US 20120330198A1

( 19) United Sta tes

( 12) Pa tent Applica tion Publica tion ( 10) Pub. N 0. : US 2012/0330198 A1
Pa tog lu ( 4 3) Pub. D a te: D ec. 27 , 2012
( 54 ) EXOSKELETON ( 52) US. Cl. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 601/33
( 7 6) I nv entor : V olk a n Pa tog lu, I s ta nbul ( TR ) ( 57 ) ABSTR ACT
_ An exos k eleton f or huma ns including a j oint element tha t
( 21) Appl' N O" 13/529 4 37 inter a cts dir ectly or indir ectly W ith a huma n s j oint v ia a n
( 22) F iled: J un 21, 2012 end- ef f ector mount, w her ein the end- ef f ector mount ' is
a r r a ng ed to per f or m a n a r bltr a r y pla na r pa r a llel mov ement 1n
. . a pla ne, a llow ing s uper impos ed tr a ns la tiona l a nd r ota tiona l
R ela ted U' s ' Apphca tlon D a ta mov ements of the end- ef f ector mount r ela tiv e to a body of the
( 60) Pr ov is iona l a pplica tion N o. 61/4 99, 663, ? led on J un. j oint element. The exos k eleton a lloW s f or excellent a dj us t
21, 2011. ment of the j oint a xes , i. e. the exos k eleton s a nd the huma n s
j oint, f or ef f ecting s imulta neous tr a ns la tiona l a nd r ota tiona l
Publica tion Cla s s i? ca tion mov ements . Pa r ticula r ly , the exos k eleton is s elf - a lig ning to
the mov ements of a huma n s j oint independent f r om dif f er
( 51) I nt. Cl. ences in the a tta chment of the exos k eleton to the body a nd
A61H 1/02 ( 2006. 01) a na tomica l dif f er ences of the pa tients .
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Pa tent Applica tion Publica tion D ec. 27 , 2012 Sheet 7 0f 8 US 2012/0330198 A1
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Pa tent Applica tion Publica tion D ec. 27 , 2012 Sheet 8 0f 8 US 2012/0330198 A1
US 2012/0330198 A1
EXOSKELETON
R ELATED APPLI CATI ON
[ 0001] This a pplica tion cla ims the bene? t of US. Pr ov i
s iona l Applica tion N o. 61/4 99, 663 ? led J un. 21, 2011, a nd
a ls o cla ims pr ior ity of PCT/ ? led J un. 21, 2012, both
of W hich a r e her eby incor por a ted her ein by r ef er ence in their
entir eties .
F I ELD OF THE I N V EN TI ON
[ 0002] PoW er ed exos k eletons a r e us ed f or exa mple f or
r obot- a s s is ted r eha bilita tion of pa tients ha v ing neur olog ica l
inj ur ies . F or s uch exos k eletons j oints a r e r eq uir ed tha t ha v e
motion ca pa bilities tha t cor r es pond to the motion ca pa bilities
of huma ns .
PR I OR AR T
[ 0003] N eur olog ica l inj ur ies a r e the lea ding ca us e of s er i
ous , long - ter m dis a bility . Ea ch y ea r a bout 15 million people
s uf f er a s tr ok e. Accor ding to the N a tiona l Str ok e As s ocia tion
of US, the es tima ted the cos t per pa tient in the ? r s t 3 months
of tr ea tment is a bout 15 thous a nd dolla r s . Mor eov er , f or 10%
of ca s es thes es cos t exceed 35 thous a nd dolla r s . The s itua tion
g ets ev en mor e s er ious W ith the a g eing of the popula tion, in
pa r ticula r , in the EU countr ies a nd J a pa n.
[ 0004 ] Phy s ica l r eha bilita tion ther a py is indis pens a ble f or
tr ea ting neur olog ica l dis a bilities . Ther a pies a r e mor e ef f ec
tiv e W hen exer cis es a r e r epetitiv e, intens e, long ter m a nd ta s k
s peci? c. HoW ev er , r epetitiv e ther a pies W ith hig h intens ity a r e
cos tly due to the phy s ica l bur den a nd the ma nua l la bor
inv olv ed.
[ 0005] I n r ecent y ea r s , the us e of electr o- mecha nica l s y s
tems f or r eha bilita tion ha s become ubiq uitous , tha nk s to
r ecent a dv a nces on huma n ma chine inter a ction r es ea r ch.
As s is ta nce of r epetitiv e a nd phy s ica lly inv olv ed r eha bilita
tion exer cis es us ing r obotic dev ices not only helps elimina te
the phy s ica l bur den of mov ement ther a py f or the ther a pis ts ,
but a ls o decr ea s es a pplica tion r ela ted cos ts . Mor eov er , r obot
media ted r eha bilita tion ther a py a lloW s q ua ntita tiv e mea s ur e
ments of pa tient pr og r es s a nd ca n be us ed to r ea liZ e cus tom
iZ ed, inter a ctiv e tr ea tment pr otocols . R eha bilita tion r obots
incr ea s e the r elia bility , a ccur a cy , a nd ef f ectiv enes s of tr a di
tiona l phy s ica l r eha bilita tion ther a pies , ena ble a ctiv e pa r tici
pa tion of pa tients by a s s is ting pa tients only a s - needed, r ender
ea s y tuning of dur a tion a nd intens ity of ther a pies f ea s ible, ca n
be a pplied to pa tients W ith a ll lev els of impa ir ment, motiv a te
pa tients to endur e intens e ther a py s es s ions tha nk s to v ir tua l
r ea lity integ r a tion, a nd a r e ca pa ble of r ea liZ ing neW tr ea tment
pr otocols W ith v ir tua l env ir onments a nd ha ptic f eedba ck . I n
the liter a tur e, bene? cia l ef f ects of r obot a s s is ted r eha bilita
tion ov er conv entiona l phy s ica l ther a py ha v e been s hoW n
thr oug h clinica l tr ia ls .
[ 0006] Upper - limb r eha bilita tion dev ices ca n be ca teg o
r iZ ed in thr ee ma in ca teg or ies : end- ef f ector ty pe r obots , ca ble
s us pens ion s y s tems a nd exos k eletons . End- ef f ector ty pe
r eha bilita tion r obots f ea tur e a s ing le inter a ction point ( the
end- ef f ector ) W ith the pa tient a nd the j oint motions of thes e
dev ices do not cor r es pond to huma n mov ements . Ther ef or e,
W ithout exter na l r es tr a ints a pplied to cons tr a in the pa tient,
j oint s peci? c ther a pies ca nnot be deliv er ed by s uch mecha
nis ms . Mor eov er , compens a tor y mov ements of the pa tient
ca nnot be detected W hen thes e dev ices a r e us ed. On the other
D ec. 27 , 2012
ha nd, end- ef f ector ty pe r obots a r e a dv a nta g eous tha nk s to
their s imple k inema tic s tr uctur e a nd loW cos t.
[ 0007 ] A W ell- k noW n exa mple of end- ef f ector ty pe r eha
bilita tion r obot is MI T- Ma nus . MI T- Ma nus is a n impeda nce
ty pe r obot tha t pos s es s es tW o g r ounded dir ect- dr iv e motor s to
pr ov ide tor q ues to a s s is t or r es is t pa tient mov ements . Another
exa mple of s uch dev ices is the Gentle/ s , W hich us es a n a dmit
ta nce- ty pe r obot ( Ha pticMa s ter ) a long W ith a g imba l mecha
nis m to connect to the huma n W r is t. R eha - Slide is a nother
? xed ba s e dev ice W hich is des ig ned to a dminis ter r es is tiv e
mov ement ther a pies . R eha - Slide ha s tW o holder s W hich a r e
hor iZ onta lly pla ced on a ta ble a nd ena bles f or W a r d a nd ba ck
W a r d a r m mov ements . End- ef f ector ty pe r obots ha v e a ls o
been us ed to impos e bima nua l exer cis es . I n pa r ticula r , MI ME
s y s tem ba s ed on a n a dmitta nce contr olled 6 deg r ees - of - f r ee
dom ( D oF ) PUMA r obot ha s been us ed to deliv er mir r or
ima g e ther a pies .
[ 0008] Ca ble s us pens ion dev ices help mobiliZ e the upper
limb of the body by compens a ting f or the g r a v ita tiona l f or ces .
Thes e dev ices a r e pa s s iv e s y s tems W ith s imple k inema tic
s tr uctur e; ther ef or e, ca ble s us pens ion dev ices a r e loW cos t.
HoW ev er , thes e dev ices ca nnot a s s is t or r es is t to pa tients
W hile completing ther a peutic ta s k s a nd they la ck mea s ur e
ment ca pa bilities .
[ 0009] I n contr a s t to end- ef f ector ty pe r obots , exos k eletons
a r e a tta ched to the huma n limb a t multiple inter a ction points
a nd mov ement of thes e dev ices cor r es pond W ith huma n
j oints . As a r es ult, exos k eletons a r e ca pa ble of a pply ing con
tr olled tor q ues to indiv idua lly ta r g eted j oints a nd mea s ur ing
the mov ements of thes e s peci? c j oints decoupled f r om mov e
ments of the other j oints . Unf or tuna tely , exos k eletons pos s es s
mor e complex k inema tic s tr uctur e compa r ed to end- ef f ector
ty pe r obots a nd hence a r e mor e cos tly . The exos k eletons ca n
be f ur ther g r ouped into thr ee ca teg or ies .
[ 0010] Or thos es cons titute the ? r s t g r oup of exos k eletons .
Or thos es a im to phy s ica lly s uppor t people W hile per f or ming
da ily ta s k s . HAL- 5 f ull- body exos k eleton is a n exa mple of
s uch or thos es ( R obot s uit HAL, http: //W W W . cy ber dy ne. j p/
eng lis h/r obots uitha l/index. html) . Another exa mple of s uch
or thos es is the My omo r obot ( My omo, http: //W W W .
my omo. com/my omo_ pr oduct_ s tr ok e_ r eha bilita tion_ a r m_
br a ce_ technolog y _ ov er v ieW . a s p) , a n elboW or thos is . Another
W ell- k noW n or thos es is the R eW a lk er ( A. Gof f er , Ga it- loco
motor a ppa r a tus , US. Pa t. N o. 7 , 153, 24 2) . I n contr a s t to
My omo, R eW a lk er or thos es is s peci? ca lly built f or loW er
limb to s uppor t us er s dur ing g a it mov ements .
