Back to results
US 2013/0158438 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
Estimating the term…
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.
Claims19
1-25. (canceled)
A method for assessing, studying, or assessing and studying sensorimotor function of a limb of a subject, comprising:
- coupling a virtual joint of a first mechanical linkage to a first selected joint of the limb of the subject;
- wherein an axis of the virtual joint is not located on the first mechanical linkage;
- wherein the first mechanical linkage is not located on or along an axis of the coupled first selected joint of the limb;
- wherein the first mechanical linkage includes a second joint that is not located on an axis of the first selected joint of the limb when the limb is coupled to the linkage;
- and
- wherein the first mechanical linkage includes at least two links that couple the virtual joint to the second joint of the mechanical linkage;
- the method further comprising:
- engaging the limb of the subject in a task;
- obtaining data relating to at least one of angular position, torque, and acceleration of at least one joint or link of the mechanical linkage, the data corresponding to at least one of angular position, torque, and acceleration of one or more joints of the limb during the task;
- and
- using the data to assess, study, or assess and study sensorimotor function of the limb of the subject.
8 more elements
A method for assessing, studying, or assessing and studying 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 coupling the first mechanical linkage 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;
- engaging the limb of the subject in a task;
- obtaining data relating to at least one of angular position, torque, and acceleration of at least one joint or link of the mechanical linkage, the data corresponding to at least one of angular position, torque, and acceleration of one or more joints of the limb during the task;
- and
- using the data to assess, study, or assess and study 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.
6 more elements
A method for diagnosing, treating, or diagnosing and treating a deficit or an impairment in sensorimotor function of a limb of a subject, comprising:
- coupling a virtual joint of a first mechanical linkage to a first selected joint of the limb of the subject;
- wherein an axis of the virtual joint is not located on the first mechanical linkage;
- wherein the first mechanical linkage is not located on or along an axis of the coupled first selected joint of the limb;
- wherein the first mechanical linkage includes a second joint that is not located on an axis of the first selected joint of the limb when the limb is coupled to the linkage;
- and
- wherein the first mechanical linkage includes at least two links that couple the virtual joint to the second joint of the mechanical linkage;
- the method further comprising:
- engaging the limb of the subject in a task;
- obtaining data relating to at least one of angular position, torque, and acceleration of at least one joint or link of the mechanical linkage, the data corresponding to at least one of angular position, torque, and acceleration of one or more joints of the limb during the task;
- and
- using the data to diagnose, treat, or diagnose and treat the deficit or impairment in sensorimotor function of the limb of the subject.
8 more elements
A method for diagnosing, treating, or diagnosing and treating a deficit or 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 coupling the first mechanical linkage 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;
- engaging the limb of the subject in a task;
- obtaining data relating to at least one of angular position, torque, and acceleration of at least one joint or link of the mechanical linkage, the data corresponding to at least one of angular position, torque, and acceleration of one or more joints of the limb during the task;
- and
- using the data to diagnose, treat, or diagnose and treat the deficit or 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.
6 more elements
Dependencies are inferred from the claim text.