# US 12,599,531 B2 · Actuator for physical therapy > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,599,531 B2 - Document ID: US12599531B2 - Status: Granted - Kind: B2 - Application number: 18/512,200 - Filed: 2023-11-17 - Published: 2024-03-14 - Granted: 2026-04-14 - Earliest claimed: 2019-02-20 - Assignees: Bioness Medical Inc. - Applicants: Bioness Medical, Inc. - Inventors: Rohit John Varghese; Youngmok Yun; William Wu - Web page: https://patentgrep.com/patent/US12599531B2 ## CPC - A61H 1/02: Stretching or bending {or torsioning} apparatus for exercising - A61H 1/00: Apparatus for passive exercising (A61H5/00 takes precedence); Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones - A61H 1/0274: {for the upper limbs} - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - B25J 9/102: {Gears specially adapted therefor, e.g. reduction gears (gearings in general F16H)} - B25J 9/1025: {Harmonic drives (in general: F16H49/001)} - B25J 9/126: {Rotary actuators} - B25J 9/1633: {compliant, force, torque control, e.g. combined with position control} - B25J 13/085: {Force or torque sensors (B25J13/082, B25J13/084 take precedence)} - B25J 13/088: {with position, velocity or acceleration sensors} - B25J 19/0029: {arranged within the different robot elements} - A61H 2201/1215: Rotary drive - A61H 2201/149: rotation-linear or vice versa - A61H 2201/1635: Hand or arm, e.g. handle - A61H 2201/1659: Free spatial automatic movement of interface within a working area, e.g. Robot - A61H 2201/5061: Force 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) - 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 robotic system comprising: a joint coupling a linkage to an additional linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a flexible member coupled to a circular spline, a conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction and the strain wave gear is configured to rotate a rotatable member, the rotatable member including one of the flexible member or the circular spline; wherein the conduit is configured to rotate in response to rotation of the rotatable member; wherein the at least one cable passes through both the bearing and into the additional linkage but does not pass through either of the strain wave gear or the motor. ## Claims ### Claim 1 A robotic system comprising: a first linkage and a second linkage; a joint coupling the first linkage to the second linkage; and at least one cable; wherein the joint includes a motor having a shaft, a strain wave gear having a circular spline, a first conduit, and a bearing; wherein the motor is configured to rotate the shaft in a first direction; wherein the at least one cable passes through the bearing and into the second linkage but does not pass through either of the strain wave gear or the motor; wherein the first conduit is configured to rotate about a longitudinal axis; wherein (a) the strain wave gear is distal to the motor and proximal to the first conduit, (b) the first conduit is proximal to the bearing, and (c) the second linkage is distal to the first linkage; wherein the first conduit comprises: (a) a first outer wall; (b) a second outer wall; (c) an inner wall which couples the first and second outer walls to each other; and wherein the first and second outer walls and the inner wall collectively define a channel that extends about the longitudinal axis; wherein a plane, which is orthogonal to the longitudinal axis, intersects the inner wall and the channel. ### Claim 2 (depends on 1) The system of claim 1 wherein the at least one cable is mounted in a substantially static orientation. ### Claim 3 (depends on 2) The system of claim 2 wherein the at least one cable is configured to remain substantially statically mounted and not rotate with the first conduit about the longitudinal axis. ### Claim 4 (depends on 2) The system of claim 2 including an angle sensor configured to sense rotation of the first conduit about the longitudinal axis. ### Claim 5 (depends on 4) The system of claim 4 wherein: the plane does not intersect the first outer wall and does not intersect the second outer wall; the channel is configured to rotate with the first conduit about the longitudinal axis. ### Claim 6 (depends on 5) The system of claim 5 wherein an additional plane, which is orthogonal to the longitudinal axis, intersects the angle sensor and the first conduit. ### Claim 7 (depends on 5) The system of claim 5 comprising an additional at least one cable that: (a) is coupled to the angle sensor and is included in the channel; (b) passes away from the bearing, around the first outer wall, and towards the motor; and (c) does not pass through the first outer wall. ### Claim 8 (depends on 5) The system