[ 0011] The s econd g r oup is compos ed of the a ug menta tion
exos k eletons . Thes e r obots a r e des ig ned f or hea lthy us er s a nd
a im help us er s to a chiev e hea v y duty ta s k s tha t r eq uir e hig h
mus cle poW er . One of the ea r ly r epr es enta tiv es of this g r oup
is Exos Ar mMa s ter ( V . Bin Ma s s ie, Thoma s AN . H. ; V a y ner ,
Sens or y f eedba ck exos k ele- ton a r r nma s ter , pa tent a ppli
a ction W O/1995/032 84 2) , a n upper - extr emity exos k eleton
W ith 5 D oF . Another exa mple of a ug menta tion exos k eletons
is the BLEEX ( A. Z os s , H. Ka Z er ooni, a nd A. Chu, Biome
cha nica l des ig n of the ber k eley loW er extr emity exos k eleton
( BLEEX) , Mecha tr onics , I EEE/ASME Tr a ns a ctions on, v ol.
11, no. 2, pp. 128- 138, 2006) . I n contr a s t to Exos Ar mMa s ter ,
BLEEX is a loW er - extr emity exos k eleton dev eloped to a ug
ment mus cle poW er of people W ho W or k on r oug h ter r a ins f or
long time. Another exos k eleton deig ned f or huma n a ug men
ta tion is the XOS 2 r obot ( XOS 2 Exos k eleton, http: //W W W .
r a y theon. com/neW s r oom/technolog y /r tn08_ exos k eleton/) .
Simila r to BLEEX, XOS 2 is a ls o des ig ned f or phy s ica lly
US 2012/0330198 A1
cha lleng ing ta s k s ; how ev er , XOS 2 is f or the upper body .
F ina lly , the thir d g r oup of exos k eletons is des ig ned s peci?
ca lly f or r eha bilita tion. Unlik e the other tW o g r oups , r eha bili
ta tion r obots a r e des ig ned f or clinica l us e. Cons eq uently ,
mos t of the r obots on this g r oup a r e g r ounded to a ? xed ba s e
a nd a r e immobile.
[ 0012] Cor r es pondence of huma n j oint a xes W ith r obot
a xes is a n imper a tiv e cr iter ia W hile des ig ning exos k eleton f or
r eha bilita tion. Pos s ible mis a lig nment in r eha bilita tion exo s k
eletons ma y ca us e dis comf or t or pa in, ca n ev en lea d to the
dis loca tion of the j oint. Adj us ting r obot j oint a xes to ma tch
the huma n a xes is a tedious pr oces s tha t ma y ta k e up 10- 15
minutes of pr ecious ther a py dur a tion. Ther e a r e 3 ma in r ea
s ons lea ding to j oint mis a lig nments : F ir s tly , huma n j oints
ca nnot be modeled a s s imple r ev olute j oints . F or exa mple the
s houlder j oint ha s extr a tW o tr a ns la tiona l D oF mov ements in
a ddition to thr ee r ota tiona l D oF s ( cf . F I G. 1) . I n a ddition to
decoupled mov ements of the tW o tr a ns la tiona l D oF s , v er tica l
tr a ns la tion of the s houlder is tig htly coupled W ith the elev a
tiona l r ota tion of the j oint. This coupling is k noW n a s s ca pu
lohumer a l r hy thm ( cf . F I G. 2) . Secondly , the exa ct pos ition of
the huma n j oints ca nnot be deter mined exter na lly W ithout
us ing s pecia l ima g ing techniq ues . Obs er v ing the bone loca
tions W ith na k ed ey es ca n only g iv e a ba s ic idea on pos s ible
a lig nment of the j oint. The exa ct motion of j oints s hoW s W ide
v a r ia tion a mong huma ns , a s this motion depends on s iZ e a nd
or ienta tion of s houlder bones , s ha pe of a r ticula ted s ur f a ces
a nd cons tr a ints impos ed by lig a ments , ca ps ules , a nd tendons .
La s tly , pla cement of the huma n limb on the exo s k eleton ma y
cha ng e f r om one ther a py s es s ion to a nother a nd ev en if thes e
cha ng es a r e k noW n, j oint r e- a lig nment is s till needed to be
completed.
[ 0013] A W ell- k noW n exa mple of r eha bilita tion exos k el
etons is the AR Min r obot ( T. N ef , M. Mihelj , G. Kief er , C.
Pemdl, R . Muller , a nd R . R iener , AR MiniExos k eleton f or
a r m ther a py in s tr ok e pa tients , in R e- ha bilita tion R obotics ,
2007 . I COR R 2007 . I EEE 10th I nter na tiona l Conf er ence on,
2007 , pp. 68- 7 4 ) . The ? r s t v er s ion of this r obot, AR Min I , is
compos ed of a n exos k eleton elboW a nd f or ea r m r obot
a tta ched to a n end- ef f ector ty pe s houlder mecha nis m. The
s houlder mecha nis m of AR Min I is modeled a s a 3 D oF
s pher ica l j oint. Since huma n s houlder ha s 5 D oF , AR Min I is
una ble to impos e er g onomic mov ements to pa tients . The next
v er s ion of the r obot, AR Min I I ( M. Mihelj , T. N ef , a nd R .
R iener , AR Min Hi7 D oF r eha bilita tion r obot: mecha nics
a nd k inema tics , in R obotics a nd Automa tion, 2007 I EEE
I nter na tiona l Conf er ence on, 2007 , pp. 4 120- 4 125) , ha s dr a s
tica lly decr ea s ed the er g onomic pr oblems by including a n
extr a v er tica l tr a ns la tiona l D oF to the s houlder j oint. On the
other ha nd the a dditiona l D oF incr ea s es the k inema tic com
plexity of the r obot. I n the ? na l v er s ion, AR Min I I I ( T. N ef , M.
Guida li, a nd R . R iener , AR Min I I I iAr m ther a py exos k el
eton W ith a n er g onomic s houlder a ctua tion, Applied Bionics
a nd Biomecha nics , v ol. 6, no. 2, pp. 127 - 14 2, 2009) the
s houlder j oint is s impli? ed by elimina ting pa s s iv e r obot ele
ments a nd er g onomic mov ement is a chiev ed by cir cula r
s houlder j oint mov ement. Since the AR Min I I I ha s a s impler
k inema tic s tr uctur e, the cos t is decr ea s ed W ith r es pect to
AR Min I I , cons eq uently the er g onomy of the r obot is dete
r ior a ted a s W ell. As a r es ult AR Min I I I ca nnot f ully cor r e
s pond to huma n j oints .
[ 0014 ] Er g onomic s houlder j oint is one of the ma j or des ig n
cr iter ia f or the MGA exos k eleton r obot ( C. Ca r ig na n, M.
Lis Z k a , a nd S. R oder ick , D es ig n of a n a r m exos k eleton W ith
D ec. 27 , 2012
s ca pula motion f or s houlder r eha bilita tion, in Adv a nced
R obotics , 2005. I CAR 05. Pr oceeding s , 12th I nter na tiona l
Conf er - ence on, 2005, pp. 524 - 531) . Simila r to AR Min I I I ,
MGA exo s k eleton a ls o models the s houlder mov ements on a
cir cula r pa th to s us ta in er g onomy . I n pa r ticula r , MGA exos k
eleton a lloW s f or a ctiv e a dj us tment to s ca pula r ota tion
thr oug h us e of a n extr a a ctua ted r ev olute j oint in s er ies W ith 3
a ctua tor s f or ming a s pher ica l j oint. Hence, MGA exo s k eleton
ca nnot a ccount f or a ll 5 D oF mov ement of the huma n s houl
der a nd a dj us tment of link leng ths a r e neces s a r y f or ea ch
pa tient s uch tha t the r es ulting s houlder mov ement clos ely
a ppr oxima tes the r ea l one.
[ 0015] The document W . Chen, C. Xiong , R . Sun, a nd X.
Hua ng , On the des ig n of exos k eleton r eha bilita tion r obot
W ith er g onomic s houlder a ctua tion mecha nis m, in Pr oceed
ing s of the 2nd I nter na tiona l Conf er ence on I ntellig ent
R obotics a nd Applica tions , s er . I CI R A 09. Spr ing er - V er la g ,
2009, pp. 1097 - 1 1 10 des cr ibes the dev elopment of a n upper
extr emity exos k eleton r obot W ith de coupled s houlder mov e
ments . The s houlder of the r obot is des ig ned W ith 6 D oF
k inema tic s tr uctur e a nd W ith the help of extr a D oF , s houlder
er g onomy f or dif f er ent pa tients is s us ta ined. On the other
ha nd, the extr a D oF intr oduces k inema tic complexity to the
r obot a nd incr ea s es the f ootpr int a nd W eig ht of the s houlder
mecha nis m.
[ 0016] D a mpa ce exos k eleton is a f ully pa s s iv e br a k e ba s ed
r eha bilita tion r obot tha t us es pa s s iv e a lig nment mecha nis ms
to a ccount f or g lenohumer a l mobiliZ a tion ( A. Stienen, E.
Hek ma n, F . V a n der Helm, G. Pr a ng e, M. J a nnink , A. Aa ls ma ,
a nd H. V a n der Kooij , D AM PACE: D y na mic f or ce- coor di
na tion tr a iner f or the upper extr emities , in R eha bilita tion
R obotics , 2007 , I COR R 2007 , I EEE 10th I nter na tiona l Con
f er ence on, 2007 , pp. 820- 826) . The r obot ha s 4 D oF s con
tr olled D oF , in W hich 3 D oF s is on the s houlder a nd 1 D oF on
the elboW . HoW ev er , ther e is a ls o a 2 D oF s elf - a lig nment
mecha nis m on the s houlder W hich ca n a ccount f or s ca pulo
humer a l r hy thm. F ur ther mor e, D a mpa ce pos s es s es a pa s s iv e
g r a v ity compens a tion mecha nis m W hich a lloW s only a s ma ll
por tion of the r obot W eig ht be tr a ns mitted by the us er .
[ 0017 ] Limpa ct ( A. Stienen, E. Hek ma n, H. ter Br a a k , A.
Aa ls ma , F . v a n der Helm, a nd H. v a n der Kooij , D es ig n of a
r ota tiona l hy dr oela s tic a ctua tor f or a poW er ed exos k eleton f or
upper limb r eha bilita tion, Biomedica l Eng ineer ing , I EEE
Tr a ns a ctions on, v ol. 57 , no. 3, pp. 7 28- 7 35, 2010) is a n a ctiv e
exos k eleton ba s ed on the mecha nica l des ig n of D a mpa ce.
