Exoskeleton and method of providing an assistive torque to an arm of a wearer

US10569413B2 · kind B2 · utility

Assignee

• Ekso Bionics Holdings, Inc. · US

Inventors

• Russ Angold · American Canyon, US
• James Lubin · Oakland, US
• Mario Solano · Richmond, US
• Chris Paretich · Larkspur, US
• Tom Mastaler · Hercules, US
• Claire Cunningham · Mission Hills, US
• Kevin P. Dacey · San Rafael, US

Key dates

• Filing date: Aug 9, 2018
• Grant date: Feb 25, 2020
• Expiry date: Aug 16, 2038

Classification

• Technology area (CPC B): Performing Operations; Transporting
• CPC primary: B25J19/02
• WIPO field: Handling
• WIPO sector: Mechanical engineering

Abstract

An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.