# US 11,305,418 B2 · Exoskeleton glove > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,418 B2 - Document ID: US11305418B2 - Status: Granted - Kind: B2 - Application number: 16/257,845 - Filed: 2019-01-25 - Published: 2019-05-23 - Granted: 2022-04-19 - Earliest claimed: 2016-07-25 - Assignees: Adjuvo Motion B.V. - Applicants: Adjuvo Motion B.V. - Inventors: Johannes Luijten - Web page: https://patentgrep.com/patent/US11305418B2 ## CPC - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - A61B 5/225: {of the fingers, e.g. by monitoring hand-grip force} - A61H 1/0285: {Hand} - A61H 1/0288: {Fingers} - A63B 21/00181: {comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising} - A63B 23/16: for hands or fingers {(for teaching typing G09B13/00)} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - A61H 2201/0192: Specific means for adjusting dimensions - A61H 2201/1436: Special crank assembly - A61H 2201/1635: Hand or arm, e.g. handle - A61H 2201/1638: Holding means therefor - A61H 2201/165: Wearable interfaces - A61H 2201/1657: Movement of interface, i.e. force application means - A61H 2201/1676: Pivoting - A61H 2201/5069: Angle sensors - A61H 2205/067: Fingers - A63B 21/4019: {to the hand} - A63B 2230/605: used as a control parameter for the apparatus - G06F 3/014: {Hand-worn input/output arrangements, e.g. data gloves} - 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}) - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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) - A63B: APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT (apparatus for passive exercising, massage A61H) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) ## Abstract An individual linkage mechanism for a finger of an exoskeleton glove with sections that are interconnected with joints to enable changing their mutual angular orientation, which linkage mechanism includes a first linkage attached to the glove, a second linkage connected to the first linkage through a first joint, a third linkage connected to the second linkage through a second joint, and a fourth linkage connected to the third linkage through a third joint, wherein the fourth linkage is provided with a finger orthosis, and the second linkage, the third linkage and the fourth linkage are capable to assume a mutually parallel placement wherein the finger orthosis is adjacent to the second joint at a farthest end from the glove, and the third joint is closer to the glove than the second joint. ## Claims ### Claim 1 A linkage mechanism for an individual finger of an exoskeleton glove, the linkage mechanism comprising: a first linkage attachable to the exoskeleton glove, a second linkage connected to the first linkage through a first joint, a third linkage connected to the second linkage through a second joint, and a fourth linkage connected to the third linkage through a third joint, wherein the fourth linkage is provided with a finger orthosis, and the second linkage, the third linkage and the fourth linkage are capable to assume a mutually parallel placement wherein the finger orthosis is adjacent to the second joint at a farthest end from the exoskeleton glove, and the third joint is closer to the exoskeleton glove than the second joint, and wherein each of the first, second and third joint is a rotary joint, wherein each of the first, second and third joints are mounted in a fixed position with respect to the respective linkages it is mounted to such that the rotary joints are configured to fold and unfold the linkage mechanism. ### Claim 2 (depends on 1) The linkage mechanism of claim 1, wherein the second linkage is extendable. ### Claim 3 (depends on 1) The linkage mechanism of claim 1, wherein the second linkage has a first portion which is embodied with a slide, and a second portion which is provided with a slider that is movable in the slide so as to arrange that the linkage mechanism is capable to be attuned to a user's finger length. ### Claim 4 (depends on 3) The linkage mechanism of claim 3, wherein the slider is lockable in the slide. ### Claim 5 (depends on 1) The linkage mechanism of claim 1, wherein the first joint is provided with a sensor for measuring angular displacement of the first and second linkages. ### Claim 6 (depends on 1) The linkage mechanism of claim 1, wherein the first joint is spring-loaded with a spring for resisting or supporting angular displacement of the first and second linkages. ### Claim 7 (depends on 1) The exoskeleton glove comprising the linkage mechanism of claim 1 for each finger and thumb of the exoskeleton glove, wherein each linkage mechanism is provided with an intermediate linkage or linkages between the first linkage and the glove that indirectly attaches the first linkage to the glove. ### Claim 8 (depends on 7) The exoskeleton glove of claim 7, wherein the intermediate linkage or linkages are each provided with one or more joints to enable movements of the linkage mechanism for the thumb according to a user's carpalmetacarpal joint. ### Claim 9 (depends on 1) The linkage mechanism of claim 1, wherein the second joint is provided with a sensor for measuring angular displacement of the second and third linkages. ### Claim 10 (depends on 1) The linkage mechanism of claim 1, wherein the second joint is spring-loaded with a spring for resisting or supporting angular displacement of the second and third linkages.