This exos k eleton a ls o f ea tur es pa s s iv e a lig nment f or the
s houlder j oint a nd is hy dr a ulica lly a ctua ted. Pa s s iv e a lig n
ment mecha nis ms ca nnot a s s is t/r es is t pa tients dur ing g leno
humer a l mobiliz a tion exer cis es . Mor eov er , s uch mecha nis ms
ca nnot bea r la r g e f or ces .
[ 0018] I n a ddition to j oint cor r es pondence, minimiz ing the
W eig ht of the exos k eleton ha s been a n a ctiv e r es ea r ch topic.
L- exos r obot us es a ca ble dr iv en a ctua tion s y s tem to pla ce the
motor of the r obot outs ide the exos k eleton a nd decr ea s e the
W eig ht ( A. F r is oli, M. Ber g a ma s co, M. Ca r boncini, a nd B.
R os s i, R obotic a s s is ted r eha bilita tion in v ir tua l r ea lity W ith
the L- EXOS. Stud Hea lth Technol I nf or m, v ol. 14 5, pp.
4 0- 54 , 2009) .
[ 0019] Simila r to L- exos , CAD EN - 7 is a nother ca ble
dr iv en exos k eleton ( J . Per r y , I . R os en, a nd S. Bur ns , Upper
limb poW er ed exos k eleton des ig n, Mecha tr onics , I EEE/
ASME Tr a ns a ctions on, v ol. 12, no. 4 , pp. 4 08- 4 17 , 2007 ) .
W ith r eg a r d to lig ht W eig ht a nd hig h ba ck dr iv ea bility ,
US 2012/0330198 A1
CAD EN - 7 is dif f er ent f r om the L- exos W ith a n a dditiona l
j oint on the W r is t mecha nis m, cor r es ponding ly a llow s a W ider
r a ng e of exer cis es .
[ 0020] Another exa mple of upper - extr emity r eha bilita tion
r obots is the T- W R EX ( R . Sa nchez , J . Liu, S. R a o, P. Sha h, R .
Smith, T. R a hma n, S. Cr a mer , J . Bobr oW , a nd D . R eink ens
mey er , Automa ting a r m mov ement tr a ining f olloW ing
s ev er e s tr ok e: F unctiona l exer cis es W ith q ua ntita tiv e f eed
ba ck in a g r a v ity - r educed env ir onment, N eur a l Sy s tems a nd
R eha bilita tion Eng ineer ing , I EEE Tr a ns a ctions on, v ol. 14 ,
no. 3, pp. 37 8- 389, 2006) . T- W R EX r obot ha s 2 motor s to
a ctiv a te the s houlder j oint a nd a thir d motor is a tta ched s er i
a lly to mov e the W hole s houlder mecha nis m in a cir cula r
tr a j ector y . I n tota l, the s houlder j oint of the r obot cons is ts of
4 D oF s , in W hich tW o of them is coupled; ther ef or e, the r obot
ca nnot f ully cor r es pond to huma n s houlder f or a ll pa tients .
[ 0021] SAM exos k eleton ma na g es mobility in a ddition to
being lig ht W eig ht ( P. Letier , M. Av r a a m, S. V eiller ette, M.
Hor odinca , M. D e Ba r tolomei, A. Schiele, a ndA. Pr eumont,
SAM: A 7 - D oF por ta ble a r m exos k eleton W ith loca l j oint
contr ol, in I ntellig ent R obots a nd Sy s tems , 2008. I R OS
2008. I EEE/R SJ I nter na tiona l Conf er ence on, 2008, pp.
3501- 3506) . The r obot is 7 D oF s mecha nis m, in W hich 3
D oF s a r e a lloca ted f or s houlder j oint mov ements . Cons e
q uently , a lthoug h SAM of f er s mobility , it ca nnot pr es er v e
j oint cor r es pondence f or er g onomic ther a py . Another cons id
er a tion f or r eha bilita tion exos k eleton des ig n is to a chiev e
hig h s tif f nes s .
[ 0022] The ABLE exos k eleton, W hich ha s 4 D oF s , is
des ig ned to ca r r y hig h f or ces a cting on the ha nd module of the
r obot ( P. Ga r r ec, J . F r iconnea u, Y. Mea s s on, a ndY. Per r ot,
ABLE, a n innov a tiv e tr a ns pa r ent exos k eleton f or the upper
lim , in I ntellig ent R obots a nd Sy s tems , 2008, I R OS 2008,
I EEE/R SJ I nter na tiona l Conf er ence on, 2008, pp. 14 83
14 88) . Since the W hole a r m of the r obot is modeled a s 4 D oF s ,
the r obot ca nnot f ully s us ta in j oint a lig nment.
[ 0023] As in the ca s e W ith the s houlder j oint, biomedica l
s tudies indica te tha t the r ota tion a xis of the k nee j oint a ls o
tr a ns la tes s ig ni? ca ntly dur ing k nee ? exion a nd extens ion.
The tr a ns la tion of the j oint a xis , ca lled a nter ior - pos ter ior
tr a ns la tions , is depicted in F I G. 4 . The k inema tic models of
the k nee s ug g es t tha t the ma g nitude of a nter ior - pos ter ior
tr a ns la tions ca n exceed 19 mm f or a hea lthy huma n ( Y. Li, J .
Hueg el, V . Pa tog lu, a nd M. O Ma lley , Pr og r es s iv e s ha r ed
contr ol f or tr a ining in v ir tua l env ir onments , in Eur oHa ptics
conf er ence, 2009 a nd Sy mpos ium on Ha ptic I nter f a ces f or
V ir tua l Env ir onment a nd Teleoper a tor Sy s tems . W or ld Ha p
tics 2009, Thir d J oint, 2009, pp. 332- 337 ) . The a mount of
tr a ns la tion cha ng es W ith ? exion a nd extens ion a ng le a nd is
uniq ue to ev er y indiv idua l, s ince it s tr ong ly depends on the
s iZ e a nd or ienta tion of the bones a nd the s ha pe of a r ticula ted
s ur f a ces . Mor eov er , in pr a ctice, the a lig nment of huma n j oint
W ith r obot a xis ca nnot be ha ndled pr ecis ely , s ince the exa ct
j oint center of huma n ca nnot be deter mined f r om outs ide the
body .
[ 0024 ] Ev en thoug h s ev er a l r ecent s tudies ha v e concen
tr a ted in the complex mov ement of the s houlder j oint, ther e
exis t no loW er - limb exos k eletons or j oint s peci? c r eha bilita
tion dev ices f or the k nee j oint tha t ca n a ccommoda te a nter ior
pos ter ior tr a ns la tions . The mos t popula r loW er - limb r eha bili
ta tion r obot, Lok oma t ( R . R iener , L. Liinenbur g er , a nd G.
Colombo, Huma n- Center ed R obotics Applied to Ga it Tr a in
ing a nd As s es s ment, V eter a ns Admin, J our na l of R eha bilita
tion R es ea r ch a nd D ev elopment, 2006; a nd G. Colombo, M.
D ec. 27 , 2012
J oer g , R . Schr eier , a nd V . D ietZ , Tr ea dmill tr a ining of
pa r a pleg ic pa tients us ing a r obotic or thos is , J our na l of R eha
bilita tion R es ea r ch a nd D ev elopment, v ol. 37 , no. 6, pp. 693
7 00, 2000) , employ s a D C motor dr iv en s imple r ev olute j oint
a t its k nee j oint. Another W ell k noW n g a it r eha bilita tion r obot,
LOPES g a it tr a iner ( J . F . V enema n, D es ig n a nd ev a lua tion of
the g a it r eha bilita tion r obot lopes , Ph. D . dis s er ta tion,
Ens chede, D ecember 2007 , a v a ila ble under : http: //doc. ut
W ente. nl/58093/) , utiliZ es s er ies ela s ticity W ith a nta g onis tic
a ctua tion to ena ble v a r ia ble s tif f nes s of the k nee j oint but
models the k inema tics of huma n k nee a s a pur e r ota r y motion.
The ER F k nee ( C. Ma v r oidis , et a l. , Sma r t por ta ble r eha bili
ta tion dev ices , J our na l of N eur oEng ineer ing a nd R eha bili
ta tion, v ol. 2, no. 1, p. 18, 2005, a v a ila ble under : http: //W W W .
j neur oeng r eha b. com/content/2/1/18) , a j oint s peci? c,
por ta ble mecha nis ms f or k nee exer cis es , is cons tr ucted us ing
a n electr o- r heolog ica l ? uid ba s ed r ota r y a ctua tor W hich a ls o
employ s a s imple hing e model f or the k nee. Unlik e a ctiv e
r eha bilita tion r obots , the complex mov ement of the k nee is
W idely a ck noW ledg ed a nd s uch mov ements a r e integ r a ted in
the des ig n of mos t pr os thetics a nd or thotics dev ices . F or
ins ta nce, the J a ipur k nee ( J a ipur k nee, http: //r emotionde
s ig ns . or g /j a ipur k nee. html) , a k nee pr os thes is des ig ned f or
a mputees , mimics the mov ements of huma n k nee by cha ng
ing its center of r ota tion dur ing mov ement. Simila r ly , s elf
a dj us ting or thos es ha v e been pr opos ed f or the r eha bilita tion
of k nee j oint ( V . Ca i, P. Bida ud, V . Ha y W a r d, a nd F . Gos s elin,
D es ig n of s elf - a dj us ting or thos es f or r eha bilita tion, in Pr o
ceeding s of the 14 th I ASTED I nter na tiona l Conf er ence on
R obotics a nd Applica tions , 2009, pp. 215- 223) . I t is to be
noted tha t thes e a r e pa s s iv e dev ices a nd ca nnot a ctiv ely inter
v ene to help pa tients to complete r eha bilita tion exer cis es .
SUMMAR Y OF THE I N V EN TI ON
[ 0025] The a bov e mentioned pr oblem is s olv ed by a n
exos k eleton compr is ing
[ 0026] a ) a j oint element ( 2) , tha t inter a cts dir ectly or
indir ectly W ith a huma n s j oint v ia a n end- ef f ector
mount ( 4 ) , W her ein
[ 0027 ] b) the end- ef f ector mount ( 4 ) is a r r a ng ed to per
f or m a n a r bitr a r y pla na r pa r a llel mov ement in a pla ne,
a lloW ing s uper impos ed tr a ns la tiona l a nd r ota tiona l
mov ements of the end- ef f ector mount ( 4 ) r ela tiv e to a
body ( 3) of the j oint element ( 2) .
