# US 2013/0158438 A1 · Robotic Exoskeleton for Limb Movement > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2013/0158438 A1 - Document ID: US20130158438A1 - Status: Published application - Kind: A1 - Application number: 13/675,609 - Filed: 2012-11-13 - Published: 2013-06-20 - Earliest claimed: 2008-05-01 - Assignees: Queen's University at Kingston - Inventors: Stephen H. Scott; Ian E. Brown; Stephen J. Ball - Web page: https://patentgrep.com/patent/US20130158438A1 ## CPC - A61B 5/103: Measuring devices for testing the shape, pattern, {colour,} size or movement of the body or parts thereof, for diagnostic purposes (measuring instruments specially adapted for dentistry A61C19/04) - A61B 5/1038: {Measuring plantar pressure during gait} - A61B 5/4528: {Joints (A61B5/4533, A61B5/4538 take precedence)} - A61H 1/0237: {for the lower limbs} - A61H 1/0262: {Walking movement; Appliances for aiding disabled persons to walk (A61H3/00 takes precedence)} - A61H 1/0274: {for the upper limbs} - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - A61H 2201/1215: Rotary drive - A61H 2201/1602: kind of interface, e.g. head rest, knee support or lumbar support - A61H 2201/1633: Seat (A61H2201/0149 takes precedence) - A61H 2201/1635: Hand or arm, e.g. handle - A61H 2201/1638: Holding means therefor - A61H 2201/164: Feet or leg, e.g. pedal - A61H 2201/1659: Free spatial automatic movement of interface within a working area, e.g. Robot - A61H 2201/1676: Pivoting - A61H 2201/5064: Position sensors - A61H 2201/5084: Acceleration sensors - 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) - 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 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. ## Claims ### Claim at position 1 1-25. (canceled) ### Claim 26 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. ### Claim 27 (depends on 26) The method of claim 26, further comprising: coupling a second mechanical linkage to a second selected joint of the limb, the second mechanical linkage including links for coupling the second mechanical linkage to the second selected joint, with at least one joint having articulation about an axis; wherein a joint of the second mechanical linkage is located on or along an axis of the second selected joint of the limb. ### Claim 28 (depends on 27) The method of claim 27, further comprising: coupling a third mechanical linkage to a third selected joint of the limb, the third mechanical linkage including links for coupling the third mechanical linkage to the third selected joint, with at least one joint having articulation about an axis; wherein a joint of the third mechanical linkage is located on or along an axis of the third selected joint of the limb. ### Claim 29 (depends on 26) The method of claim 26, further comprising: coupling a second mechanical linkage to the first selected joint of the limb, the first and second mechanical linkages providing two degrees of freedom to the first selected joint; or coupling a second mechanical linkage and a third mechanical linkage to the first selected joint of the limb, the first, second, and third mechanical linkages providing three degrees of freedom to the first selected joint; wherein the second mechanical linkage includes links for coupling the second mechanical linkage to the first selected joint and having articulation about an axis that corresponds to a second axis of rotation of the first selected joint of the limb; and wherein the third mechanical linkage includes links for coupling the third mechanical linkage to the first selected joint and having articulation about an axis that corresponds to a third axis of rotation of the first selected joint of the limb. ### Claim 30 (depends on 29) The method of claim 29, further comprising one of: (i) coupling a third mechanical linkage to a second selected joint of the limb of the subject; (ii) coupling a third mechanical linkage to a second selected joint of the limb of the subject and coupling a fourth mechanical linkage to the second selected joint of the limb of the subject, the third and fourth mechanical linkages providing two degrees of freedom to the second selected joint; and (iii) coupling a third mechanical linkage to a second selected joint of the limb of the subject, coupling a fourth mechanical linkage to the second selected joint of the limb of the subject, and coupling a fifth mechanical linkage to the second selected joint of the limb of the subject, the third, fourth, and fifth mechanical linkages providing three degrees of freedom to the second selected joint; wherein the second mechanical linkage includes links for coupling the second mechanical linkage to the first selected joint and having articulation about an axis that corresponds to a second axis of rotation of the first selected joint of the limb; wherein the third mechanical linkage includes links for coupling the third mechanical linkage to the second selected joint and having articulation about an axis that corresponds to a first axis of rotation of the second selected joint of the limb; wherein the fourth mechanical linkage includes links for coupling the fourth mechanical linkage to the second selected joint and having articulation about an axis that corresponds to a second axis of rotation of the second selected joint of the limb; and wherein the