Robotic joint including a remote center of motion mechanism
AssigneeBioness Medical Inc.
InventorsMichael M. HOGAN, William WU, Rohit John VARGHESE
Life of this patent
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Abstract
An embodiment includes an exoskeleton robotic system comprising a parallelogram-based remote center of motion (RCM) joint. The RCM mechanism includes a first link that is coupled to a second link, a third link, and a fourth link. A motor is coupled to the third link. A first of the first, second, third, or fourth links includes a first flexure. The first flexure includes a first degree of freedom in a first direction. A second of the first, second, third, or fourth links includes a second flexure, the second flexure including a second degree of freedom in a second direction. The first direction is not parallel to the second direction.
Claims22
An exoskeleton robotic system comprising:
- a parallelogram-based remote center of motion (RCM) mechanism, the RCM mechanism including a first ternary link that is coupled to a second ternary link, a third ternary link, a fourth ternary link, a first binary link, and a second binary link;
- a motor coupled to the third ternary link;
- and
- a sensor coupled to the fourth ternary link;
- wherein:
- (a) the first ternary link includes a first flexure the first flexure configured to act in a first direction, (b) the second ternary link includes a second flexure the second flexure configured to act in a second direction, and (c) the first direction is not parallel to the second direction.
An exoskeleton robotic system comprising:
- a parallelogram-based remote center of motion (RCM) joint (200), the RCM joint including a first link that is coupled to a second link, a third link, and a fourth link;
- a motor coupled to the third link;
- wherein:
- (a) a first of the first, second, third, or fourth links includes a first flexure, the first flexure including a first degree of freedom in a first direction, (b) a second of the first, second, third, or fourth links includes a second flexure the second flexure including a second degree of freedom in a second direction and (c) the first direction is not parallel to the second direction.
19-25. (canceled)
28-40. (canceled)
Dependencies are inferred from the claim text.