[ 0028] Pa r ticula r ly it is s olv ed by a n exos k eleton f or
huma ns compr is ing a j oint element tha t inter a cts dir ectly or
indir ectly W ith a huma n s j oint v ia a n end- ef f ector mount,
W her ein the end- ef f ector mount is a r r a ng ed to per f or m a n
a r bitr a r y pla na r pa r a llel mov ement in a pla ne, a lloW ing s uper
impos ed tr a ns la tiona l a nd r ota tiona l mov ements of the end
ef f ector mount r ela tiv e to a body of the j oint element. Such a
s et- up of a n exos k eleton a lloW s f or a n excellent a dj us tment of
the j oint a xes , ie the exos k eleton s a nd the huma n s j oint,
g ua r a nteeing s imulta neous tr a ns la tiona l a nd r ota tiona l mov e
ments . Pa r ticula r ly the exos k eleton is s elf - a lig ning to the
mov ements of a huma n s j oint independent f r om dif f er ences
in the a tta chment of the exos k eleton to the body a nd a na tomi
ca l dif f er ences of the pa tients .
[ 0029] Pr ef er a bly the j oint element compr is es a pa r a llel
mecha nis m, pr ef er a bly a 3- R PR , 3- R R R , 3- PR R , 3- R R P, or
3PR P mecha nis m. Such pa r a llel mecha nis m ena bles a r bitr a r y
mov ement a nd r ota tion in a pla ne a lloW ing the des ir ed mov e
ment of the end- ef f ector mount.
US 2012/0330198 A1
[ 0030] Pr ef er a bly the end- ef f ector mount compr is es a t lea s t
thr ee tr a ns la tiona l a xes , W her ein the a xes a r e r ig idly con
nected to the end- ef f ector mount, W her ein the a xes a r e
a r r a ng ed pa r a llel to pla ne of the a r bitr a r y pla na r pa r a llel
mov ement of the end ef f ector a nd W her ein the a xes a r e
a r r a ng ed ha v ing a n a ng le to ea ch other .
[ 0031] I n a pr ef er r ed embodiment, the end ef f ector com
pr is es thr ee tr a ns la tiona l a xes a nd the a ng le betW een tW o a xes
is 100 - 14 0 , pr ef er a bly 120 . The us e of thr ee a xes ens ur es
a g eometr ica lly de? ned mov ement of the end- ef f ector mount
W hile s imulta neous ly minimiZ ing the f r iction. The a ng le
r a ng e betW een the a xes f ur ther s uppor ts this de? nition of
mov ement a nd impr ov ed f r iction.
[ 0032] Pr ef er a bly the exos k eleton s j oint element is s elf
a lig ning W ith r es pect to the huma n s j oint tha t it inter a cts
W ith. This is one of the a dv a nta g es of the cur r ent dev ice, a s the
s et- up of pha s e ca n be s ig ni? ca ntly s hor tened a s compa r ed to
the one r eq uir ed W hen W or k ing W ith cur r ent r eha bilita tion
dev ices .
[ 0033] Pr ef er a bly the a xes a r e r es pectiv ely g uided by linea r
bea r ing s , W her ein the linea r bea r ing s a r e independently mov
a ble on one or mor e cir cula r pa th( s ) r ela tiv e to the body ,
W her ein the cir cula r pa ths a r e a r r a ng ed in pa r a llel to the pla ne
of the a r bitr a r y pla na r pa r a llel mov ement of the end- ef f ector
mount. This cons tr uction of the j oint element pr ov ides a n
impr ov ed k inema tics f or a lloW ing a n a r bitr a r y pla na r pa r a llel
mov ement in a pla ne of the end- ef f ector mount.
[ 0034 ] Pr ef er a bly , the linea r bea r ing s a r e mov a ble a long
one common cir cula r pa th. This pr ov ides f or a compa ct con
s tr uction, hoW ev er , dif f er ent cir cula r pa ths ca n a ls o be env i
s ioned, W her ein, f or exa mple, the r a ng e of the end- ef f ector
mount is s peci? ca lly incr ea s ed only in one dir ection.
[ 0035] Pr ef er a bly , the linea r bea r ing s of the exo s k eleton a r e
r es pectiv ely s uppor ted by a r ota tiona l bea r ing W ith r es pect to
the cir cula r pa th( s ) , W her ein the r ota tion a xes of the r ota tiona l
bea r ing s is a r r a ng ed per pendicula r to the pla ne of the a r bi
tr a r y pla na r pa r a llel mov ement of the end- ef f ector mount.
[ 0036] Pr ef er a bly the a xes compr is e s tr a ig ht link s tha t a r e
s uppor ted in cor r es ponding opening s of the linea r bea r ing s .
Pr ef er a bly , the r ota tiona l bea r ing s a r e connected to co- cen
tr ed r ing s .
[ 0037 ] Pr ef er a bly one or mor e or a ll of the linea r bea r ing s
of the exo s k eleton a r e a ctiv ely independently dr iv en a long the
cir cula r pa th( s ) by r es pectiv e motor s tha t pr ef er a bly dr iv e
s a id co- centr ed r ing s . This W a y , a huma n s j oint ca n be
a ctiv ely mov ed in its na tur a l complexity , compr is ing s uper
impos ed tr a ns la tiona l a nd r ota tiona l mov ements .
[ 0038] I n a nother embodiment one or mor e or a ll of the
linea r bea r ing s of the exo s k eleton a r e a ctiv ely independently
dr iv en a long the cir cula r pa th( s ) by ca ble ba s ed a ctua tor s tha t
pr ef er a bly dr iv e s a id co- centr ed r ing s . D if f er ent a ctua tion
a nd tr a ns mis s ion methods a r e pos s ible including electr ic
motor s , ca bles , s pr ing s , hy dr a ulics or the lik e.
[ 0039] I n a nother embodiment the j oint element is pa s
s iv ely dr iv en by a r r a ng ing the end- ef f ector mount of the
exos k eleton s o a s to dr iv e one or mor e or a ll of the linea r
bea r ing s by the mov ements of the huma n s j oint W ithin the
pla ne of the pla na r pa r a llel mov ement. The j oint element thus
a lloW s to be mov ed pa s s iv ely by tr a ns la tiona l mov ements of
the huma n s j oint. This ca n be us ed to mea s ur e the pos s ible
motions or f or ces or both of a huma n s j oint or to a pply a
r es is ta nce to the huma n s mov ements by mea ns of the exo s k
eleton.
D ec. 27 , 2012
[ 004 0] Pr ef er a bly one or mor e or a ll linea r bea r ing s a r e
r es is ted W ith r es is ting elements lik e s pr ing s . By thes e r es is t
ing elements the exos k eleton ca n f or exa mple be us es a s
mea s ur ing dev ice tha t mea s ur es under loa d or a s tr a ining
dev ice.
[ 004 1] Pr ef er a bly the exos k eleton f ur ther compr is es f or ce
a pplica tion mea ns f or exer ting a r es is ta nce to the induced
mov ement of the linea r bea r ing s . Thes e mea ns ca n a g a in be
helpf ul f or dia g nos tic, but in pa r ticula r a ls o f or tr a ining pur
pos es . I n a pa r ticula r embodiment the exos k eleton compr is es
a f or ce/tor q ue s ens or a tta ched to the end- ef f ector mount f or
mea s ur ing the f or ce/tor q ue exer ted to or by the huma n s j oint.
[ 004 2] Pr ef er a bly one or mor e linea r bea r ing s a r e a ctiv ely
independently dr iv en a nd the r ema ining linea r bea r ing s a r e
r es is ted W ith r es is ting elements lik e s pr ing s or br a k es . I n this
embodiment s ome deg r ees of f r eedom a r e a ctua ted a nd other
deg r ees of f r eedom a r e r es is ted W ith s pr ing s , br a k es or the
lik e.
[ 004 3] Pr ef er a bly the exos k eleton f ur ther compr is es mea
s ur ing dev ices f or mea s ur ing or r eg is ter ing the motion, f or ce
or their r ela tion of the huma n s j oint. This is us ef ul f or dia g
nos tic pur pos es a s W ell a s f or the deter mina tion of the
pr og r es s dur ing r eha bilita tion. By mea s ur ing the r ela tions hip
betW een huma n s j oint motion a nd huma n s j oint f or ce ca s es
lik e impeda nce/tonus mea s ur ements a r e pos s ible.
[ 004 4 ] The a bov e mentioned pr oblems a r e a ls o s olv ed by
us ing the a bov e de? ned exos k eleton f or a ctiv ely mov ing of a
huma n s j oint a nd/ or mea s ur ing a huma n s j oint mobility
a nd/or mea s ur ing a huma n s exer ted j oint f or ce a nd/ or mea
s ur ing the r ela tions hip betW een huma n s j oint motion a nd
huma n s j oint f or ce a nd/ or pa s s iv e a pplica tion of r es is ta nce to
mov ements of a huma n s j oint.
BR I EF D ESCR I PTI ON OF THE F I GUR ES
[ 004 5] I n the f olloW ing pr ef er r ed embodiments of the
inv ention a r e dis clos ed W ith r ef er ence to the ? g ur es :
[ 004 6] F I G. 1 depicts s houlder a nd elboW mov ements .
[ 004 7 ] F I G. 2 illus tr a tes the s ca pulohumer a l r hy thm a t the
s houlder
[ 004 8] F I G. 3 illus tr a tes the conceptua l des ig n of a n
embodiment of a exos k eleton a ccor ding to the inv ention, us ed
a s a s houlder - elboW exos k eleton.
[ 004 9] F I G. 4 is a s chema tic r epr es enta tion of a nter ior
pos ter ior tr a ns la tion dur ing ? exion/extens ion mov ement of
the k nee j oint.
[ 0050] F I G. 5 s hoW s a pa r t of a n embodiment of the exos k
eleton a ccor ding to the inv ention a tta ched to a huma n k nee.
[ 0051] F I G. 6 s hoW s a n embodiment of a j oint element of
the exos k eleton of F I G. 5 illus tr a ting the a xes a nd a ng les
us ed.
[ 0052] F I G. 7 A s hoW s the embodiment of the j oint element
of F I G. 6 in a top v ieW .
[ 0053] F I G. 7 B s hoW s the embodiment of the j oint element
of F I G. 6 in a s ide v ieW . The embodiment us es thr ee co
center ed r ing s tha t a r e dr iv en intema lly us ing a belt dr iv e
tr a ns mis s ion. The r ing s a r e s uppor ted a nd a lig ned us ing cus
tom br a ck ets ma nuf a ctur ed f r om a luminum a nd te? on ba ll
r oller s .
