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US 8,800,366 B2Granted
Robotic exoskeleton for limb movement
AssigneeQueen's University at Kingston
InventorsStephen H. Scott, Ian E. Brown, Stephen J. Ball
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AssigneeQueen's University at Kingston
InventorsStephen H. Scott, Ian E. Brown, Stephen J. Ball
Estimating the term…
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.
A method for assessing, studying, or assessing and studying sensorimotor function of a limb of a subject, comprising:
A method for assessing, studying, or assessing and studying sensorimotor function of a limb of a subject, comprising:
A method for diagnosing, treating, or diagnosing and treating a deficit or an impairment in sensorimotor function of a limb of a subject, comprising:
A method for diagnosing, treating, or diagnosing and treating a deficit or an impairment in sensorimotor function of a limb of a subject, comprising:
Dependencies are inferred from the claim text.
From the US filing history. Foreign family members aren’t listed.
Measuring for diagnostic purposes ; Identification of persons: measuring devices for testing the shape, pattern, colour, size or movement of the…
Measuring load distribution, e.g. podologic studies: measuring plantar pressure during gait
For evaluating or diagnosing the musculoskeletal system or teeth: joints
Stretching or bending or torsioning apparatus for exercising: for the lower limbs
About 1 year 6 months of term left · ends 1 May 2028 (estimated)
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This invention relates generally to a robotic exoskeleton that attaches to a subject's limb, for use in areas such as assessment, rehabilitation, and/or research involving motor function. In particular, the invention relates to a robotic exoskeleton that provides off-axis mechanical coupling of one or more joints of a limb of a subject. The invention also relates to a robotic exoskeleton having coupling between two or more joints, wherein spacing between joints is easily adjustable to accommodate different limb sizes. The invention also relates to robotic exoskeletons having combinations of such features.
Stroke, physical injury, and disease are causes of impairment of motor function involving one or more limbs. It is often possible to recover some motor function through rehabilitation, and practicing functional multi-joint movements with the impaired limb is an important part of motor recovery (Dobkin, 2004). Current therapeutic techniques therefore focus on training with repetitive, frequent functional movements (Teasell et al., 2003).
Providing patients with the attention they need is a challenge. Each patient requires extensive one-on-one attention, and therapy programs are physically exhausting for the therapist. The use of robotic devices to provide therapy would improve efficiency and effectiveness of the therapy, and this has been at the forefront of recent stroke rehabilitation research (Hesse et al., 2003; Reinkensmeyer et al., 2004). Robots not only have the ability to provide repetitive functional movement training, but also can provide sensitive and objective quantitative assessments of movement. The technology also makes it possible for a single therapist to supervise multiple patients simultaneously.
For a more detailed understanding of the invention, and to show more clearly how it may be carried into effect, the invention will be described, by way of example, with reference to the accompanying drawings, wherein:
FIGS. 1a and 1b are diagrams of an embodiment of a planar robotic exoskeleton attached to an arm, viewed from below, in which links of the exoskeleton form two parallelogram structures (shown darkened in FIG. 1b), and the shoulder joint is mechanically coupled off-axis. FIG. 1c shows an alternative embodiment in which links of the exoskeleton have been replaced with cables and pulleys.
FIGS. 2a and 2b show embodiments of an exoskeleton including a curved track mechanical linkage.
Impaired sensorimotor function of one or more of a subject's limbs may be caused by stroke, physical injury (i.e., trauma), or disease, and combinations of these. Research in areas such as sensorimotor function in normal and impaired individuals, and diagnosing, assessing and/or treating (i.e., rehabilitation, therapy) of sensorimotor function in individuals with such impairments may advantageously employ a robotic device.
As used herein, the term “limb” refers to a limb, or portion thereof, and may refer to either an upper limb or a lower limb.
One aspect of the invention relates to a robotic exoskeleton for use with a subject's limb. The robotic exoskeleton includes a mechanical linkage (also referred to herein as a “linkage”) having links or segments connected at articulating joints. The limb, which may be an upper or lower limb, and which may or may not be impaired, is attached to the exoskeleton. Attaching the limb to the exoskeleton couples one or more joints of the limb to one or more joints of the mechanical linkage. Sensors (e.g., encoders, torque sensors, accelerometers) for obtaining data relating to position, angle, acceleration, force (e.g., torque), etc., of one or more joints and/or segments the limb may be deployed on and/or associated with the mechanical linkage of the exoskeleton.