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US 11,590,647 B2Granted
Four-bar parallel actuated architecture for exoskeleton
AssigneeArizona Board of Regents on behalf of Arizona State University
InventorsJustin Hunt, Hyunglae Lee
Life of this patent
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Abstract
An exoskeleton for interfacing with a joint includes a base configured to be coupled to a user, a platform configured to be coupled to the user proximate the joint, and a plurality of substructures extending between the base and the platform. The substructures are actuated in parallel in order to move the platform.
Claims15
An exoskeleton for interfacing with a joint, the exoskeleton comprising:
- a base configured to be coupled to a user;
- a platform configured to be coupled to the user proximate the joint;
- a plurality of substructures extending between the base and the platform, wherein the substructures are configured to be actuated in parallel to move the platform relative to the base;
- and
- linkages and linearly actuated sliders coupled to the linkages, wherein the linkages and linearly actuated sliders couple adjacent substructures of the plurality of substructures together, wherein the linkages and linearly actuated sliders are configured to control a roll angle of the exoskeleton.
2 more elements
An exoskeleton for interacting with a ball and socket joint, the exoskeleton comprising:
- a base configured to be coupled to a user;
- a platform configured to be coupled to the user, the platform configured to move in a spherical workspace;
- a plurality of substructures connecting the base to the platform, wherein the plurality of substructures are configured to be actuated in parallel to move the platform relative to the base;
- wherein the plurality of substructures includes two outer substructures and a center substructure positioned between the two outer substructures, wherein the exoskeleton further comprises linearly actuated sliders connecting adjacent substructures, the linearly actuated sliders configured to control a roll angle of the exoskeleton, wherein the linearly actuated sliders are coupled to the center substructure via spherical joints, and are moveable along the two outer substructures via the linearly actuated sliders.
1 more element
An exoskeleton for interacting with a ball and socket joint, the exoskeleton comprising:
- a base configured to be coupled to a user;
- a platform configured to be coupled to the user proximate the ball and socket joint;
- a first substructure connecting the base to the platform;
- a second substructure connecting the base to the platform, the second substructure spaced apart from the first substructure;
- a third substructure connecting the base to the platform, the third substructure spaced apart from the first and second substructures, wherein the first, second, and third substructures are configured to be actuated in parallel to move the platform about a spherical workspace;
- wherein the substructures include two outer substructures and a center substructure positioned between the outer substructures, the exoskeleton further comprising linearly actuated sliders connecting adjacent substructures, the linearly actuated sliders configured to control a roll angle of the exoskeleton, the linearly actuated sliders are coupled to the center substructure via spherical joints, and moveable along the outer substructures via the linearly actuated sliders.
3 more elements
An exoskeleton for interacting with a ball and socket joint, the exoskeleton comprising:
- a base configured to be coupled to a user;
- a platform configured to be coupled to the user proximate the ball and socket joint;
- a first substructure connecting the base to the platform;
- a second substructure connecting the base to the platform, the second substructure spaced apart from the first substructure;
- a third substructure connecting the base to the platform, the third substructure spaced apart from the first and second substructures, wherein the first, second, and third substructures are configured to be actuated in parallel to move the platform about a spherical workspace;
- wherein each of the substructures includes a first motor configured to control the pitch of the respective substructure, and a second motor configured to control the roll of the respective substructure.
3 more elements
Dependencies are inferred from the claim text.