[ 0054 ] F I G. 8 s hoW s a nother embodiment of a j oint element
of a n exos k eleton a ccor ding to the inv ention W ith built in
f or ce/tor q ue s ens ing . Thr ee loa d cells a nd a tor q ue cell a r e
a tta ched to the end ef f ector to mea s ur e f or ces /tor q ues
a pplied.
US 2012/0330198 A1
[ 0055] F I G. 9 s how s a nother embodiment of a j oint element
of a n exos k eleton a ccor ding to the inv ention ha v ing s er ies
ela s tic a ctua tion of the s elf - a lig ning j oint element. D e? ec
tions of a complia nt mecha nis m a tta ched to the end ef f ector
mount a r e mea s ur ed to es tima te f or ces /tor q ues a pplied.
[ 0056] F I G. 10 s hoW s a nother embodiment of a j oint ele
ment of a n exos k eleton a ccor ding to the inv ention ha v ing a
v a r ia ble- impeda nce a nta g onis t a ctua tion of the s elf - a lig ning
j oint element v ia ca ble a ctua tor s .
[ 0057 ] F I G. 11 is a block dia g r a m of a n impeda nce contr ol
a r chitectur e.
[ 0058] F I G. 12 illus tr a tes a pos ition tr a ck ing per f or ma nce
of a contr oller a s tes ted us ing a ty pica l tr a j ector y f or the k nee
j oint. The pa th us ed to tes t pos ition tr a ck ing per f or ma nce is a
r oug h v is ua liZ a tion of tibia l tr a ns la tion of the k nee j oint. I n
the des ir ed pa th, the center of k nee j oint tr a ns la tes up to 15
mm dur ing a 90 k nee extens ion.
[ 0059] F I G. 13 s hoW s s chema tic r epr es enta tions of s ix dif
f er ent pa r a llel mecha nis ms tha t ca n be us ed a s j oint element
of a n embodiment of the exos k eleton a ccor ding to the inv en
tion.
[ 0060] F I G. 14 s hoW s a thr ee- dimens iona l v ieW including a
deta iled f r onta l v ieW D of a j oint element tha t is dr iv en by
ca ble ba s ed a ctua tor s .
D ESCR I PTI ON OF PR EF ER R ED
EMBOD I MEN TS
[ 0061] I n the f olloW ing pr ef er r ed embodiments of a n
exos k eleton f or huma ns is des cr ibed W ith r ef er ence to the
? g ur es . F ea tur es of one embodiment ca n be us ed in other
embodiments , too, if a pplica ble.
[ 0062] The exos k eleton 1 ca n be us ed a t ma ny huma n
j oints , including but not limited to k nee, s houlder , hip/pelv is ,
a nk le, a nd s pine.
a . D es ig n of the 3- D oF Self - Alig ning J oint Element
[ 0063] I n g ener a l a pa r a llel mecha nis m, a s illus tr a ted in
F I G. 13 in s ix v a r ia tions , ca n be us ed a s under ly ing mecha
nis m f or implementing a j oint element 2 f or a n exos k eleton 1
a ccor ding to the inv ention. The us e of s uch a k inema tics in a n
exos k eleton 1 f or r eha bilita tion, huma n a ug menta tion,
huma n mea s ur ement a nd ma ny other pur pos es ens ur es
er g onomy , la r g e r a ng e of motion f or j oint mov ements , the
a bility to deliv er a nd mea s ur e j oint tr a ns la tions tog ether W ith
j oint r ota tions , a lloW s a n ea s e of a tta chment due to no ca li
br a tion r eq uir ements a nd ma ny other a dv a nta g es . I t s hould be
noted tha t the exos k eleton ca n of cour s e a ls o be us ed f or
a nima ls .
[ 0064 ] A 3- R R P mecha nis m is pr ef er r ed a s the under ly ing
mecha nis m f o r implementa tion of s elf - a lig ning j oint ele
ment, s ince this mecha nis m is ca pa ble of s us ta ining a ll nec
es s a r y mov ements to cov er the complex mov ement of the
j oints W hos e a xis of r ota tion a r e not ? xed. I n pa r ticula r , the 3
R R P pla na r pa r a llel mecha nis m pos s es s es 3 D oF , W hich
mclude tr a ns la tions in pla ne a nd r ota tion a long per pendicula r
a xis . Tha nk s to its k inema tic s tr uctur e W ith clos e k inema tic
cha ins , the 3- R R P mecha nis m f ea tur es hig h ba ndW idth a nd
pos ition a ccur a cy W hen compa r ed W ith its s er ia l counter pa r ts .
Mor eov er , the W or k s pa ce of 3 - R R P mecha nis m cov er s a la r g e
r a ng e of r ota tions , W hich is neces s a r y f or implementa tion of
the s houlder j oint W hos e r ota tion ty pica lly exceeds 180 dur
ing ? exion a nd extens ion exer cis es . 3- R R P mea ns tha t the
D ec. 27 , 2012
mecha nis m compr is es 3 j oints , W her ein ea ch of the thr ee
j oints a lloW s r ota tion a r ound tW o dif f er ent r ota tiona l a xes a nd
a lloW s dis pla cement a long one pr is ma tic a xis . The under lin
ing indica tes tha t one r ota tiona l a xis is a ctua ted. I n the
exa mple s hoW n in F I G. 6, 7 A a nd 7 B the 3- R R P mecha nis m
compr is es thr ee a xes 16, 26, 36 tha t a r e r es pectiv ely g uided
by thr ee j oints ( bea r ing s 10, 20, 30) W hich r es pectiv ely r ota te
a r ound a v er tica l a xis thr oug h point O ca us ing cir cula r pa ths
14 , 24 , 34 of the bea r ing s 10, 20, 30 ( R ) , a dditiona lly r ota te
a r ound v er tica l r ota tiona l bea r ing s T2, 22, 32 ( R ) a nd
? na lly a lloW a linea r dis pla cement ( P) of link s 17 , 27 , 37
W ithin the bea r ing s 10, 20, 30. The link s 17 , 27 , 37 a r e
collinea r W ith the r es pectiv e a xes 16, 26, 36.
[ 0065] As it ca n be s een in F I G. 6 the 3- R R P mecha nis m
us ed in the j oint element 2 cons is ts of ? v e r ig id bodies 3, 18,
28, 38 a nd a s y mmetr ic body 4 . Body 3 r epr es ents the ? xed
f r a me, bodies 18, 28 a nd 38 ha v e s imple r ota tions a bout the
? xed link a bout point O, W hile the s y mmetr ic end ef f ector
mount 4 is a tta ched to bodies 18, 28 a nd 38 thr oug h linea r
bea r ing s 10, 20, 30 a nd r ota tiona l bea r ing 12, 22, 32 collo
ca ted a t points P, Q a nd R , r es pectiv ely .
[ 0066] The common out of the pla ne unit v ector is denoted
by k a nd ba s is v ector s of ea ch body a r e indica ted in F I G. 6.
I n the ? g ur e, the point O is ? xed in body 3, point P is ? xed in
body 28, point Q is ? xed in body 18, point R is ? xed in body
38 a nd point Z is ? xed in end ef f ector mount 4 .
[ 0067 ] D imens ions of the mecha nis m a r e de? ned a s f ol
loW s : The ? xed dis ta nce OP is de? ned a s 11, OO is de? ned a s
12 a nd OR is de? ned a s 13, W hile the dis ta nce Z P is de? ned a s
s 1, Z Q is de? ned a s s 2 a nd Z R is de? ned a s s 3. The a ng le
betW een the line 1 a nd ti v ector is q l, the a ng le betw een 1 i
a nd is q 2 a nd the a ng le betW een I a nd V a l is ( 13. All a ng les a r e
pos itiv e W hen mea s ur ed counter clock W is e.
[ 0068] F or the k inema tic a na ly s is , the inputs to the mecha
nis m a r e s et a s the a ng les q l, q 2 a nd q 3 ( ie the link s S, T a nd
V a r e a ctua ted) a nd their time der iv a tiv es . At the initia l con
? g ur a tion ea l v ector is pa r a llel to f 1. The output of the s y s tem
is de? ned a s the pos ition of the end- ef f ector mount point Z ,
W hen mea s ur ed f r om the ? xed point O a nd the or ienta tion of
body E, mea s ur ed W ith r es pect to body N . I n pa r ticula r , the
s ca la r v a r ia bles f or outputs a r e de? ned a s
w her e P02 is the pos ition v ector betW een points O a nd Z .
b. Kinema tics of the 3- R R P Mecha nis m
[ 0069] Both f or W a r d a nd inv er s e k inema tics of the exos k
eleton a r e der iv ed a t con? g ur a tion a nd motion lev els , r es pec
tiv ely .
l) Con? g ur a tion Lev el Kinema tics :
[ 007 0]
f r a mes , na mely K, L a nd M a r e de? ned a s : k _ [ extends f r om Z
To ea s e ca lcula tions , thr ee a uxilia r y r ef er ence
to P, K extends f r om Z to S a nd nTl extends f r om Z to R , W hile
US 2012/0330198 A1
13: 13: 53 : 53) . Us ing the a uxilia r y r ef er ence f r a mes , the v ec
tor loop eq ua tions tha t g ov er n the g eometr y of the mecha nis m
ca n be expr es s ed a s
( ty pica lly in 3) , thes e v ector eq ua tions y ield 6 independent
s ca la r eq ua tions , w hich f or m the ba s e f or s olution of con? g u
r a tion lev el k inema tics .
a ) Con? g ur a tion Lev el F or w a r d Kinema tics :
[ 007 2] Thr ee v ector eq ua tions tha t a r e der iv ed in the pr ev i
ous s ubs ection y ield to s ix nonlinea r s ca la r eq ua tions w ith s ix
unk now ns . Giv en q l, q 2 a nd q 3, s olv ing thes e nonlinea r eq ua
tions a na ly tica lly f or x, y a nd 6 ( a nd inter media te v a r ia bles s 1,
s 2 a nd s 3) y ields
b) Con? g ur a tion Lev el I nv er s e Kinema tics :
[ 007 3] Giv en x, y a nd 6, the inv er s e k inema tics pr oblem ca n
be s olv ed a na ly tica lly f or j oint r ota tions q l, q 2 a nd q 3 by us ing
the v ector cr os s pr oduct method s ug g es ted by Cha ce ( M. A.
