Abstract
Disclosed is a support device (100) and method for supplying supportive forces to a set of links in a main assembly (1). These links (1.A.1, 1.A.2, 1.A.3, 1.A.4) are connected to an assistive assembly (3), which is designed to be a representation of the main assembly (1), and the connection is used to maintain the representation, so that displacements and forces in the main assembly (1) result in displacements and forces in the assistive assembly (3), and the other way around. There are further force regulator units (3.E.1, 3.E.2) included in the assistive assembly (3), that apply forces on the assistive assembly (3) and through the connection thus also on the main assembly (1), but whose weight is not felt by the main assembly (1). These forces can be used to provide supportive or compensation forces to the main assembly (1), so the main assembly (1) can be a wearable exoskeleton that provides forces to support human wearers, or it can be an industrial robotic manipulator that appears weightless and whose payload is compensated.
Claims
1. A force regulator assembly, comprising a. a main assembly, comprising i. a base support, ii. one or more links wherein at least one is connected to the base support, said one or more links being arranged to move in at least two degrees of freedom, b. an assistive assembly comprising i. an assistive base support, ii. one or more assistive links wherein at least one is connected to the base assistive support, one or more assistive links being arranged to move in at least two degrees of freedom, iii. one or more force regulator units, comprising an energy storage unit, connected through a force transmission unit to an assistive link, c. a mechanical, unpowered connection between the main and assistive assemblies, i. wherein the assistive assembly being arranged so that this connection results in the assistive assembly being a representation of the main assembly, in that forces in the main assembly result in forces in the assistive assembly and the other way around, so that as a consequence the potential displacement of the main assembly resulting from these forces also leads to a displacement of the assistive assembly, and the other way around; and ii. wherein the assistive assembly being arranged so that this connection results in that the forces experienced by the link in the main assembly in one degree of freedom are a function of the position of the links in the one or more of the other degrees of freedom, which makes it possible to apply desired compensation forces, provided by the force regulator units, based on said functions.
2. A force regulator assembly according to claim 1, wherein said assistive assembly, is placed separately from and outside of the main assembly.
3. A force regulator assembly according to claim 1 or 2, wherein the forces experienced by the link in the main assembly in one degree of freedom are a function of the position of the links in the one or more of the other degrees of freedom, and the other way around, in a predetermined manner making it possible to apply desired compensation forces, provided by the force regulator units, for every position of the assembly.
4. A force regulator assembly according to claim 1, 2 or 3, wherein the one or more force regulator units apply forces on the assistive links, thereby potentially leading to displacements of the assistive assembly, wherein the weight of the force regulator unit is not felt by the main assembly due to its placement in the assistive assembly.
5. A force regulator assembly device according to claim 1, 2, 3 or 4 wherein there are a plurality of links, and/or a plurality of force regulator units, and wherein there are actuated degrees of freedom in the main assembly that are connected to representative degrees of freedom in the assistive assembly, and optionally also non-actuated degrees of freedom in which the main assembly can move that are not connected to degrees of freedom in the assistive assembly.
6. A force regulator assembly according to any of the preceding claims wherein at least one of the force regulator units is connected to the assistive base support with an arrangement, capable of providing a planar, preferably linear degree of freedom (and capable to cope with the resulting force thereon) such that the force regulator unit can follow the motion of the interface point where the force regulator unit interacts with the assistive link.
7. A force regulator assembly according to any of the preceding claims that is mechanically adjustable (without tools or without replacing parts), by adapting the link lengths and/or the stiffness of the links and/or by adjusting the placement of connection points for force regulator units so that the output forces of force regulator units can be adapted.
8. A force regulator assembly according to any of the preceding claims wherein mechanical switches are present that alter the force applied by the force regulator units and/or the connection point of the force regulators to the assistive assembly.
9. A force regulator assembly according to any of the preceding claims that does not contain any electronics, and is not externally powered.
10. A force regulator assembly according to any of the preceding claims 1 to 8 in which besides unpowered mechanical components also sensors, a control unit and one or more electronically controlled actuators are included to apply forces on the assistive assembly, to either serve as one or more powered force regulator units and/or to adapt the connection point of one or more unpowered force regulator units to the assistive assembly.
11. A force regulator assembly according to any of the preceding claims, wherein the assistive assembly is a scaled representation of the main assembly.