of claim 5 comprising a second conduit that is included within the channel and includes the at least one cable, wherein: the second conduit is statically mounted to a housing of the first linkage; and the second conduit is configured to remain statically mounted to the housing and not rotate with the first conduit about the longitudinal axis. ### Claim 9 (depends on 5) The system of claim 5 wherein: the second outer wall includes a first aperture; a second aperture is included at least one of the second outer wall or the inner wall; a first axis, which is parallel to the longitudinal axis, intersects the first aperture, the second outer wall, and the channel but not the inner wall; and a second axis, which is parallel to the longitudinal axis, intersects the second aperture and the inner wall but not the channel. ### Claim 10 (depends on 9) The system of claim 9 comprising first and second anchors, wherein: the first anchor fixes the second linkage to the first aperture; and the second anchor fixes the second linkage to the second aperture. ### Claim 11 (depends on 10) The system of claim 10 wherein: an additional plane, orthogonal to the longitudinal axis, intersects the bearing; (a)(i) the first outer wall has a first outer wall face and a first inner wall face, (a)(ii) the first inner wall face is between the channel and the first outer wall face; in a first configuration: (b)(i) the first anchor is tightened within the first aperture with a first level of torque and the second anchor is tightened within the second aperture with the first level of torque; (b)(ii) a first distance, extending orthogonal to the additional plane and a third distance from the longitudinal axis, exists between the first outer wall face and the additional plane, (b)(iii) a second distance, extending orthogonal to the additional plane and extending the third distance from the longitudinal axis, exists between the first outer wall face and the additional plane; (b)(iv) the first distance is radially offset, with respect to the longitudinal axis, from the second distance; (b)(v) the first distance is unequal to the second distance; in a second configuration: (c)(i) the first anchor is tightened within the first aperture with a second level of torque and the second anchor is tightened within the second aperture with the second level of torque; (c)(ii) the first distance is equal to the second distance; and (c)(iii) the second level of torque is greater than the first level of torque. ### Claim 12 (depends on 5) The system of claim 5 comprising an additional bearing, wherein an additional plane, orthogonal to the longitudinal axis, intersects the additional bearing. ### Claim 13 (depends on 2) The system of claim 2 wherein: the strain wave gear has a flexible member coupled to the circular spline; the strain wave gear is to rotate the flexible member in a second direction; the first conduit is configured to rotate in the second direction in response to (a) rotation of the flexible member in the second direction, and (b) rotation of the shaft in the first direction; and the second direction is opposite the first direction. ### Claim 14 (depends on 1) The system of claim 1: wherein the strain wave gear has a flexible member coupled to the circular spline; wherein the strain wave gear is configured to rotate a first of the flexible member or the circular spline; wherein the system comprises a force sensor configured to sense force transmitted via a second of the flexible member or the circular spline. ### Claim 15 (depends on 14) The system of claim 14 wherein the force sensor is between the strain wave gear and a housing of the first linkage. ### Claim 16 (depends on 14) The system of claim 14 comprising a housing of the first linkage; wherein: (a) the second of the flexible member or the circular spline couples to a bracket via the force sensor; (b) the force sensor couples to the housing via the bracket. ### Claim 17 (depends on 16) The system of claim 16 wherein the force sensor couples to the first conduit via the strain wave gear. ### Claim 18 (depends on 14) The system of claim 14 wherein the force sensor is an in-line force sensor. ### Claim 19 (depends on 1) The system of claim 1 comprising a robotic exoskeleton configured to couple to a human, the exoskeleton including the joint and the first linkage and second linkages. ### Claim 20 (depends on 1) The system of claim 1 wherein: the strain wave gear has a flexible member coupled to the circular spline; the strain wave gear is configured to rotate a first of the flexible member or the circular spline; a second of the flexible member or the circular spline is coupled to a housing of the first linkage through a torque sensor.