Cha ce, D ev elopment a nd a pplica tion of v ector ma thema tics
f or k inema tic a na ly s is of thr ee- dimens iona l mecha nis ms ,
Ph. D . dis s er ta tion, Univ er s ity of Michig a n, 1964 ) a s
q l = M167 1) < 7 )
[ 12 = [ 2. 57 % < 8)
D ec. 27 , 2012
- continued
K3 : xs in( 0 y cos ( 0
2) Motion Lev el Kinema tics :
[ 007 4 ] Motion lev el k inema tic eq ua tions a r e der iv ed by
ta k ing the time der iv a tiv e of the v ector loop eq ua tions der iv ed
f or con? g ur a tion lev el k inema tics . Six independent s ca la r
eq ua tions ca n be obta ined by pr oj ecting the v ector eq ua tions
onto the n? a nd n3 unit v ector s .
a ) Motion Lev el F or w a r d Kinema tics :
[ 007 5] Giv en a ctua tor q l, q 2 a nd q 3, motion lev el f or w a r d
k inema tics x, y a nd 6 pr oblem ca n be s olv ed f or end- ef f ector
mount v elocities ( a long w ith inter media te v a r ia bles s 1 s 2 a nd
s 3) a s
b) Motion Lev el I nv er s e Kinema tics :
[ 007 6] Giv en the s olution of motion lev el f or w a r d k inema t
ics , the motion lev el inv er s e k inema tics pr oblem ca n be
US 2012/0330198 A1
s olv ed by tr iv ia l a pplica tion of linea r a lg ebr a ; hence, the
s olution is omitted f r om dis cus s ion due to s pa ce cons ider
a tions .
c. Embodiment of the Self - Alig ning J oint Element
[ 007 7 ] F I G. 7 s hoW s a s elf - a lig ning j oint element 2 of the
exos k eleton 1 ba s ed on the 3- R R P mecha nis m tha t ca n be
a pplied eg to k nee or s houldeTj oints . The r ing s of the ele
ment 2 18, 28, 38 a r e ma nuf a ctur ed f r om a luminum a nd ea ch
r ing 18, 28, 38 is s uppor ted W ith thr ee a uxilia r y pa r ts 50a ,
50b, 500 W ith thr ee ba ll s ha ped te? on r oller s 52a , 52b, 520. A
belt dr iv e tr a ns mis s ion is utiliZ ed to tr a ns f er poW er f r om
dir ect dr iv e motor s 15, 25, 35 to the r ing s 18, 28, 38 us ing
timing belts 11 tha t a r e r es pectiv ely ? xed to the a luminum
r ing s 18, 28, 38 a nd a luminum pulley s 13, 23, 33 tha t a r e
r es pectiv ely a tta ched to the tr a ns mis s ion a xle of ea ch dir ect
dr iv e motor 15, 25, 35. I n the cur r ent embodiment, the tr a ns
mis s ion r a tio is s et to 25 f or the s houlder a nd 5. 6 f or the k nee
j oint a pplica tion.
[ 007 8] The belts 11 a r e pla ced ins ide the r ing s 18, 28, 38,
s uch tha t the a ctua tor s of the r obot ca n be loca ted ins ide the
r ing s , decr ea s ing mecha nis m f ootpr int. I n contr a s t to dir ect
dr iv e a ctua tion, belt dr iv e pr ov ides tor q ue a mpli? ca tion W hile
s imulta neous ly ena bling concentr ic pla cement of the thr ee
r ing s 18, 28, 38. Belt dr iv es a r e pr ef er r ed due to their loW cos t
a nd W ides pr ea d a v a ila bility W ith v a r ious s iZ es a nd pr oper ties .
The mov ements of the r ing s 18, 28, 38 a r e tr a ns f er r ed to a n
upper pla na r pla ne by us ing a luminum link s 80, 90, 100 a nd
thes e a luminum link s 80, 90, 100 a r e mer g ed W ith link s 17 ,
27 , 37 , pr ef er a bly ca r bon ? ber tubes , v ia linea r a nd r ota tiona l
bea r ing s . F ina lly , the ca r bon ? ber tubes , tha t ena ble a loW
W eig ht a nd hig h s tif f nes s implementa tion of the end- ef f ector
mount 4 , a r e connected to the end- ef f ector mount 4 of the
j oint element 2 W ith 120 a ng le betW een ea ch tube 19, 29, 39.
[ 007 9] The exos k eleton is a ctua ted us ing dir ect- dr iv e
g r a phite- br us hed D C motor s tha t pos s es s 180 mN m continu
ous tor q ue output. D ir ect dr iv e a ctua tor s a r e pr ef er r ed s ince
they a r e hig hly ba ck - dr iv ea ble. Optica l encoder s a tta ched to
the motor s ha v e a r es olution of 2000 counts per r ev olution,
under q ua dr a tur e decoding . The r obot is des ig ned to f ea tur e a
s y mmetr ic s tr uctur e, s uch tha t it pos s es s es hig h k inema tic
is otr opy a nd ca n be a pplied to both lef t a nd r ig ht limbs .
[ 0080] A ? r s t pr ototy pe of the s elf - a lig ning j oint element
ha s a la r g e tr a ns la tiona l W or k s pa ce, cov er ing up to 120 mm
tr a ns la tions a long x a nd y a xes f or the s houlder or 180 mm
tr a ns la tions a long x a nd y a xes f or the k nee j oint a pplica tion,
r es pectiv ely . The s elf - a lig ning j oint element ca n a ls o s us ta in
in? nite r ota tions a bout the per pendicula r a xis .
[ 0081] F I G. 5 s hoW s the exos k eleton a tta ched to a huma n
k nee. Simila r ly , F I G. 3 illus tr a tes the s elf - a lig ning j oint ele
ment implemented in a s houlder - elboW exos k eleton.
[ 0082] F I G. 14 s hoW s a nother embodiment of a j oint ele
ment 2 tha t is dr iv en v ia ca ble ba s ed a ctua tor s . The a ctua tor s
( not s hoW n) dr iv e BoW den ca bles 60, 62, 64 tha t dr iv e r ing s
18, 28, 38 in a pulley lik e f a s hion. To this end the inner ca bles
of the BoW den ca bles 60, 62, 64 a r e g uided a r ound the outer
cir cumf er ence of the r ing s 18, 28, 38. As in the other embodi
ments the linea r bea r ing s 10, 20, 30 a r e a tta ched to the dr iv en
r ing s 18, 28, 38 v ia link s .
[ 0083] Of cour s e, the BoW den Ca bles 60, 62, 64 ca n be us ed
to tr a ns f er the mov ements of the end- ef f ector mount 4 to
s ens or s or r es is ting elements lik e s pr ing s or br a k es ( not
s hoW n) if the exo s k eleton is pa s s iv ely dr iv en by the huma n s
motion a tta ched to it.
D ec. 27 , 2012
d. Sy nthes is of a n I mpeda nce Contr oller
[ 0084 ] Tha nk s to us e of ba ck - dr iv ea ble motor s a nd utiliZ a
tion of loW tr a ns mis s ion r a tio, the j oint s elf - a lig ning j oint
element 2 a nd thus the exos k eleton 1 is hig hly ba ck - dr iv ea ble.
As a r es ult, it is pos s ible to implement a model- ba s ed open
loop impeda nce contr oller f or the s elf - a lig ning j oint element
2 contr olling inter a ction f or ces , a llev ia ting the need f or f or ce
s ens or s . The ov er a ll contr ol a r chitectur e us ed to contr ol the
dev ice is depicted in F I G. 11. N ote tha t to incr ea s e the ? delity
impeda nces r ender ed by the impeda nce contr oller , the end
ef f ector mount 4 ca n s till be eq uipped W ith a f or ce/tor q ue
s ens or 4 0, 4 1 ena bling implementa tion of clos ed- loop imped
a nce contr ol.
[ 0085] I n F I G. 11 q , q r epr es ent the a ctua l pos ition a nd
v elocity of the j oints , x a nd x d r epr es ent the a ctua l a nd des ir ed
ta s k s pa ce v elocities , F d denotes des ir ed f or ces a cting on the
s elf - a lig ning j oint element 2, J is the s elf - a lig ning j oint ele
ment J a cobia n ma tr ix, T a nd Td a r e the a ctua l a nd des ir ed
a ctua tor tor q ues , M is the j oint element ma s s ma tr ix, C a nd C
a r e the a ctua l a nd modeled centr if ug a l a nd Cor iolis ma tr ices ,
N a nd N a r e u? is the f eed- f or W a r d compens a tion ter m f r om
model- ba s ed dis tur ba nce es tima tor , W hile d r epr es ents the
phy s ica l dis tur ba nces a cting on the s y s tem. I n the contr ol
a r chitectur e, the mea s ur ed a ctua tor v elocities a r e multiplied
W ith the J a cobia n ma tr ix a nd the a ctua l end- ef f ector mount
v elocities a r e obta ined. The dif f er ence of the a ctua l a nd
des ir ed end- ef f ector mount v elocities a r e f ed to the imped
a nce contr oller a nd des ir ed f or ces a r e ca lcula ted. Then,
des ir ed f or ces a r e multiplied W ith the J a cobia n tr a ns pos e
ma tr ix a nd des ir ed j oint tor q ues a r e obta ined. The des ir ed
j oint tor q ues a r e a dded W ith the f eed- f or W a r d tor q ues es ti
ma ted us ing the dy na mic model of the j oint element, tha t is ,
Cor iolis , centr if ug a l a nd g r a v ity ma tr ices . Since dis tur ba nces
a cting on the j oint element a r e phy s ica l a nd cha ng es a ccor d
ing to the env ir onment, the tota l tor q ue a pplied to the phy s ica l
j oint element includes thes e pa r a s itic ef f ects . I f a f or ce s ens or
4 1 is a v a ila ble to mea s ur e the f or ces a pplied a t end- ef f ector
mount 4 , then the dif f er ence betW een the mea s ur ed a nd
des ir ed v a lues of the f or ces ca n be f ed to a f or ce contr oller ,
implementing a clos ed- loop contr oller .