12. A force regulator assembly according to any of the preceding claims that serves as a wearable exoskeleton, wherein a. the base support is adapted (by a provided harness) for being connected to a person (wearer); and b. the force regulator units are adapted to apply compensation forces on the assistive assembly to support the person (wearer) in at least two degrees of freedom.
13. A force regulator assembly according to any of claims 1-11, that serves as part of a robotic manipulator, wherein a. the base support of the main assembly is mounted on a base; and b. the force regulator units are adapted to apply forces on the assistive links such that the resulting forces on the main links cause the main assembly to support its own weight and make it a self-supporting mechanical structure; and/or c. the force regulator units are adapted to apply additional forces so that the resulting forces on the main actuators can support a payload or compensate for external forces.
14. A force regulator assembly according to claim 13, wherein the main assembly has at least three actuated degrees of freedom in two different planes.
15. A force regulator assembly according to any of the previous claims, wherein the connection between the main and assistive assemblies is achieved through stiff mechanical connections through a motion around a single rotation point, enabling flexible placement of the assistive assembly.
16. A force regulator assembly according to any of the previous claims wherein the degrees of freedom in the main and assistive assemblies are actuated using hydraulic actuators, and the connection between the main and assistive assemblies is achieved by connecting the hydraulic actuators using flexible hydraulic lines.
17. A force regulator assembly according to any of the previous claims, wherein the degrees of freedom in the main and assistive assemblies are connected using a closed hydraulic system of hydraulic cylinders connected using flexible hydraulic lines.
18. Use of a force regulator assembly of any of the previous claims 1 to 17 in that desired forces are experienced by the main assembly, by applying compensation forces, provided by the force regulator units, based on functions describing the forces experienced by (the link in) the main assembly in one degree of freedom are a function of the position of the links in the one or more of the other degrees of freedom.
19. Use of a force regulator assembly of any of the previous claims 1 to 18 in that forces are experienced by (the links in) the main assembly, whereby these forces result from forces applied by the force regulator units on the assistive assembly, in particular these forces are selected in that the assistive assembly weight is not felt by the main assembly and/or the main assembly supports its own weight and make it a self-supporting mechanical structure.
20. The use of claim 18, wherein these forces are selected so that the resulting forces on the main actuators can support a payload or compensate for external forces.
21. The use of claim 18, 19 or 20, wherein at least one force regulator unit is provided per link in the main assembly or payload held by the main assembly, independent of the number of degrees of freedom, and number of links.
Description
SHORT DESCRIPTION OF DRAWINGS FOR WEARABLE EXOSKELETON
[0101] FIG. 1 is a perspective view of an embodiment of the support device in the form of an exoskeleton for the whole right arm.
[0102] FIG. 2 is a perspective view of an embodiment of the main assembly of the support device in the form of an exoskeleton for the whole right arm.
[0103] FIG. 3 is a perspective view of an embodiment of the assistive assembly of the support device in the form of an exoskeleton for the whole right arm.
[0104] FIG. 4 is another perspective view of an embodiment of the assistive assembly of the support device in the form of an exoskeleton for the whole right arm
DETAILED DESCRIPTION OF DRAWINGS FOR WEARABLE EXOSKELETON
[0105] The embodiments disclosed herein are merely examples. The figures are not necessarily to scale but they intend to teach the skilled person to carry out the present invention.
[0106] In FIG. 1, the support device (100) takes the form of an exoskeleton to assist the whole right arm of a human being thereby enabling the user to perform work and motion whilst fully supported by the support device (100) during the motion and at any static position or orientation. The support device (100) includes a main assembly (1) and an assistive assembly (3). The assistive assembly (3) of FIG. 1 is in fluid connection with the main assembly (1). The hydraulic connections between the hydraulic cylinders are not shown in FIG. 1 nor any of the Figures but are immediately clear for the skilled person. The hydraulic cylinders are arranged such that if the hydraulic cylinders of the assistive system (3) are actuated, this actuation in the form of position and force is transferred through the fluid connection to the corresponding hydraulic cylinders in the main assembly (1) and the other way around, such if the hydraulic cylinders of the main assembly (1) are actuated, this actuation is transferred to the corresponding cylinders in the assistive assembly (3). In FIG. 1, the assistive assembly (3) is a smaller scale representation of the of the main assembly (1) configured to represent the bidirectional movements of the main assembly (1) such that the main assembly (1) and the assistive assembly (3) move in an essentially synchronized way. For example, the assistive assembly (3) can be one half of the size of the main assembly, preferably even smaller, for example one third, one fourth, one fifth or even one tenth of the size of the main assembly (1) as shown in FIG. 1. The smaller the size of the assistive assembly (3) is, the better the user experience is.
