and is connected to said upper arm cuff at a fourth predetermined termination point,
wherein said fourth predetermined termination point is located on said medial section of said upper arm cuff,
wherein said fourth flexible tendon is configured to effectuate shoulder movement of said user,
wherein said first flexible tendon and said third flexible tendon are configured in combination to move a shoulder of said user of the upper body apparatus in a shoulder flexion movement and a shoulder extension movement, and
wherein said second flexible tendon and said fourth flexible tendon are configured in combination to move the shoulder of the user of the upper body apparatus in a shoulder abduction movement and a shoulder adduction movement.

### Claim 2 (depends on 1)

The apparatus of claim 1, wherein said shoulder saddle includes a shoulder rest configured to conform to the shoulder of said user,
wherein said first elevated shoulder section includes an extension portion interconnected to the shoulder rest, and
wherein the yoke interconnects the shoulder rest to the extension portion and is configured to elevate said extension portion from said shoulder rest to form a gap between said extension portion and said shoulder rest so as to distance said extension portion from the shoulder of the user.

### Claim 3 (depends on 2)

The apparatus of claim 2, further comprising a torso wrap structurally connected to said back torso section and capable of structural connection with said front torso section,
wherein said extension portion has a cantilevered design configured to position said first flexible tendon and said second flexible tendon at a predetermined distance away from the shoulder of the user, and
wherein said extension portion is configured to be elevated above said shoulder rest to distribute an applied force from said first flexible tendon and said second flexible tendon away from the shoulder of the user and through said yoke, through said torso wrap, and to a torso of the user.

### Claim 4 (depends on 1)

The apparatus of claim 1, wherein said first elevated shoulder section includes a first conduit where said first conduit extends from said one or more motors to said first elevated shoulder section,
wherein said first flexible tendon extends from a proximal end operationally connected to one of said one or more motors and through said first conduit from said one or more motors to said first elevated shoulder section and said first flexible tendon extends out of the conduit and attaches at a distal end to the first predetermined termination point, and
wherein said first flexible tendon actuates said shoulder movement by pulling said first tendon though said first conduit.

### Claim 5

A method for actively controlling an upper extremity of a user, comprising:
providing an upper-body apparatus comprising:
a shoulder saddle wherein said shoulder saddle is comprised of a yoke and a first elevated shoulder section;
a back torso section structurally connected to said yoke;
a front torso section structurally connected to said yoke;
a torso wrap structurally connected to said back torso section and capable of structural connection with said front torso section, wherein the torso wrap is comprised of two or more components;
one or more actuators each structurally connected to either said back torso section or front torso section wherein each of said one or more actuators are comprised of one or more motors;
one or more flexible tendons operationally connected to a predetermined one of said one or more actuators, wherein said one or more flexible tendons is comprised of a first flexible tendon, a second flexible tendon, a third flexible tendon, and a fourth flexible tendon;
an upper arm cuff in operational relationship with said one or more flexible tendons;
a lower arm cuff in operational relationship with said one or more flexible tendons;
wherein said first flexible tendon is routed from said one or more motors to said first elevated shoulder section at a first predetermined position on said first elevated shoulder section, wherein said first flexible tendon is connected to said upper arm cuff at a first predetermined termination point,
wherein said second flexible tendon is operationally connected to said one or more motors and routed from said one or more motors to said first elevated shoulder section at a second predetermined position on said first elevated shoulder section, wherein said second flexible tendon is connected to said upper arm cuff at a second predetermined termination point,
wherein said third flexible tendon is routed from said one or more motors to said first elevated shoulder section at a third predetermined position on said first elevated shoulder section, wherein said third flexible tendon is connected to said upper arm cuff at a third predetermined termination point,
wherein said fourth flexible tendon is routed from said one or more motors and is connected to said upper arm cuff at a fourth predetermined termination point, and
wherein said first flexible tendon, said second flexible tendon, said third flexible tendon, and said fourth flexible tendon are configured to effectuate shoulder movement of the user,
wherein said upper arm cuff includes an anterior section, a lateral section, a medial section, and a posterior section,
wherein said first predetermined position is located on an anterior side of said first elevated shoulder section, said second predetermined position is located on a lateral side of said first elevated shoulder section, and said third predetermined position is located on a posterior side of said first elevated shoulder section,
wherein said first predetermined termination point is located on said anterior section of said upper arm cuff,
wherein said second predetermined termination point is located on said lateral section of said upper arm cuff,
wherein said third predetermined termination point is located on said posterior section of said upper arm cuff, and
wherein said fourth predetermined termination point is located on said medial section of said upper arm cuff;
donning said upper body apparatus on said user;
moving said first flexible tendon and said third flexible tendon in combination to move a shoulder of said user of the upper body apparatus in a shoulder flexion movement and a shoulder extension movement; and
moving said second flexible tendon and said fourth flexible tendon in combination to move the shoulder of the user of the upper body apparatus in a shoulder abduction movement and a shoulder adduction movement.