[ 0086] I n or der to v er if y the pos ition tr a ck ing per f or ma nce
of the contr oller , it is tes ted us ing a ty pica l tr a j ector y f or the
k nee j oint. I n pa r ticula r , 90 r ota tion of the dev ice is com
ma nded s imulta neous ly W ith a 15 mm tr a ns la tion of the r ota
tion a xis . The r ef er ence s ig na l is comma nded a t a f r eq uency
of 0. 5 HZ , W hich ens ur es s uf ? ciently f a s t motion f or k nee
r eha bilita tion. F I G. 12 depicts the tr a ck ing per f or ma nce of
the contr oller s . F or the exper iment pr es ented, the R MS v a lues
of the er r or a r e ca lcula ted a s 1. 112% in tr a ns la tion a nd
0. 006% in r ota tion.
e. Exper imenta l Cha r a cter iZ a tion
[ 0087 ] Ta ble I pr es ents the cha r a cter iz a tion r es ults of a 3
R R P s elf - a lig ning j oint element. I ns ta nta neous pea k a nd con
ED 110115 end- ef f ector mount f or ces a long x a nd y dir ections a r e
deter mined a s 1 k N a nd 80 N , r es pectiv ely . Simila r ly , ins ta n
ta neous pea k a nd continuous end- ef f ector mount f or ces a long
the r ota tiona l a xis a r e f ound a s 17 0 N m a nd 12. 5 N m, r es pec
tiv ely . The end- ef f ector mount r es olutions a r e ca lcula ted to be
0. 3252 mm a long x, 0. 5633 mm a long y dir ections a nd 0. 0031
r a d on the r ota tiona l dir ection. The W or k s pa ce of the s elf
a lig ning j oint element 2 s pa ns a r a ng e f r om 60 mm to 60 mm
a long x a nd y dir ections , W hile the j oint element is ca pa ble of
per f or ming in? nite r ota tions a bout the per pendicula r a xis .
The s ta bility limits f or v ir tua l W a ll r ender ing a r e obs er v ed a s
50 k N /m a long x dir ection, 4 2 k N /m a long y dir ection a nd 1
US 2012/0330198 A1
k N /r a d on r ota tion. F ina lly , the cha r a cter iz a tion r es ults v er if y
tha t the s elf - a lig ning j oint element 2 is hig hly ba ck - dr iv ea ble
a nd tha t ca n be mov ed W ith a 3 N f or ce a long x a nd y dir ec
tions . As a r es ult of being ba ck - dr iv ea ble, the exos k eleton 1
compr is ing the j oint element 2 ca n ens ur e s a f ety ev en under
poW er los s .
TABLE I
D ec. 27 , 2012
da nt) a nd one tor q ue cell 4 0 is depicted in F I G. 8. Us ing the
loa d cells 4 1 a tta ched to r ig id link s , the ta s k s pa ce f or ces
a cting on the r obot ca n be ea s ily es tima ted by ca lcula ting the
component of the f or ce v ector a long ea ch link , W hile the
tor q ue a pplied to the end ef f ector 5 ca n be mea s ur ed dir ectly
us ing a tor q ue cell 4 0.
CHAR ACTER I Z ATI ON OF THE 3- R R P SELF - ALI GN I N G J OI N T
Cr iter ia X Y
I ns t. Pea k F or ce 1 [ k N 1 [ k N ] 17 0 [ N m]
Cont. F or ce 80 [ N ] 80 [ N ] 12. 5 [ N r n]
End- Ef f . R es ol. 0. 013 [ mm] 0. 022 [ mm] 0. 0007 [ r a d]
R ea ch. W or k s p. 60 to 60 [ mm] 60 to 60 [ mm 00 [ r a d]
V ir t. W a ll R end. 50 [ k N /m] 4 2 [ k N /m] 1 [ k N m/r a d]
Ba ck - dr iv ea bility 3 [ N ] 3 [ N ] 0. 25 [ N r n]
[ 0088]
ter iZ a tion r es ults of a 3- R R P k nee exos k eleton. I ns ta nta neous
pea k a nd continuous end- ef f ector mount f or ces a long x a nd y
dir ections a r e deter mined a s 24 6. 7 N a nd 18. 4 N , r es pectiv ely .
Simila r ly , ins ta nta neous pea k a nd continuous end- ef f ector
mount f or ces a long the r ota tiona l a xis a r e f ound a s 38. 2 N m
a nd 2. 85 N m, r es pectiv ely . Thes e f or ce v a lues ha v e a ls o been
exper imenta lly v er i? ed a t cr itica l points of the pr es cr ibed
W or k s pa ce.
[ 0089] The v a lues of the ca lcula ted end- ef f ector mount
r es olutions , of the W or k s pa ce s pa nned by the j oint element 2,
of the s ta bility limits f or v ir tua l W a ll r ender ing a nd of the
ba ck - dr iv ea bility cor r es pond to thos e of the g ener a l cha r a c
ter iZ a tion v a lues ( cf . a bov e) .
Simila r ly , ta ble I I pr es ents the exper imenta l cha r a c
TABLE I I
[ 0092] D ue to s ens or a ctua tion non- colloca tion, ther e
exis ts a n inher ent upper limit f or the clos ed loop g a ins of
explicit f or ce contr ol. Since the clos ed loop g a in is deter
mined a s a combina tion of the s tif f nes s of the tr a ns ducer a nd
the contr oller g a in, f or hig h s tif f nes s f or ce s ens or s , only loW
contr oller g a ins ca n be us ed in or der to pr es er v e the s ta bility
of the s y s tem. Hence, the f or ce contr oller becomes s loW a nd
its dis tur ba nce r es pons e ma y not be idea l. Ser ies ela s tic a ctua
tion ( SEA) is a f or ce contr ol s tr a teg y tha t tr a ns f er s the s tif f
nes s of the f or ce s ens or to the g a in of the contr oller s o tha t a
better contr oller per f or ma nce ca n be a chiev ed. Us e of a n SEA
f or f or ce contr ol is a dv a nta g eous , s ince it a llev ia tes the need
f or hig h- pr ecis ion f or ce s ens or s / a ctua tor s a nd a lloW s pr ecis e
contr ol of the f or ce exer ted by the a ctua tor thr oug h ty pica l
CHAR ACTER I Z ATI ON OF THE 3- R R P KN EE EXOSKF I F TON
Cr iter ia X Y
I ns t. Pea k F or ce 24 6. 7 [ N ] 213. 5 [ N ] 38. 2 [ N r n]
Ma x. Cont. F or ce 18. 4 [ N ] 16 [ N ] 2. 85 [ N m]
End- Ef f . R es ol. 0. 058 [ mm] 0. 100 [ mm] 0. 0031 [ r a d]
R ea ch. W or k s p. 60 to 60 [ mm 60 to 60 [ mm] 00 [ r a d]
V ir t. W a ll R end. 50 [ k N /m] 4 2 [ k N /m] 1 [ k N m/r a d]
Ba ck - dr iv ea bility 3 [ N ] 3 [ N ] 0. 25 [ N r n]
f . Built- in F or ce Sens ing , Ser ies - Ela s tic Actua tion a nd V a r i
a ble I mpeda nce Actua tion
[ 0090] This s ection pr es ents s ev er a l des ig n v a r ia tions of the
s elf - a lig ning j oint element 2 of the exos k eleton 1. I n pa r ticu
la r , F I G. 8 pr es ents a n embodiment des ig n W ith built in f or ce/
tor q ue s ens ing , the des ig n in F I G. 9 f ea tur es s er ies - ela s tic
a ctua tion a nd a v a r ia ble- impeda nce des ig n tha t utiliZ es
a nta g onis t a ctua tion is depicted in F I G. 10.
[ 0091] The f or ce s ens ing f or clos e- loop f or ce/impeda nce
contr ol is pos s ible by a tta ching a multi- a xis f or ce/tor q ue
( F / T) s ens or 4 0, 4 1 to the end- ef f ector mount 4 . On the other
ha nd, tha nk s to the k inema tic s tr uctur e of the s elf - a lig ning
mecha nis m, other loW - cos t s olutions ca n a ls o be imple
mented. F ir s tly , ins tea d of utiliZ ing a multi- a xis F /T s ens or ,
loW - cos t, s ing le- a xis f or ce a nd tor q ue cells ca n be embedded
to the end- ef f ector mount 4 of the mecha nis m. One s uch
embodiment W ith thr ee loa d cells 4 1 ( one of W hich is r edun
pos ition contr ol of the de? ection of the complia nt coupling
element. I n pa r ticula r , SEA intr oduces a complia nt element
betW een the a ctua tor a nd the env ir onment, then mea s ur es a nd
contr ols the de? ection of it. Tha t is , a n SEA tr a ns f or ms the
f or ce contr ol pr oblem into a pos ition contr ol pr oblem tha t ca n
be a ddr es s ed us ing W ell es ta blis hed motion contr ol s tr a teg ies .
Other bene? ts of SEAs include loW ov er a ll impeda nce of the
s y s tem a t the f r eq uencies a bov e the contr ol ba ndW idth W hich
a v oids ha r d impa cts W ith env ir onment. The ma in dis a dv a n
ta g e of SEAs is their loW contr ol ba ndW idth due to the inten
tiona l intr oduction of the s of t coupling element. The f or ce
r es olution of a n SEA impr ov es a s the coupling is ma de mor e
complia nt; hoW ev er , incr ea s ing complia nce decr ea s es ba nd
W idth of the contr ol s y s tem, tr a ding of f r es pons e time f or
f or ce a ccur a cy .
[ 0093] F I G. 9 pr es ents a n embodiment of the s elf - a lig ning
j oint element 2 W ith SEA. I n this embodiment, a complia nt
element 4 2 is pla ced betW een the link s 17 , 27 , 37 a nd output
US 2012/0330198 A1
5 of the 3- R R P mecha nis m a nd de? ection of this complia nt
mecha nis m is mea s ur ed a s loW - cos t mea ns of obta ining the
f or ces a nd tor q ues a cting on the j oint element 2. I n pa r ticula r ,
the complia nt body 4 2 in the ? g ur e is des ig ned a s a 3- R R R
pa r a llel mecha nis m, s ince this mecha nis m a lloW s tr a ns la ? ons
in pla ne a nd a r ota tion a long the per pendicula r a xis . Ther e
f or e, mea s ur ing the de? ections of the complia nt j oints 4 2 tha t
a r e a tta ched to end- ef f ector mount 4 , it is pos s ible to es tima te
a ll the f or ces a nd tor q ues a cting on the s elf - a lig ning j oint 2. I n
pa r ticula r , the ? xed f r a me ( end ef f ector mount 4 ) of the com
plia nt mecha nis m is a tta ched to the r ig id link s 17 , 27 , 37 a nd
the output of the complia nt j oint 4 2 is a tta ched to the output of
the 3- R R P mecha nis m ( end- ef f ector 5) . The j oints 4 2 of the
complTa nt mecha nis m a r e des ig ned a s hing e- notch j oints a nd
the s tif f nes s f unction of the j oints a nd the ta s k s pa ce s tif f nes s
of the complia nt mecha nis m is der iv ed a s des cr ibed in Ka ng
( B. H. Ka ng , J . - Y. W en, N . D a g a la k is , a nd] . Gor ma n, Ana ly
s is a nd des ig n of pa r a llel mecha nis ms W ith ? exur e j oints ,
R obotics , I EEE Tr a ns a ctions on, v ol. 21, no. 6, pp. 117 9
1185, 2005) . I ndependent j oint dis pla cements of the compli
a nt mecha nis m ca n be mea s ur ed us ing linea r encoder s a nd
g iv en the j oint s tif f nes s , end- ef f ector mount F I T ca n be
der iv ed. The r a ng e of the mea s ur ed f or ces depends on the
complia nt j oint des ig n, W hile the f or ce r es olution of the s y s
tem depends on the encoder r es olution.