[0107] Thus, the support device (100) shown in FIG. 1 allows for supporting lateral, forward and backward motions of the arm and of the forearm. A first interface ensures the connection with the arm. In FIG. 1, a second interface ensures the connection with a harness which is not shown. A harness is typically reversibly mounted on the torso of the human or a robot or any other target in need of assistive force. The main assembly (1) of FIG. 1 is further exemplified in FIG. 2. The assistive assembly (3) of FIG. 1 is further detailed in FIGS. 3 and 4.
[0108] FIG. 2 is a perspective view of the main assembly (1) of the embodiment shown in FIG. 1. The main assembly (1) comprises three hydraulic actuators (1.C.1, 1.C.2, 1.C.3) and four links (1.A.1, 1.A.2, 1.A.3, 1.A.4) that represent the first and the second links of the main assembly. The main assembly (1) further comprises four independent degrees of freedom (1.B.1, 1.B.2, 1.B.3, 1.B.4) ensuring the rotatable connection of the first and the second member resulting in a maximum of freedom of movement for the wearer. Motion about the rotation means are generally free.
[0109] The lengths of the links (1.A.1, 1.A.2, 1.A.3, 1.A.4) shown in FIG. 1 may vary. In general, the length of the links may vary widely and may reflect the needs of the specific application. The dimensions of the links shown in FIGS. 1 and 2 may be chosen to optimally support the ergonomics of the whole right human arm, in particular its shoulder, fore and back arm portions.
[0110] FIGS. 3 and 4 are perspective views of the assistive assembly (3) of the embodiment shown in FIG. 1. The assistive assembly (3) comprises three assistive actuators (3.C.1, 3.C.2, 3.C.3) that take the form of hydraulic cylinders in fluid connection with the actuators of the main assembly and four assistive links (3.A.1, 3.A.2, 3.A.3, 3.A.4). The assistive links and the assistive actuators are arranged in a way as to represent the links and the actuators of the main assembly (1) in a way that the main assembly (1) and the assistive assembly (3) move in an essentially synchronized way. The assistive assembly (3) shown in FIG. 3 further comprises a first and a second force regulator unit (3.E.1, 3.E.2). The force regulator units have a first and a second end. The first end of the force regulator units are the energy storage units which are movably connected to the horizontal frame of the support assembly (3.F.1) which is movably connected to the assistive base support (3.G.1). The force regulator units take the form of toothed cams with chains as force transmission units and with clock springs as energy storage units to provide the assistive force. The toothed cams are configured to engage with the chain and to redirect the assistive force in an axis parallel to the coronal plane to the corresponding interface point on the assistive links, resulting in a redirected force acting on the assistive actuator (3.C.1, 3.C.2, 3.C.3). Thus, the clock springs act as energy storage units or release units in support of the assistive assembly (3). A second end of the chain is connected to the bar linkages of the assistive assembly through a wire or other flexible connecting elements such as a rope, a cable, a snare, a string, a belt, a chain, but also through any inflexible connecting element. Whilst FIGS. 1, 3 and 4 show a clock spring, any other mechanical deformation springs, preferably metal springs, may also be used.
Short Description of Drawings for Industrial Manipulator
[0111] FIG. 5 is a perspective view of an embodiment of the support device in the form of an industrial parallel linkage manipulator.
[0112] FIG. 6 is a perspective view of an embodiment of the main assembly of the support device in the form of an industrial parallel linkage manipulator.
[0113] FIG. 7 is a perspective view of an embodiment of the assistive assembly of the support device in the form of an industrial parallel linkage manipulator.
[0114] FIG. 7.1 is a perspective view of an embodiment of force regulator assembly of the assistive device in the form of an spring, servo shift, gearbox and cam mechanism.
[0115] FIG. 8 is another perspective view of an embodiment of the assistive assembly of the support device in the form of an industrial parallel linkage manipulator.
[0116] FIG. 9 is a perspective view of an different force regulator embodiment of the assistive assembly of the support device in the form of an industrial parallel linkage manipulator.
[0117] FIG. 10 is a perspective view of an second force regulator embodiment of the assistive assembly of the support device in the form of an industrial parallel linkage manipulator.
