公开(公告)号：US20190039234A1

公开(公告)日：2019-02-07

申请号：US16157417

申请日：2018-10-11

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B65H1/10 ,  B25H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

公开(公告)号：US10124485B2

公开(公告)日：2018-11-13

申请号：US15848487

申请日：2017-12-20

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

公开(公告)号：US20180111262A1

公开(公告)日：2018-04-26

申请号：US15848409

申请日：2017-12-20

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon KAZEROONI

IPC: B25J9/00 ,  B25H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small, When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

公开(公告)号：US12202137B2

公开(公告)日：2025-01-21

申请号：US18199177

申请日：2023-05-18

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B25H1/10 ,  B65H1/10

Abstract: Described herein is an arm supporting exoskeleton including a proximal link, a distal link, a torque generator, and a bracket. The distal link is configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link. The torque generator is configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person. The bracket is coupled to one of the proximal link or the distal link. A location of the bracket is adjustable to adjust an effective length of the torque generator to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.

公开(公告)号：US10786896B2

公开(公告)日：2020-09-29

申请号：US16834647

申请日：2020-03-30

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B65H1/10 ,  B25H1/10

Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.

公开(公告)号：US20190143503A1

公开(公告)日：2019-05-16

申请号：US16242875

申请日：2019-01-08

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B25H1/10 ,  B65H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.

公开(公告)号：US20180111263A1

公开(公告)日：2018-04-26

申请号：US15848487

申请日：2017-12-20

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B25H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

公开(公告)号：US09889554B2

公开(公告)日：2018-02-13

申请号：US15158113

申请日：2016-05-18

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/06 ,  B25J9/00 ,  B65H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the user's arm.