### Claim 6 (depends on 5)

The method of claim 5,
wherein the lower arm cuff is in operational relationship with said one or more flexible tendons,
wherein said one or more flexible tendons further includes a first lower cuff flexible tendon, wherein said first lower cuff flexible tendon is routed from said one or more motors to said upper arm cuff at a predetermined location, and
wherein said first lower cuff flexible tendon is connected to said lower arm cuff at a first lower cuff termination point; and
the method further comprising, moving said first lower cuff flexible tendon to impart an elbow flexion motion to the user of the upper body apparatus when the first lower cuff flexible tendon is pulled by said one or more motors.

### Claim 7 (depends on 6)

The method of claim 6,
wherein said upper-body apparatus further comprises an elbow extension bar attached to the lower arm cuff,
wherein said one or more flexible tendons is further comprised of a second lower cuff flexible tendon, and
wherein said second lower cuff flexible tendon is operationally connected to said one or more motors,
wherein said second lower cuff flexible tendon is connected to said elbow extension bar; and
the method further comprising, moving said second lower cuff flexible tendon to impart an elbow extension motion to the user of the upper body apparatus when the second lower cuff flexible tendon is pulled by said one or more motors.

### Claim 8 (depends on 5)

The method of claim 5,
wherein said first elevated shoulder section includes a shoulder rest configured to conform to a shoulder of a user and an extension portion interconnected to the shoulder rest, and
wherein the yoke interconnects the shoulder rest to the extension portion to elevate said extension portion from said shoulder rest and said shoulder of said user.

### Claim 9 (depends on 8)

The method of claim 8,
wherein said yoke is configured to be elevated above said shoulder rest and shoulder of the user to distribute an applied force from said first flexible tendon, said second flexible tendon, and said third flexible tendon away from the shoulder of the user.

### Claim 10 (depends on 9)

The method of claim 9,
wherein moving said first flexible tendon, said second flexible tendon, said third flexible tendon and said fourth flexible tendon includes pulling said first flexible tendon, said second flexible tendon, said third flexible tendon and said fourth flexible tendon to actively control movement about the shoulder of the user.

### Claim 11 (depends on 10)

The method of claim 10,
wherein said pulling said first flexible tendon, said second flexible tendon, and said third flexible tendon applies a load on said first elevated shoulder section,
wherein said extension portion has a cantilevered design configured to position said first flexible tendon, said second flexible tendon, and said third flexible tendon a predetermined distance away from an arm of the user, and
wherein said extension portion interconnected to the yoke is configured to distribute said load away from the shoulder of said user and to a torso area of said user.

### Claim 12 (depends on 5)

The method of claim 5,
wherein said first elevated shoulder section includes a first conduit where said first conduit extends from said one or more motors to said first elevated shoulder section,
wherein said first flexible tendon extends from a proximal end operationally connected to one of said one or more motors and through said first conduit from said one or more motors to said first elevated shoulder section and said first flexible tendon extends out of the conduit and attaches at a distal end to the first predetermined termination point, and
wherein said first flexible tendon actuates said shoulder movement by pulling said first tendon though said first conduit.

