公开(公告)号：US20200376651A1

公开(公告)日：2020-12-03

申请号：US16997742

申请日：2020-08-19

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, 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：US10391627B2

公开(公告)日：2019-08-27

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: B65H1/10 ,  B25J9/00 ,  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：US11654546B2

公开(公告)日：2023-05-23

申请号：US17221121

申请日：2021-04-02

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：US20200223057A1

公开(公告)日：2020-07-16

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 ,  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：US11938074B2

公开(公告)日：2024-03-26

申请号：US16656941

申请日：2019-10-18

Applicant: suitX, Inc. ,  The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni ,  James Ren ,  Wayne Yi-Wei Tung ,  Valantyn Koziak

IPC: A61H1/02 ,  A61F5/042 ,  A61F5/058 ,  A61F5/01

CPC classification number: A61H1/0296 ,  A61F5/05883 ,  A61F2005/0197 ,  A61H2201/1607 ,  A61H2201/1621 ,  A61H2201/1652

Abstract: A neck supporting exoskeleton is configured to be worn by a person to support the person's head during backward extension motions of the person's neck. The neck supporting exoskeleton may comprise a torso frame configured to be coupled to the person's torso, a head pillow configured to contact the rear portion of the person's head during backward extension motions of the person's neck, a linkage allowing for relative motion between the head pillow and the torso frame in the sagittal plane of the person, and an actuator configured to impose a supporting force onto the head pillow. When the person's neck extension angle increases beyond an engagement angle, the actuator causes the linkage to impose a supporting force onto the head pillow resisting the backward extension motion of the head pillow and the person's head relative to the torso frame thereby providing a support for the person's head.

公开(公告)号：US20210220987A1

公开(公告)日：2021-07-22

申请号：US17221121

申请日：2021-04-02

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, 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：US10071477B2

公开(公告)日：2018-09-11

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: B25J9/06 ,  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：US10994409B2

公开(公告)日：2021-05-04

申请号：US16997742

申请日：2020-08-19

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, 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：US20190321965A1

公开(公告)日：2019-10-24

申请号：US16455899

申请日：2019-06-28

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：US10369690B2

公开(公告)日：2019-08-06

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 ,  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.