# US 2022/0031065 A1 · Arm rest apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2022/0031065 A1 - Document ID: US20220031065A1 - Status: Published application - Kind: A1 - Application number: 17/503,858 - Filed: 2021-10-18 - Published: 2022-02-03 - Earliest claimed: 2019-04-23 - Assignees: Easyendo Surgical, Inc.; Korea Advanced Institute of Science and Technology - Applicants: Easyendo Surgical, Inc.; Korea Advanced Institute of Science and Technology - Inventors: Dong Soo KWON; Duk Sang KIM; Byung Sik CHEON; Un Je YANG - Web page: https://patentgrep.com/patent/US20220031065A1 ## CPC - A47B 21/0371: {Platforms for supporting wrists} - A47C 7/541: {of adjustable type (adjustable arm-rests of reclining or easy chairs A47C1/03)} - A47C 7/546: {of detachable type} - A47C 16/00: Stand-alone rests or supports for feet, legs, arms, back or head - A47C 20/023: {Arm supports} - A61B 90/60: Supports for surgeons, e.g. chairs or hand supports (seats for dentists or surgeons associated with dental chairs or operating chairs A61G15/08) - B25J 9/0006: {Exoskeletons, i.e. resembling a human figure} - B25J 9/1065: {with parallelograms} - B25J 13/02: Hand grip control means {(handles or pedals for crane control B66C13/56; for measuring the force applied to control members G01L5/22; hand-held casings for switching devices, e.g. joy-sticks H01H9/0214)} - B25J 17/0266: {comprising more than two actuating or connecting rods} - A47B 2021/0392: {height adjustable} - A47B: TABLES; DESKS; OFFICE FURNITURE; CABINETS; DRAWERS; GENERAL DETAILS OF FURNITURE (furniture jointing F16B) - A47C: CHAIRS; SOFAS; BEDS - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - 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 An arm rest apparatus, according to one embodiment, may comprise: a fixed part fixed to an external object; a horizontal movement module having one end rotatably connected to the fixed part and the other end having two-translational-degree-of-freedom movement with respect to the fixed part; and an arm support module installed to have two rotational degrees of freedom with respect to the other end of the horizontal movement module. ## Claims ### Claim 1 An arm rest apparatus comprising: a fixed part fixed to an external object; a horizontal movement module having one end rotatably connected to the fixed part and the other end having two-translational-degree-of-freedom movement with respect to the fixed part; and an arm support module movably supported by the horizontal movement module. ### Claim 2 (depends on 1) The arm rest apparatus according to claim 1, wherein the horizontal movement module comprises: a first driving frame which has a first link rotatably connected to a first rotary shaft and rotatably connected to a second rotary shaft parallel with the first rotary shaft; a second driving frame which has a driving link rotatably connected to the first rotary shaft, a second link rotatably connected to a third rotary shaft parallel with the first rotary shaft, and a third link rotatably connected to a fourth rotary shaft spaced apart from the third rotary shaft in parallel with the third rotary shaft and rotatably connected to the second rotary shaft; a central connection part which is rotatably connected to the fixed part through a plurality of links; and a rotational end part which is rotatably connected to the central connection part through a plurality of links. ### Claim 3 (depends on 2) The arm rest apparatus according to claim 2, wherein the horizontal movement module further comprises a fourth link which is rotatably connected to the second rotary shaft and is rotatably connected to a fifth rotary shaft parallel with the first rotary shaft, and wherein the fourth link is fixed to the third link so as to rotate around the second rotary shaft together. ### Claim 4 (depends on 2) The arm rest apparatus according to claim 2, wherein the first driving frame further comprises a first protrusion member which is fixed to the first link to rotate around the first rotary shaft and has an edge radially protruding around the first rotary shaft, and wherein at least a portion of the driving link has an edge radially protruding around the first rotary shaft. ### Claim 5 (depends on 3) The arm rest apparatus according to claim 3, wherein the horizontal movement module further comprises: a fifth link which is rotatably connected to the sixth rotary shaft spaced apart from the first rotary shaft in parallel with the first rotary shaft and is rotatably connected to a seventh rotary shaft spaced apart from the second rotary shaft in parallel with the second rotary shaft, and wherein the fifth link and the first link are parallel with each other. ### Claim 6 (depends on 5) The arm rest apparatus according to claim 5, wherein the horizontal movement module further comprises: a sixth link which is rotatably connected to an eighth rotary shaft spaced apart from the second rotary shaft in parallel with the second rotary shaft, and is rotatably connected to a ninth rotary shaft spaced apart from the fifth rotary shaft in parallel with the fifth rotary shaft, and wherein the sixth link and the fourth link are parallel with each other. ### Claim 7 An arm rest apparatus comprising: a fixed part fixed to an external object; a horizontal movement module having two-degree-of-freedom movement with respect to the fixed part; and a damping part which provides a resistance according to the two-degree-of-freedom movement of the horizontal movement module so as to control damping according to a horizontal movement of the arm. ### Claim 8 (depends on 7) The arm rest apparatus according to claim 7, wherein the damping part comprises: first to third damping parts which respectively adjust angular speeds of first and second rotary shafts and an arm rotary shaft equally so as to control damping according to the horizontal movement. ### Claim 9 (depends on 8) The arm rest apparatus according to claim 8, further comprising: an arm support module which rotates around the arm rotary shaft and rotates around an inclination adjustment shaft while being supported by the horizontal movement module so as to allow a horizontal movement and a vertical movement; and a fourth damping part which adjusts an angular speed of the inclination adjustment shaft so as to control damping according to the vertical movement, wherein damping forces of the first to third damping part and damping force of the fourth damping part are adjusted differently. ### Claim 10 (depends on 8) The arm rest apparatus according to claim 8, wherein the horizontal movement module comprises: a first driving frame having a first link which is rotatably connected to the first rotary shaft and is rotatably connected to a second rotary shaft parallel with the first rotary shaft; and a second driving frame having a driving link which is rotatably connected to the first rotary shaft, and wherein the first damping part forms a resistance when the first and second driving frames rotate around the first rotary shaft. ### Claim 11 An arm rest apparatus comprising: a fixed part fixed to an external object; a horizontal movement module having two-translational-degree-of-freedom movement with respect to the fixed part; and an arm support module which is supported by the horizontal movement module to be movable and compensates weight of a user's arm. ### Claim 12 (depends on 11) The arm rest apparatus according to claim 11, wherein the arm support module comprises: first and second arm supporters on which a user's arm is supported; a first support part rotatably connected to an arm rotary shaft formed at the rotational end part; a rotary link rotatably mounted to an inclination adjustment shaft formed at the first support part; and a gravity compensation part for providing elastic restoring force which increases as the rotary link gets further from the ground. ### Claim 13 (depends on 12) The arm rest apparatus according to claim 12, wherein the gravity compensation part comprises: an elastic body of which the length is changed according to a change in angle of the rotary link and which is arranged in parallel with the longitudinal direction of the rotary link; and a wire of which one end is fixed to the other end of the elastic body and the other end is connected to the first support part above the inclination adjustment shaft. ### Claim 14 (depends on 12) The arm rest apparatus according to claim 12, wherein the rotary link comprises a guide pulley for guiding the wire so that tensile force transferred to the elastic body from the wire is parallel with the longitudinal direction of the rotary link.