# US 9,750,290 B2 · Passive mechanical exoskeleton to reduce hand fatigue

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- Number: US 9,750,290 B2
- Document ID: US9750290B2
- Status: Granted
- Kind: B2
- Application number: 15/267,039
- Filed: 2016-09-15
- Published: 2017-03-16
- Granted: 2017-09-05
- Earliest claimed: 2015-09-16
- Assignees: The Regents of the University of California
- Applicants: The Regents of the University of California
- Inventors: Alan Carey; Stephen Robinson
- Web page: https://patentgrep.com/patent/US9750290B2

## CPC

- A41D 19/01582: {with means to restrain or support the hand}
- A41D 19/01547: {with grip improving means}
- A61F 5/013: {for the arms, hands or fingers (A61F5/0118 takes precedence)}
- A61F 5/05866: {for wrists, hands, fingers or thumbs}
- A61F 2005/0155: {with actuating means}
- A61F 2005/0158: {with locking means}
- A41D: OUTERWEAR; PROTECTIVE GARMENTS; ACCESSORIES
- A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C)

## Abstract

A passive mechanical system comprising an unpowered exoskeleton to maintain static grip around an object via a tendon drive and ratchet mechanism. The ratchet mechanism combines a passive cable retract and ratchet system with one or more cables acting as artificial tendons. When a user wishes to keep their hand in a specific position around an object, the ratchet system is engaged. A cable retract mechanisim keeps the artifical tendon taught at all times. The combination of these systems allows for the user to keep grip on objects without the need to input force over time thereby reducing fatigue.

## Claims

### Claim 1

A system for assisting hand operation, the system comprising:
(a) a tendon drive mechanism, comprising:
(i) one or more cables having a distal end configured to be coupled to a distal location on one or more fingers of a hand of a user;
(ii) one or more guides configured to couple to the one or more fingers at one or more palmar locations corresponding to phalanges of the one or more fingers;
(iii) the one or more guides configured to guide translation of the one or more cables upon flexion or extension of the one or more fingers; and
(b) a ratchet mechanism coupled to the tendon drive mechanism, comprising:
(i) a passively biased spool configured to receive a proximal end of at least one of the one or more cables and keep taught at least one of the one or more cables upon flexion of the one or more fingers and selectively allow extension of the one or more fingers; and
(ii) a locking mechanism coupled to the spool, the locking mechanism comprising a non-engaged orientation allowing flexion and extension of the one or more fingers and an engaged orientation allowing flexion while restraining extension of the one or more fingers such that the tendon drive mechanism and ratchet mechanism are operable to retain the hand in a selected grasping position.

### Claim 2 (depends on 1)

The system of claim 1, wherein the tendon drive mechanism and ratchet mechanism are integrated with or attached to a glove configured to be worn over the hand of the user.

### Claim 3 (depends on 2)

The system of claim 2, wherein the one or more guides comprise tubes attached to or integrated with the glove, the guides configured to slideably retain one of the one or more cables at a plurality of locations corresponding to separate locations on distinct phalanges of an individual finger such that flexion of the finger shortens a distance between the plurality of guides proportional to a shortening of a length of the cable passing through the plurality of guides.

### Claim 4 (depends on 3)

The system of claim 3, wherein the tubes are located at locations corresponding to a palmar surface of the hand, along with a proximal phalange location, medial phalange location and distal phalange location of an individual finger.

### Claim 5 (depends on 2)

The system of claim 2:
wherein the ratchet mechanism is positioned on the glove at a dorsal location with respect to the hand when worn on the user; and
wherein the tendon drive mechanism further comprises a sleeve configured to house the one or more cables from a palmer location and extend to the ratchet mechanism around the hand to the dorsal location.

### Claim 6 (depends on 1)

The system of claim 1:
wherein the ratchet mechanism comprises a pawl configured to interface with a gear fixedly coupled to the spool;
wherein when the ratchet mechanism is in the non-engaged orientation, the pawl is not engaged with the gear to allow two-way reciprocation of the one or more cables within the spool to allow flexion and extension of the one or more fingers; and
wherein when the ratchet mechanism is in the engaged orientation, the pawl is engaged with the gear to allow only one-way reciprocation of the one or more cables into the spool, thus allowing flexion while restraining extension of the one or more fingers.

### Claim 7 (depends on 6)

The system of claim 6, further comprising:
a toggle coupled to the pawl;
the toggle allowing for manual reciprocation of the pawl between the non-engaged orientation and engaged orientation.

### Claim 8 (depends on 1)

The system of claim 1, wherein the spool is biased with a constant torque torsion spring to provide a tensile force on the one or more cables such that the cables automatically wind into the spool upon flexion of the one or more fingers.

