EXOSKELETON FOR UPPER ARM

Abstract

A rotational joint of intra-extra rotation for assistance of the movement of intra-extra rotation of a shoulder of a user. The rotational joint features a first circular guide arranged to rotate about a first rotation axis and a second circular guide arranged to rotate about a second rotation axis that is parallel to the first rotation axis. A support element is arranged to support the first and the second circular guides. The first and the second circular guide are pivotally connected by a conical wheel having a third rotation axis perpendicular to the first rotation axes and said conical wheel being pivotally constrained to the support element.

Claims

1. A support frame arranged to place an upper limb exoskeleton in a plurality of relative spatial positions with respect to an outer support, the support frame comprising: a containment shell; a weight balancing system comprising a slide; a kinematical chain comprising: a first link connected to the slide through a first rotational joint having a first rotation axis z, the slide arranged to allow a translation of the first rotational joint along the rotation axis z with respect to the containment shell; a second link connected to the first link through a second rotational joint having a second rotation axis z parallel to the first rotation axis z, the second link being connected to the upper limb exoskeleton by a third rotational joint having a third rotation axis parallel to the first rotation axis; wherein the upper limb exoskeleton is positionable in a plurality of relative spatial positions with respect to the containment shell.

2. The support frame of claim 1, wherein the slide is connected to at least one counterweight, the at least one counterweight having mass such that the slide maintains an equilibrium position along the first rotation axis z.

3. The support frame of claim 2, wherein the mass of the least one counterweight is a sum of the masses of the kinematical chain and of the upper limb exoskeleton.

4. The support frame of claim 2, wherein the slide is connected to the at least one counterweight by a pulley.

5. The support frame of claim 1, further comprising an engagement system arranged to engage with the support frame to the outer support, the engagement system being arranged for the support frame to be tied directly to a user's body.

6. An exoskeletal system for assistance of the movement of intra-extra rotation of a shoulder of a user comprising an upper limb exoskeleton having a rotational joint of abdo-adduction with a rotation axis x arranged in a horizontal plane passing through an anatomical joint of a shoulder of a user, and a support frame connected to the upper limb exoskeleton in a plurality of relative spatial positions with respect to an outer support, wherein the support frame comprises: a containment shell; a weight balancing system comprising a slide connected to at least one counterweight by a pulley; a kinematical chain comprising: a first link connected to the slide through a first rotational joint having a first rotation axis z, the slide arranged to allow a translation of the first rotational joint along the first rotation axis z with respect to the containment shell; a second link connected to the first link through a second rotational joint having a second rotation axis z parallel to the first rotation axis z, the second link being connected to a rotational joint of abdo-adduction of the upper limb exoskeleton by a third rotational joint having a third rotation axis parallel to the first rotation axis z.

7. The exoskeletal system of claim 6, wherein the containment shell is arranged in a plurality of relative spatial positions with respect to the rotational joint of abdo-adduction.

8. The exoskeletal system of claim 6, wherein the at least one counterweight has a mass equal to a sum of the masses of the kinematical chain and of the upper limb exoskeleton, wherein the slide maintains its own equilibrium position along the first rotation axis z.

9. The exoskeletal system of claim 6, wherein the support frame further comprises an engagement system arranged to engage with the support frame to the outer support, the engagement system being arranged for the support frame to be tied directly to a user's body.

10. The exoskeleton according to claim 6, wherein the slide is connected to the at least one counterweight, the at least one counterweight having a mass and the slide maintains an equilibrium position along the first vertical rotation axis.

11. The exoskeleton according to claim 10, wherein the slide is connected to the counterweight by a pulley.

12. The exoskeleton according to claim 6, wherein the second rotational joint of flexion/extension enables rotations of 360? about a respective elbow rotation axis, both clockwise and anti-clockwise.

13. The exoskeleton according to claim 12, wherein the rotational joint of abdo-adduction enables rotations of 360? about a respective second shoulder rotation axis, both clockwise and anti-clockwise.