[ 0094 ] W hile a dding complia nce to a n a ctua tor , dif f er ent
lev els of s tif f nes s a r e r eq uir ed f or v a r ious inter a ctions : Pr e
cis e pos ition contr ol ta s k s W ith g ood dis tur ba nce r ej ection
cha r a cter is tics r eq uir e a ctua tor s W ith hig h s tif f nes s , W hile
impa cts ca n be better r eg ula ted us ing a ctua tor s W ith loW
s tif f nes s . Ther ef or e, v a r ia ble s tif f nes s a ctua tor s ( V SAs ) ha v e
been intr oduced. V SAs a r e s pecia l ty pe of complia nt mecha
nis ms tha t f ea tur e a dj us ta ble s tif f nes s v ia contr olled s pr ing
lik e elements . W hile des ig ning V SAs , it is pr ef er a ble to be
a ble to a dj us t s tif f nes s independent of the con? g ur a tion of the
a ctua tor s . To a chiev e this g oa l, s ev er a l dif f er ent a ppr oa ches
ha v e been pr opos ed.
[ 0095] The mos t common a ppr oa ch to des ig n of v a r ia ble
s tif f nes s a ctua tor s is ins pir ed f r om huma n mus cles a nd uti
liZ es a nta g onis tic a ctua tion. I n one W a y of des ig ning a nta g o
nis tic a ctua tor s , tW o motor s a r e connected to s pr ing lik e
complia nt elements a nd thes e complia nt elements a r e con
nected to the output link . The oppos ite mov ement of thes e tW o
a ctua tor s cr ea tes compr es s ion f or ces on one element a nd
tens ion on the other . I t ha s been s hoW n in liter a tur e tha t if the
f or ce f unction of the s pr ing s a r e non- linea r ( in pa r ticula r , if it
is q ua dr a tic) , this conj ug a te a ctua tor mov ement does not
a f f ect the con? g ur a tion of the output link pos ition but
cha ng es its s tif f nes s . Simila r ly , if both a ctua tor s mov e in the
s a me dir ection, the con? g ur a tion of the output link is cha ng ed
pr es er v ing its s tif f nes s .
[ 0096] F I G. 10 depicts one s a mple embodiment of the v a r i
a ble impeda nce a ctua tion f or the s elf - a lig ning j oint element
2. I n this des ig n, ea ch of the thr ee dis k s is compos ed of a
combina tion of s ub- dis k s 17 0 W ith s pecia l edg es . The inner
s lots on the dis k s a r e us ed f or the a tta chment of tW o BoW den
ca bles 154 , 164 . The BoW den ca bles 154 , 164 a r e W or k ing
a ccor ding to the a nta g onis t pr inciple a nd ea ch ca ble ca n pull
the dis k up to 180 . The BoW den ca bles a r e a tta ched to non
linea r s pr ing s ( or mor e g ener a lly impeda nces ) 152, 162 to
ena ble mecha nica l v a r ia ble impeda nce a ctua tion v ia a ctua
tor s 150, 160.
D ec. 27 , 2012
1. An exos k eleton ( 1) f or huma ns compr is ing :
a ) a j oint element ( 2) , tha t inter a cts dir ectly or indir ectly
W ith a huma n s j oint v ia a n end- ef f ector mount ( 4 ) ,
W her ein
b) the end- ef f ector mount ( 4 ) is a r r a ng ed to per f or m a n
a r bitr a r y pla na r pa r a llel mov ement in a pla ne, a lloW ing
s uper impos ed tr a ns la tiona l a nd r ota tiona l mov ements of
the end- ef f ector mount ( 4 ) r ela tiv e to a body ( 3) of the
j oint element ( 2) .
2. The exos k eleton ( 1) a ccor ding to cla im 1 W her ein the
j oint element ( 2) compr is es a pa r a llel mecha nis m, pr ef er a bly
a 3- R PR , 3- R R R , 3- PR R , 3- R PP, 3- R R P or 3- PR P mecha
nis m.
3. The exos k eleton ( 1) a ccor ding to cla im 1, W her ein the
end- ef f ector mount ( 4 ) compr is es a t lea s t thr ee tr a ns la tiona l
a xes ( 16, 26, 36) , W her ein the a xes
a ) a r e r ig idly connected to the end- ef f ector mount ( 4 ) ;
b) a r e a r r a ng ed in pa r a llel to the pla ne of the a r bitr a r y
pla na r pa r a llel mov ement of the end ef f ector ; a nd
c) a r e a r r a ng ed ha v ing a n a ng le ( 19, 29, 39) to ea ch other .
4 . The exos k eleton ( 1) a ccor ding to cla im 3, W her ein the
end ef f ector compr is es thr ee tr a ns la tiona l a xes a nd the a ng le
( 19, 29, 39) betW een tW o a xes is 100 - 14 0 , pr ef er a bly 120 .
5. The exos k eleton ( 1) a ccor ding to cla im 1, W her ein the
j oint element ( 2) is s elf - a lig ning W ith r es pect to the huma n s
j oint tha t it inter a cts W ith.
6. The exos k eleton ( 1) a ccor ding to cla im 1, W her ein a xes
( 16, 26, 36) a r e r es pectiv ely g uided by linea r bea r ing s ( 10, 20,
30) , W her ein the linea r bea r ing s a r e independently mov a ble
on one or mor e cir cula r pa th( s ) ( 14 , 24 , 34 ) r ela tiv e to the
body ( 3) , W her ein the cir cula r pa ths ( 14 , 24 , 34 ) a r e a r r a ng ed
in pa r a llel to the pla ne of the a r bitr a r y pla na r pa r a llel mov e
ment of the end- ef f ector mount ( 4 ) .
7 . The exos k eleton ( 1) a ccor ding to cla im 6, W her ein the
linea r bea r ing s a r e mov a ble a long one common cir cula r pa th
( 14 , 24 , 34 ) .
8. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein the
linea r bea r ing s ( 10, 20, 30) a r e r es pectiv ely s uppor ted by a
r ota tiona l bea r ing ( 12, 22, 32) W ith r es pect to the cir cula r
pa th( s ) ( 14 , 24 , 34 ) , W her ein the r ota tion a xes ( 16, 26, 36) of
the r ota tiona l bea r ing s ( 12, 22, 32) is a r r a ng ed per pendicula r
to the pla ne of the a r bitr a r y pla na r pa r a llel mov ement of the
end- ef f ector mount ( 4 ) .
9. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein the
a xes ( 16, 26, 36) compr is e s tr a ig ht link s ( 18, 28, 38) tha t a r e
s uppor ted in cor r es ponding opening s of the linea r bea r ing s
( 10, 20, 30) .
10. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein the
r ota tiona l bea r ing s ( 12, 22, 32) a r e connected to co- centr ed
r ing s ( 18, 28, 38) .
11. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein one
or mor e or a ll of the linea r bea r ing s ( 10, 20, 30) a r e a ctiv ely
independently dr iv en a long the cir cula r pa th( s ) ( 14 , 24 , 34 ) by
r es pectiv e motor s ( 15, 25, 35) , tha t pr ef er a bly dr iv e s a id
co- centr ed r ing s ( 18, 28, 38) .
12. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein one
or mor e or a ll of the linea r bea r ing s ( 10, 20, 30) a r e a ctiv ely
independently dr iv en a long the cir cula r pa th( s ) ( 14 , 24 , 34 ) by
ca ble ba s ed a ctua tor s ( 150, 154 , 160, 164 ) tha t pr ef er a bly
dr iv e s a id co- centr ed r ing s ( 18, 28, 38) .
13. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein the
j oint element ( 2) is pa s s iv ely dr iv en by a r r a ng ing the end
ef f ector mount ( 4 ) s o a s to dr iv e one or mor e or a ll of the linea r
bea r ing s ( 10, 20, 30) by the mov ements of the huma n s j oint
W ithin the pla ne of the pla na r pa r a llel mov ement.
US 2012/0330198 A1 D ec. 27 , 2012
l 0
14 . The exos k eleton ( 1) a ccor ding to cla im 1, w her ein one 17 . Us e of a n exos k eleton ( 1) of cla im 1 f or
or mor e or a ll linea r bea r ing s ( 10, 20, 30) a r e r es is ted W ith a ) a ctiv ely mov ing of a huma n s j oint; a nd/or
r es 1s t1ng elements lik e s pr ing s or br a k es . b) mea s ur ing a huma n s j oint motion; a nd/Or
15. The exos k eleton ( 1) a ccor ding to cla im 6, W her ein one
or mor e linea r bea r ing s ( 10, 20, 30) a r e a ctiv ely indepen- d . h 1 . hi b h , . .
dently dr iv en a nd the r ema ining linea r bea r ing s ( 12, 20, 30) ) mea s ur ing t e 3, 310, 115 p etw een uma n S J olm
a r e r es is ted W ith r es is ting elements lik e s pr ing s or br a k es . mom n a nd hlumln 5 101m f or ce a nd/Or
16. The exos k eleton ( 1) a ccor ding to cla im 1, f ur ther com- e) Pa s s lv e Q PPhCa UOn of r es ls ta nce to mov ements of a
pr is ing mea s ur ing dev ices ( 4 0, 4 1, 4 2) f or mea s ur ing or r eg - huma n s 101m
is ter ing the motion, f or ce or their r ela tion of the huma n s
j oint * * * * *
c) mea s ur ing a huma n s exer ted j oint f or ce;