# US 11,077,009 B2 · Apparatus to apply forces in a three-dimensional space > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,009 B2 - Document ID: US11077009B2 - Status: Granted - Kind: B2 - Application number: 15/741,719 - Filed: 2016-07-01 - Published: 2018-07-12 - Granted: 2021-08-03 - Earliest claimed: 2015-07-03 - Assignees: Ecole Polytechnique Federale De Lausanne (Epfl) - Applicants: Ecole Polytechnique Federale De Lausanne (Epfl) - Inventors: Joachim Von Zitzewitz; Heike Vallery; Gregoire Courtine - Web page: https://patentgrep.com/patent/US11077009B2 ## CPC - A61H 3/008: {using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses} - A61H 2201/1481: Special movement conversion means - A61H 2201/165: Wearable interfaces - A61H 2201/1652: Harness - A61H 2201/1659: Free spatial automatic movement of interface within a working area, e.g. Robot - A61H 2201/5058: Sensors or detectors - A61H 2201/5061: Force sensors - A61H 2201/5064: Position sensors - A61H 2201/5092: Optical sensor - 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) ## Abstract The present invention relates to a robotic system useful to unload an object/person from its weight. The robotic system is useful in locomotor rehabilitation programs and allows the manipulation of forces in a three-dimensional space with far lower actuator requirements and a much higher precision than prior-art systems. The apparatus combines passive and active elements to minimize actuation requirements while still keeping inertia to a minimum and control precision to a maximum. It requires minimal actuators and at the same time has a low inertia. ## Claims ### Claim 1 An apparatus comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user; and wherein the apparatus comprises one further associated drive unit per each second associated deflection device in addition to the first and second associated drive units, said one further associated drive unit applying forces to each of the first and third associated deflection devices, thus resulting in additional horizontal and/or vertical force components of Fn exerted on said object or said user via said second associated deflection device, and one further rope or wire per each second associated deflection device, in addition to said one or more ropes or wires, said one further rope or wire extending from said further respective associated drive unit through said first associated deflection device to said third associated deflection device so that said further associated drive unit applies forces to each second associated deflection device through said further rope or wire. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein said second associated deflection device is interconnected to said object or said user through one or more common coupling points. ### Claim 3 (depends on 1) The apparatus according to claim 1, wherein said additional horizontal and/or vertical force components are applied to said first and third associated deflection devices through said one further rope or wire extending from said one further associated drive unit per each second associated deflection device to said first and third associated deflection devices. ### Claim 4 (depends on 1) The apparatus according to claim 1, wherein said additional horizontal and/or vertical force components are applied by said one further associated drive unit per each second associated deflection device, said one further associated drive unit per each second associated deflection device directly attached to said first and third associated deflection devices via said one further rope or wire. ### Claim 5 (depends on 1) The apparatus according to claim 1, wherein said one further associated drive unit per each second associated deflection device connected to said first associated deflection devices through an elastic or viscoelastic connecting element, wherein said connecting element is a spring or a rubber rope. ### Claim 6 (depends on 1) The apparatus according to claim 1, wherein said one further rope or wire is present between said first and third associated deflection devices so as to form a single deflection unit. ### Claim 7 (depends on 1) The apparatus according to claim 1, wherein said first and third associated deflection devices are slidably connected to a guide rail. ### Claim 8 (depends on 1) The apparatus according to claim 1, wherein said apparatus further comprises at least a first guide rail running along a longitudinal axis and a second guide rail running along the longitudinal axis, the first guide rail and the second guide rail both extending horizontally with respect to an operating position of the apparatus, said first guide rail and said second guide rail being connectable to a support structure. ### Claim 9 (depends on 1) The apparatus according to claim 1, wherein said first associated drive unit and said second associated drive unit control a position of said object or said user, or forces/moments acting on said object or said user, and wherein control is split into high-frequency and low-frequency portions, whereby said first and second associated drive units control primarily low-frequency portions and said further drive units control primarily high-frequency portions. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein said second associated drive unit is a winch. ### Claim 11 An apparatus comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, and wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user; and one or more further drive units applying forces to each of the first and third associated deflection devices, thus resulting in additional horizontal and/or vertical force components of Fn exerted on said object or said user via said second associated deflection devices, wherein said one or more further drive units are connected to said first associated deflection device through an elastic or viscoelastic connecting element, wherein said connecting element is a spring or a rubber rope. ### Claim 12 An apparatus, comprising: one or more ropes or wires wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, and wherein free ends of each of said one or more ropes or wires are interconnected. ### Claim 13 (depends on 12) The apparatus of claim 12, wherein one free end of the interconnected free ends extends from said first associated drive unit to said second associated drive unit and then back to said first associated drive unit, wherein the one free end is wound up to an other free end of said interconnected free ends, and wherein the first associated drive unit and said second associated drive unit are actuated. ### Claim 14 (depends on 12) The apparatus of claim 12, wherein both free ends of each of said one or more ropes or wires extend from said first associated drive unit to said first associated deflection device, are deflected by said first and second associated deflection devices towards said third associated deflection device, and are guided backwards by said third associated deflection device with a deflection angle >90° over said first associated deflection devices and extend to the second associated drive unit. ### Claim 15 An apparatus, comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, wherein a connecting element is present between said first and third associated deflection devices so as to form a single deflection unit, and wherein said connecting element is elastic. ### Claim 16 An apparatus, comprising: one or more ropes or wires wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection devices, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, and wherein each associated deflection device is a double deflection device and the one or more ropes or wires are guided twice over each pair of deflection devices. ### Claim 17 An apparatus, comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user, and wherein said first and second associated drive units and one or more further drive units control a certain position of said object or said user or forces/moments acting on said object or said user and the control is split into high-frequency and low-frequency portions, whereby said associated drive units control primarily low-frequency portions and said one or more further drive units control primarily high-frequency portions. ### Claim 18 An apparatus, comprising: one or more ropes or wires, wherein each rope or wire extends from a first associated drive unit to a first associated deflection device, respectively, and is deflected by the latter, wherein said one or more ropes or wires are guided by said first associated deflection device toward a second associated deflection device, respectively, by which said one or more ropes or wires are deflected by said second associated deflection device toward a third associated deflection device, respectively, that is connected to said first associated deflection device, wherein said one or more ropes or wires are deflected by said third associated deflection device toward a second associated drive unit, and wherein said second associated deflection device is connected to an object or configured to connect to a user and said first and second associated drive units apply forces to the respective one or more ropes or wires, which forces add up to a current resulting force vector exerted on said object or said user via said second associated deflection device, in order to apply forces and/or moments on said object or said user and/or to unload said object or said user; and one or more further drive units that apply forces to each of the first and third associated deflection devices, thus resulting in additional horizontal and/or vertical force components of Fn exerted on said object or said user via said second associated deflection device, and a force sensor that measures a force in the one or more ropes or wires, and wherein a torque of one or more of said first associated drive unit and said second associated drive unit is adjusted responsive to said measured force. ### Claim 19 (depends on 18) The apparatus of claim 18, wherein the first associated deflection device and the third associated deflection device are connected via a connecting element, wherein the connecting element is rigid. ### Claim 20 (depends on 19) The apparatus of claim 19, wherein the first associated deflection device and the third associated deflection device each comprise a cart that slidably connects the first associated deflection device and the third associated deflection device to respective guide rails. ### Claim 21 (depends on 20) The apparatus of claim 20, further comprising a further rope or wire, wherein the further rope or wire is in addition to said one or more ropes or wires, wherein the further rope or wire is driven via said one or more further drive units. ### Claim 22 (depends on 18) The apparatus of claim 18, wherein said second associated drive unit is a winch. ### Claim 23 (depends on 22) The apparatus of claim 22, further comprising a further rope or wire, wherein said further rope or wire is deflected by said first associated deflection unit and said third associated deflection unit. ### Claim 24 (depends on 19) The apparatus of claim 19, wherein a position of said first associated deflection device, said second associated deflection device, and said third associated deflection device is adjusted via said first associated drive unit and said second associated drive unit.