14. The exoskeleton according to claim 6, wherein the first rotational joint facilitates a rotation of 1800 about said first rotation axis z for positioning said upper limb exoskeleton near left and right upper limbs of the user to assist the movement of both the left and right upper limbs of the user.

15. A support frame arranged to place an upper limb exoskeleton in a plurality of relative spatial positions with respect to an outer support, the support frame comprising: a containment shell; a slide; a kinematical chain comprising: a first link connected to the slide through a first rotational joint having a first rotation axis z, the slide arranged to allow a translation of the first rotational joint along the first rotation axis z with respect to the containment shell; a second link connected to the first link through a second rotational joint having a second rotation axis z parallel to the first rotation axis z, the second link being connected to the rotational joint of abdo-adduction of the upper limb exoskeleton by a third rotational joint having a third rotation axis parallel to the first rotation axis z; wherein the slide is connected to at least one counterweight, the at least one counterweight having mass such that the slide maintains an equilibrium position along the first rotation axis z.

16. The support frame of claim 15, wherein the slide is connected to the at least one counterweight by a pulley.

17. The support frame of claim 15, wherein the mass of the least one counterweight is the sum of the masses of the kinematical chain and of the upper limb exoskeleton.

18. The support frame of claim 15, wherein the first rotational joint is arranged to carry out a rotation of 1800 about the first rotation axis z.

19. The support frame of claim 15, wherein the containment shell is arranged in a plurality of relative spatial positions with respect to the rotational joint of abdo-adduction.

20. The support frame of claim 15, further comprising an engagement system arranged to engage with the support frame to the outer support, the engagement system being arranged for the support frame to be tied directly to a user's body.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0050] Further characteristic and/or advantages of the present invention are more bright with the following description of an exemplary embodiment thereof, exemplifying but not limitative, with reference to the attached drawings in which:

[0051] FIG. 1A shows an exemplary embodiment of the rotational joint of intra-extra rotation, according to the present invention, in a first configuration;

[0052] FIG. 1B shows an exemplary embodiment of the rotational joint of intra-extra rotation, according to the present invention, in a second configuration;

[0053] FIG. 2 shows a cross sectional view of an exemplary embodiment of the rotational joint of intra-extra rotation of FIGS. 1A and 1B:

[0054] FIG. 3 shows a cross sectional view of an alternative exemplary embodiment of an exemplary embodiment of the rotational joint of intra-extra rotation of FIGS. 1A and 1B;

[0055] FIG. 4 shows a perspective view of an exemplary embodiment of the exoskeleton, according to the present invention;

[0056] FIG. 5 shows a top plan view an exemplary embodiment of the exoskeleton, according to the present invention;

[0057] FIG. 6 shows a perspective view of an exemplary embodiment of the exoskeletal system, according to the present invention, comprising exoskeleton and support frame;

[0058] FIG. 7 shows a top plan view an exemplary embodiment of the system, according to the present invention, comprising exoskeleton and support frame;

[0059] FIG. 8A shows in a first perspective view the support frame;

[0060] FIG. 8B shows in a second perspective view the support frame;

[0061] FIG. 9 shows a perspective view of an exemplary embodiment of the exoskeletal system, according to the present invention, connected to a wheelchair,

[0062] FIG. 10 shows a perspective view of an exemplary embodiment of the exoskeletal system, according to the present invention, connected to a mobile support;

[0063] FIG. 11 shows a perspective view of an exemplary embodiment of the exoskeletal system, according to the present invention, where the engagement system allows to engage the frame directly to the body of a user.