fifth mechanical linkage includes links for coupling the fifth mechanical linkage to the second selected joint and having articulation about an axis that corresponds to a third axis of rotation of the second selected joint of the limb. ### Claim 31 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. ### Claim 32 (depends on 26) The method of claim 26, comprising assessing, studying, or assessing and studying sensorimotor function of a limb of a healthy subject. ### Claim 33 (depends on 26) The method of claim 26, comprising assessing, studying, or assessing and studying sensorimotor function of a limb of subject with a deficit or an impairment in sensorimotor function. ### Claim 34 (depends on 26) The method of claim 26, further comprising diagnosing, treating, or diagnosing and treating a deficit or an impairment in sensorimotor function of the limb of the subject. ### Claim 35 (depends on 31) The method of claim 31, comprising assessing, studying, or assessing and studying sensorimotor function of a limb of a healthy subject. ### Claim 36 (depends on 31) The method of claim 31, comprising assessing, studying, or assessing and studying sensorimotor function of a limb of subject with a deficit or an impairment in sensorimotor function. ### Claim 37 (depends on 31) The method of claim 31, further comprising diagnosing, treating, or diagnosing and treating a deficit or an impairment in sensorimotor function of the limb of the subject. ### Claim 38 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. ### Claim 39 (depends on 38) The method of claim 38, further comprising: coupling a second mechanical linkage to a second selected joint of the limb, the second mechanical linkage including links for coupling the second mechanical linkage to the second selected joint, with at least one joint having articulation about an axis; wherein a joint of the second mechanical linkage is located on or along an axis of the second selected joint of the limb. ### Claim 40 (depends on 39) The method of claim 39, further comprising: coupling a third mechanical linkage to a third selected joint of the limb, the third mechanical linkage including links for coupling the third mechanical linkage to the third selected joint, with at least one joint having articulation about an axis; wherein a joint of the third mechanical linkage is located on or along an axis of the third selected joint of the limb. ### Claim 41 (depends on 38) The method of claim 38, further comprising: coupling a second mechanical linkage to the first selected joint of the limb, the first and second mechanical linkages providing two degrees of freedom to the first selected joint; or coupling a second mechanical linkage and a third mechanical linkage to the first selected joint of the limb, the first, second, and third mechanical linkages providing three degrees of freedom to the first selected joint; wherein the second mechanical linkage includes links for coupling the second mechanical linkage to the first selected joint and having articulation about an axis that corresponds to a second axis of rotation of the first selected joint of the limb; and wherein the third mechanical linkage includes links for coupling the third mechanical linkage to the first selected joint and having articulation about an axis that corresponds to a third axis of rotation of the first selected joint of the limb. ### Claim 42 (depends on 41) The method of claim 41, further comprising one of: (i) coupling a third mechanical linkage to a second selected joint of the limb of the subject; (ii) coupling a third mechanical linkage to a second selected joint of the limb of the subject and coupling a fourth mechanical linkage to the second selected joint of the limb of the subject, the third and fourth mechanical linkages providing two degrees of freedom to the second selected joint; and (iii) coupling a third mechanical linkage to a second selected joint of the limb of the subject, coupling a fourth mechanical linkage to the second selected joint of the limb of the subject, and coupling a fifth mechanical linkage to the second selected joint of the limb of the subject, the third, fourth, and fifth mechanical linkages providing three degrees of freedom to the second selected joint; wherein the second mechanical linkage includes links for coupling the second mechanical linkage to the first selected joint and having articulation about an axis that corresponds to a second axis of rotation of the first selected joint of the limb; wherein the third mechanical linkage includes links for coupling the third mechanical linkage to the second selected joint and having articulation about an axis that corresponds to a first axis of rotation of the second selected joint of the limb; wherein the fourth mechanical linkage includes links for coupling the fourth mechanical linkage to the second selected joint and having articulation about an axis that corresponds to a second axis of rotation of the second selected joint of the limb; and wherein the fifth mechanical linkage includes links for coupling the fifth mechanical linkage to the second selected joint and having articulation about an axis that corresponds to a third axis of rotation of the second selected joint of the limb. ### Claim 43 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.