### Claim 13

An upper-body apparatus comprising:
a shoulder saddle wherein said shoulder saddle is comprised of a yoke and one or more elevated shoulder sections, wherein said one or more elevated shoulder sections is comprised of a first elevated shoulder section;
a back torso section structurally connected to said yoke;
a front torso section structurally connected to said yoke;
one or more actuators each structurally connected to either said back torso section or front torso section wherein each of said one or more actuators are comprised of one or more motors;
one or more flexible tendons operationally connected to a predetermined one of said one or more actuators, wherein said one or more flexible tendons is comprised of a first flexible tendon, a second flexible tendon, a third flexible tendon, and a fourth flexible tendon;
an upper arm cuff in operational relationship with said one or more flexible tendons;
a lower arm cuff in operational relationship with said one or more flexible tendons;
wherein said first flexible tendon is routed from said one or more motors to said first elevated shoulder section at a first predetermined position on said first elevated shoulder section, wherein said first flexible tendon is connected to said upper arm cuff at a first predetermined termination point,
wherein said second flexible tendon is operationally connected to said one or more motors and routed from said one or more motors to said first elevated shoulder section at a second predetermined position on said first elevated shoulder section, wherein said second flexible tendon is connected to said upper arm cuff at a second predetermined termination point,
wherein said third flexible tendon is routed from said one or more motors to said first elevated shoulder section at a third predetermined position on said first elevated shoulder section, wherein said third flexible tendon is connected to said upper arm cuff at a third predetermined termination point,
wherein said fourth flexible tendon is routed from said one or more motors and is connected to said upper arm cuff at a fourth predetermined termination point,
wherein said first flexible tendon, said second flexible tendon, said third flexible tendon, and said fourth flexible tendon are configured to effectuate shoulder movement of the user,
wherein said upper arm cuff includes an anterior section, a lateral section, a medial section, and a posterior section,
wherein said first predetermined position is located on an anterior side of said first elevated shoulder section, said second predetermined position is located on a lateral side of said first elevated shoulder section, and said third predetermined position is located on a posterior side of said first elevated shoulder section,
wherein said first predetermined termination point is located on said anterior section of said upper arm cuff,
wherein said second predetermined termination point is located on said lateral section of said upper arm cuff,
wherein said third predetermined termination point is located on said posterior section of said upper arm cuff,
wherein said fourth predetermined termination point is located on said medial section of said upper arm cuff,
wherein said first flexible tendon and said third flexible tendon in combination are configured to move a shoulder of said user of the upper body apparatus in a shoulder flexion movement and a shoulder extension movement, and
wherein said second flexible tendon and said fourth flexible tendon in combination are configured to move the shoulder of the user of the upper body apparatus in a shoulder abduction movement and a shoulder adduction movement.

### Claim 14 (depends on 13)

The apparatus of claim 13 comprising:
wherein the one or more flexible tendons further comprises a first lower cuff flexible tendon,
wherein said first lower cuff flexible tendon is routed through or around said upper arm cuff at a first predetermined location, and
wherein said first lower cuff flexible tendon is connected to said lower arm cuff at a first lower cuff termination point.

### Claim 15 (depends on 14)

The apparatus of claim 14, further comprising:
an elbow extension bar attached to the lower arm cuff;
wherein said one or more flexible tendons is further comprised of a second lower cuff flexible tendon operationally connected to said one or more motors,
wherein said second lower cuff flexible tendon is routed through or around said upper arm cuff at a second predetermined location,
wherein said second lower cuff flexible tendon is connected to said elbow extension bar at a second lower cuff termination point, and
wherein said second lower cuff flexible tendon is configured to impart an elbow extension motion to the user of the upper body apparatus when the second lower cuff flexible tendon is pulled by the one or more motors.

### Claim 16 (depends on 15)

The apparatus of claim 15, wherein the elbow extension bar is configured to be slidably adjustable along a forearm of the user in an axial direction.