DESCRIPTION OF A PREFERRED EXEMPLARY EMBODIMENT

[0064] With reference to FIGS. 1a, 1b, and 2, an exoskeleton 200 for assistance of the movement of intra-extra rotation of a shoulder of a user comprises a rotational joint of intra-extra rotation 100 having a first circular guide 110 arranged to rotate about a rotation axis r and a second circular guide 120 arranged to rotate about a rotation axis r parallel to the rotation axis r. The two guides 110,120 are held by a support element 130 that keeps the axes r e r in place by means of three rotating elements 131 and 132. In particular, the first circular guide 110 is held by three first rotating elements 131, whereas the second circular guide 120 is kept by three second rotating elements 132 arranged symmetrically, as shown in FIG. 1A.

[0065] Furthermore, the two circular guides 110,120 are pivotally connected by a conical wheel 140 having a rotation axis s perpendicular to rotation axes r and r, said conical wheel 140 being pivotally constrained to the support element 130.

[0066] The rotational joint 100 is configured in such a way that, when the conical wheel 140 makes a rotation ? about its rotation axis s, the first circular guide 110 makes a rotation ? about its rotation axis r and, at the same time, the second circular guide 120 makes a rotation q=??? about its rotation axis r.

[0067] Substantially, when the conical wheel 140 makes a rotation ? it is transmitted a rotation ?=k0, where k is the transmission ratio between the conical wheel 140 and each circular guide 110,120. Such rotation ?=k0 is transmitted in a direction to the first circular guide 110 and in the opposite direction at the other circular guide 120. This way, for each rotation ? of the conical wheel 140, the two circular guide 110,120 have a relative rotation of 2P.

[0068] In particular, in an exemplary embodiment of FIGS. 1A, 1B and 2 the first and the second circular guide 110,120 comprise respective conical portions 111,121 arranged to engage directly on the conical wheel 140 for transferring the rotational motion. In this case, then, the transmission ratio k is the ratio between the primitive radiuses of the conical wheel 140 and of the conical portions 111 and 121 of the circular guide.

[0069] In FIG. 3 is instead shown an exemplary embodiment of the rotational joint 100 where the conical wheel 140 does not enter in direct contact with the circular guide 110,120. In this case, in fact, the transmission is allowed owing to transmission elements 145 having each a conical portion arranged to enter in connection with the conical wheel 140 and flat portions arranged instead to transmit the movement to the circular guide 110,120. This way, it is possible to provide a transmission ratio k much higher than the one of the exemplary embodiment of FIGS. 1A, 1B and 2. Even in this exemplary embodiment the rotation axes r and r are maintained in place by three first rotating elements 131 and three seconds rotating elements 132.

[0070] With reference to FIGS. 4 and 5, in a preferred exemplary embodiment, the exoskeleton 200 comprises, in addition to the rotational joint of intra-extra rotation 100, a plurality of joints for the complete movement of the shoulder and of the limb of a user.

[0071] In particular, the exoskeleton 200 comprises a rotational joint of abdo-adduction 210 having a rotation axis x arranged in a horizontal plane n passing through an anatomical joint of a shoulder of a user, said rotational joint of abdo-adduction 210 arranged to assist a movement of abdo-adduction of the shoulder of the user.

[0072] It is then provided a rotational joint of flexion/extension 220 having rotation axis y arranged in the horizontal plane a, said rotational joint of flexion/extension 220 arranged to assist a movement of flexion/extension of the shoulder of the user.

[0073] The rotational joint of abdo-adduction 210 and a rotational joint of flexion/extension 220 are connected by a spacer joint 230 arranged in the horizontal plane n. In particular, the spacer joint 230 comprises two translational joints 231,231 similar to a car jack. The first translational joint 231 is arranged to adjust the distance between the rotational joint of abdo-adduction 210 and the rotational joint of flexion/extension 220 along a direction parallel to the rotation axis y, whereas the second translational joint 232 is arranged to adjust the distance between the rotational joint of abdo-adduction 210 and the rotational joint of flexion/extension 220 along a direction parallel to the rotation axis x.

