Control Mechanisms and Methods of Tool-Holding Arm for Exoskeletons
AssigneeEkso Bionics, Inc.
InventorsAdam PREUSS, Chris MEADOWS, Kurt AMUNDSON, Russ ANGOLD, James LUBIN, Mario SOLANO, Tom MASTALER, Nicholas FLEMING, Matt SWEENEY
Life of this patent
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Abstract
A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.
Claims20
A tool-holding arm comprising:
- a plurality of links;
- a tool coupling configured to removably secure a tool to the tool-holding arm;
- a first fluid spring configured to provide a gravity-counteracting force to the tool-holding arm;
- and
- at least one of:
- a) a locking mechanism configured to lock the first fluid spring;
- and
- b) an adjustment mechanism configured to adjust an amount of the gravity-counteracting force provided by the first fluid spring.
A method of controlling a tool-holding arm including a plurality of links, a tool coupling configured to removably secure a tool to the tool-holding arm and a first fluid spring configured to provide a gravity-counteracting force to the tool-holding arm, said method comprising at least one of:
- a) locking the first fluid spring with a locking mechanism of the tool-holding arm;
- and b) adjusting an amount of the gravity-counteracting force being provided by the first fluid spring through an adjustment mechanism of the tool-holding arm.
Dependencies are inferred from the claim text.