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US 2008/0304935 A1Published application
Robotic exoskeleton for limb movement
AssigneeQueen's University at Kingston
InventorsStephen H. Scott, Ian E. Brown, Stephen J. Ball
Life of this patent
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Abstract
This invention relates to a robotic exoskeleton comprising mechanical linkages that couple to one or more selected joints of a limb of a subject. The robotic exoskeleton may be provided with means for obtaining data respecting angular position, torque, and/or acceleration of at least one of the joints or the links of the mechanical linkages, and may be used for assessing, studying, diagnosing a deficit, and/or treating an impairment in sensorimotor function of a limb of a subject.
Claims31
A robotic exoskeleton, comprising:
- a first mechanical linkage that couples to a first selected joint of a limb of a subject, the first mechanical linkage including links for said coupling to the first selected joint, with at least one joint having articulation about an axis;
- and
- limb attaching means for attaching the limb to the linkage;
- wherein the first mechanical linkage defines a virtual joint having an axis that is not located on the mechanical linkage;
- wherein the virtual joint is coupled to the first selected joint of the limb when the limb is attached to the linkage;
- and
- wherein the first mechanical linkage is not located on or along an axis of the coupled first selected joint of the limb.
4 more elements
A robotic exoskeleton, comprising:
- a first mechanical linkage that couples to a first selected joint of a limb of a subject, the first mechanical linkage including at least two links for said coupling to the first selected joint and having articulation about a first axis that corresponds to an axis of rotation of the first selected joint of the limb;
- and
- limb attaching means for attaching the limb to the linkage;
- wherein the first axis of rotation of the first mechanical linkage is substantially collinear with the axis of rotation of the first selected joint of the limb;
- wherein a second axis of rotation of the first mechanical linkage is substantially collinear with an axis of rotation of a second selected joint of the limb, the second selected joint of the limb being the next joint which is distal or proximal to the first selected joint of the limb;
- and
- wherein a distance between the first and second axes of rotation of the first mechanical linkage is variable and proper performance of the mechanical linkage is maintained without adjusting length of links of the mechanical linkage.
4 more elements
A method for assessing, studying, diagnosing a deficit, and/or treating an impairment in sensorimotor function of a limb of a subject, comprising:
- coupling a first mechanical linkage to a first selected joint of a limb of a subject, the first mechanical linkage including links for said coupling to the first selected joint, with at least one joint having articulation about an axis;
- obtaining data relating to angular position, torque, and/or acceleration of at least one joint or link of the mechanical linkage, the data corresponding to angular position, torque, and/or acceleration of one or more joints of the limb;
- and
- using the data to assess, study, diagnose a deficit, and/or treat an impairment in sensorimotor function;
- wherein the first mechanical linkage defines a virtual joint having an axis that is not located on the mechanical linkage;
- wherein the virtual joint is coupled to the first selected joint of the limb;
- and
- wherein the first mechanical linkage is not located on or along an axis of the coupled first selected joint of the limb.
5 more elements
A method for assessing, studying, diagnosing a deficit, and/or treating an impairment in sensorimotor function of a limb of a subject, comprising:
- coupling a first mechanical linkage to a first selected joint of a limb of a subject, the first mechanical linkage including at least two links for said coupling to the first selected joint and having articulation about a first axis that corresponds to an axis of rotation of the first selected joint of the limb;
- obtaining data relating to angular position, torque, and/or acceleration of at least one joint or link of the mechanical linkage, the data corresponding to angular position, torque, and/or acceleration of one or more joints of the limb;
- and
- using the data to assess, study, diagnose a deficit, and/or treat an impairment in sensorimotor function;
- wherein the first axis of rotation of the first mechanical linkage is substantially collinear with the axis of rotation of the first selected joint of the limb;
- wherein a second axis of rotation of the first mechanical linkage is substantially collinear with an axis of rotation of a second selected joint of the limb, the second selected joint of the limb being the next joint which is distal or proximal to the first selected joint of the limb;
- and
- wherein a distance between the first and second axes of rotation of the first mechanical linkage is variable and proper performance of the mechanical linkage is maintained without adjusting length of links of the mechanical linkage.
5 more elements
Dependencies are inferred from the claim text.