[0074] Downstream of the rotational joint of flexion/extension 220 a second rotational joint of flexion/extension 240 is then provided having a rotation axis y parallel to said rotation axis y, said second rotational joint of flexion/extension 240 arranged to assist a movement of flexion/extension of the elbow of the user.

[0075] Between the rotational joint of flexion/extension 220 and the second rotational joint of flexion/extension 240 is placed the rotational joint of intra-extra rotation 100 so that the rotation axis s of the conical wheel 140 is parallel to the rotation axis y and to the rotation axis y.

[0076] This way, the rotational joint of intra-extra rotation 100 allows a relative rotation of 2? between the rotational joint of flexion/extension 220 and the second rotational joint of flexion/extension 240 about axes r and r, thus allowing to assist the movement of intra-extra rotation of a user's shoulder.

[0077] Furthermore, in an exemplary embodiment of FIGS. 4 and 5 can be provided a third spacer joint 250 arranged to adjust the distance between the rotation axis y and the rotation axis y, in order to adapt to different anthropometric measurements of the user's forearm.

[0078] In this exemplary embodiment two slides 260 are also provided arranged to be constrained to user's forearm, allowing an adjustment of the point of engagement between exoskeleton and limb on the basis of the particular anthropometric measurements of the user itself and allowing a passive adaptation during the movement of the limb.

[0079] With reference to FIGS. 6, 7, 8A and 8B, according to a further aspect of the invention, is claimed an exoskeletal system 300 comprising an exoskeleton 200, as described above, connected to a support frame 300.

[0080] In particular the support frame 310 comprises: [0081] a containment shell 311; [0082] a weight balancing system comprising a slide 315 connected to at least one counterweight 316 by a pulley 317; [0083] a kinematical chain 320 comprising: [0084] a first link 321 connected to the slide 315 through a first rotational joint 321 having a rotation axis z orthogonal to the rotation axis x, said slide 315 arranged to allow a translation of the first rotational joint 321 along the rotation axis z with respect to the containment shell 311; [0085] a second link 322 connected to first link 321 through a second rotational joint 322 having a rotation axis z parallel to the rotation axis z, said second link 322 being connected to the rotational joint of abdo-adduction 210 of the exoskeleton 200 by a third rotational joint 323 having a rotation axis z parallel to the rotation axis z;

[0086] This way, the rotational joint of abdo-adduction 210 of the exoskeleton 200 is disposable in a plurality of relative spatial positions with respect to the containment shell 311.

[0087] In particular, with reference even at FIGS. 9 and 10, an engagement system 330 can be provided arranged to engage the support frame 310 to an outer support, such as a wheelchair for the transport of disabled persons 400 or a movable support 400.

[0088] Alternatively, with reference to FIG. 11, the engagement system 330, instead of fastening the frame 310 to an outer support, allows engaging it directly to the body of a user.

[0089] Furthermore, the exoskeletal system 300 is completely symmetrical and adaptable to assistance of the movement both of the left and right upper limb. In fact the rotational joints 210, 220 and 240 can carry out rotations of 360? about the respective rotation axes x, y and y, both clockwise and anti-clockwise, whereas the rotational joint of intra-extra rotation 100 can carry out a relative rotation of 2? both clockwise and anti-clockwise. Furthermore, the rotational joint 321 can carry out a rotation of 1800 about its axis z, allowing to arrange the exoskeleton 200 near both the upper limbs of the user.

[0090] The foregoing description some exemplary specific embodiments will so fully reveal the invention according to the conceptual point of view, so that others, by applying current knowledge, will be able to modify and/or adapt in various applications the specific exemplary embodiments without further research and without parting from the invention, and, accordingly, it is meant that such adaptations and modifications will have to be considered as equivalent to the specific embodiments. The means and the materials to realize the different functions described herein could have a different nature without, for this reason, departing from the field of the invention, it is to be understood that the phraseology or terminology that is employed herein is for the purpose of description and not of limitation.