### Claim 9

A glove assembly configured for assisting hand operation, the glove comprising:
(a) a glove configured to be worn around the hand of a user, the glove comprising a tendon drive mechanism and a ratchet mechanism;
(b) the tendon drive mechanism comprising:
(i) one or more cables having a distal end configured to be attached to a distal location on the glove corresponding to one or more fingers of the user's hand;
(ii) one or more guides attached to the glove at one or more palmar locations corresponding to phalanges of the one or more fingers;
(iii) the one or more guides configured to guide translation of the one or more cables upon flexion or extension of the one or more fingers; and
(c) a ratchet mechanism attached to the glove at a dorsal location of the glove and coupled to the tendon drive mechanism, the ratchet mechanism comprising:
(i) a passively biased spool configured to receive a proximal end of at least one of the one or more cables and keep taught at least one of the one or more cables upon flexion of the one or more fingers and selectively allow extension of the one or more fingers; and
(ii) a locking mechanism coupled to the spool, the locking mechanism comprising a non-engaged orientation allowing flexion and extension of the one or more fingers and an engaged orientation allowing flexion while restraining extension of the one or more fingers such that the tendon drive mechanism and ratchet mechanism are operable to retain the hand in a selected grasping position.

### Claim 10 (depends on 9)

The glove assembly of claim 9, wherein the one or more guides comprise tubes attached to or integrated with the glove, the tubes configured to slideably retain one of the one or more cables at a plurality of locations corresponding to separate locations on distinct phalanges of an individual finger such that flexion of the finger shortens a distance between the plurality of guides proportional to a shortening of a length of the cable passing through the plurality of tubes.

### Claim 11 (depends on 10)

The glove assembly of claim 10, wherein the tubes are attached to the glove at locations corresponding to a palmar surface of the hand, along with a proximal phalange location, medial phalange location and distal phalange location of an individual finger.

### Claim 12 (depends on 9)

The glove assembly of claim 9, wherein the tendon drive mechanism further comprises a sleeve configured to house the one or more cables from a palmer location and extend to the ratchet mechanism around the hand to the dorsal location.

### Claim 13 (depends on 9)

The glove assembly of claim 9:
wherein the ratchet mechanism comprises a pawl configured to interface with a gear fixedly coupled to the spool;
wherein when the ratchet mechanism is in the non-engaged orientation, the pawl is not engaged with the gear to allow two-way reciprocation of the one or more cables within the spool to allow flexion and extension of the one or more fingers; and
wherein when the ratchet mechanism is in the engaged orientation, the pawl is engaged with the gear to allow only one-way reciprocation of the one or more cables into the spool, thus allowing flexion while restraining extension of the one or more fingers.

### Claim 14 (depends on 13)

The glove assembly of claim 13, further comprising:
a toggle coupled to the pawl;
the toggle allowing for manual reciprocation of the pawl between the non-engaged orientation and engaged orientation.

### Claim 15 (depends on 9)

The glove assembly of claim 9, wherein the spool is biased with a constant torque torsion spring to provide a tensile force on the one or more cables such that the cables automatically wind into the spool upon flexion of the one or more fingers.

### Claim 16 (depends on 9)

The glove assembly of claim 9, wherein the glove comprises a pressurized glove.

### Claim 17 (depends on 9)

The glove assembly of claim 9, wherein the glove comprises a tether configured to retain the user at a specified location.

### Claim 18

A passive mechanical exoskeleton system comprising:
(a) a tendon drive mechanism, comprising:
(i) one or more cables having a distal end configured to be coupled to a distal location of an appendage of a user;
(ii) one or more guides configured to couple to the appendage at one or more locations corresponding to a joint associated with the appendage;
(iii) the one or more guides configured to guide translation of the one or more cables upon flexion or extension of the appendage; and
(b) a ratchet mechanism coupled to the tendon drive mechanism, comprising:
(i) a passively biased spool configured to receive a proximal end of at least one of the one or more cables and keep taught at least one of the one or more cables upon flexion of the appendage and selectively allow extension of the appendage; and
(ii) a locking mechanism coupled to the spool, the locking mechanism comprising a non-engaged orientation allowing flexion and extension of the appendage and an engaged orientation allowing flexion while restraining extension of the appendage such that the tendon drive mechanism and ratchet mechanism are operable to retain the appendage in a selected position.

### Claim 19 (depends on 18)

The system of claim 18, wherein the tendon drive mechanism and ratchet mechanism are integrated with or attached to a garment configured to be worn over the appendage.

### Claim 20 (depends on 19)

The system of claim 19, wherein the one or more guides comprise tubes attached to or integrated with the garment, the guides configured to slideably retain one of the one or more cables at a plurality of locations corresponding to separate locations on distinct locations of the appendage such that flexion of the appendage shortens a distance between the plurality of guides proportional to a shortening of a length of the cable passing through the plurality of guides.

### Claim 21 (depends on 18)

The system of claim 18:
wherein the ratchet mechanism comprises a pawl configured to interface with a gear fixedly coupled to the spool;
wherein when the ratchet mechanism is in the non-engaged orientation, the pawl is not engaged with the gear to allow two-way reciprocation of the one or more cables within the spool to allow flexion and extension of the appendage; and
wherein when the ratchet mechanism is in the engaged orientation, the pawl is engaged with the gear to allow only one-way reciprocation of the one or more cables into the spool, thus allowing flexion while restraining extension of the appendage.

### Claim 22 (depends on 21)

The system of claim 21, further comprising:
a toggle coupled to the pawl;
the toggle allowing for manual reciprocation of the pawl between the non-engaged orientation and engaged orientation.

### Claim 23 (depends on 18)

The system of claim 18, wherein the spool is biased with a constant torque torsion spring to provide a tensile force on the one or more cables such that the cables automatically wind into the spool upon flexion of the appendage.