[0118] FIG. 10.1 is a perspective view of an embodiment of force regulator assembly of the assistive device in the form of an pneumatic cylinder.
[0119] FIG. 11 is another perspective view of an second force regulator embodiment of the assistive assembly of the support device in the form of an industrial parallel linkage manipulator.
[0120] FIG. 12 is a section view of an embodiment of the support device in the form of an industrial parallel linkage manipulator.
[0121] FIG. 13 is a section view of an embodiment of the supporting device in the form of an industrial parallel linkage manipulator with a different force regulator concept.
DETAILED DESCRIPTION OF DRAWINGS FOR INDUSTRIAL MANIPULATOR
[0122] The embodiments disclosed herein are merely examples. The figures are not necessarily to scale but they intend to teach the skilled person to carry out the present invention.
[0123] In FIG. 5, the support device (200) takes the form of an industrial parallel manipulator to assist the whole payload (5) in its center of gravity thereby enabling the user to manipulate and position the payload (5) in five degrees of freedom without perceiving the static load enabling the option to perform work on the payload (5) while it is fully supported by the support device (200). The support device (200) includes a main assembly (4) and an assistive assembly (6). The assistive assembly (6) of FIG. 5 is in shaft connection with the main assembly (4). The shaft connections between the links are not clearly shown in FIG. 5 nor any of the Figures but are immediately clear for the skilled person. Shafts are arranged such that if the connected linkage of the assistive system (6) is actuated, this actuation is transferred through the shaft to the corresponding connected linkage in the main assembly (4) and the other way around. In FIG. 5, the assistive assembly (6) is a smaller scale representation of the of the main assembly (4) configured to represent the directional movements of the main assembly (4) such that the main assembly (4) and the assistive assembly (6) move in an essentially synchronized way. For example, the assistive assembly (6) may be equal in size or even bigger. Preferably one half of the size of the main assembly or smaller, for example one third, one fourth, one fifth or even one tenth of the size of the main assembly (4) as shown in FIG. 5. The smaller the size of the assistive assembly (6) is, the better the compacter the enclosure is.
[0124] Thus, the support device (200) shown in FIG. 5 allows for supporting five degree of freedom of the payload (5). A first interface ensures the connection with the payload (5). In FIG. 5, a second interface ensures the connection with a base which is not shown. The second interface to the base typically reversibly mounted on a frame, carrier, linear guide or directly on the infrastructure. The main assembly (4) of FIG. 5 is further exemplified in FIG. 6. The assistive assembly (6) of FIG. 5 is further detailed in FIGS. 7 and 8.
[0125] FIG. 6 is a perspective view of the main assembly (4) of the embodiment shown in FIG. 5. The main assembly (4) comprises three actuator shafts (4.C.1, 4.C.2, 4.C.3), which are connected to the top of baseplate (4.E) through multiple bearing houses, such the main actuator shafts (4.C.1, 4.C.2, 4.C.3) can rotate around on common rotation point. And eight transfer links (4.A.1, 4.A.2, 4.A.3, 4.A.4, 4.A.5, 4.A.6, 4.A.7, 4.A.8) that represent the parallel bar linkage mechanism of the main assembly. Transfer Link (4.A.8) is connected to the payload (5) through a quick release plate (4.D) shown in FIG. 6. The main assembly (4) further comprises six dependent rotation means (4.B.1, 4.B.2, 4.B.3, 4.B.4, 4.B.5, 4.B.6), one independent rotation (4.B.7) ensuring a combined motion freedom of the first interface resulting in a maximum of five degree of freedom movement for the operator
[0126] The lengths of the transfer links (4.A.1, 4.A.2, 4.A.3, 4.A.4, 4.A.5, 4.A.6, 4.A.7, 4.A.8) shown in FIG. 5 may vary. In general, the length of the bar linkages may vary widely and may reflect the needs of the specific application. The dimensions of the links shown in FIGS. 5 and 6 may be chosen to optimally support the ergonomics of the operator in the preformed handling.
[0127] FIGS. 7 and 8 are perspective views of the assistive assembly (6) of the embodiment shown in FIG. 5. The assistive assembly (6) comprises three assistive actuator shafts (6.C.1, 6.C.2, 6.C.3) which take the form of a shaft and are connected through a shaft coupling with the actuator shaft of the main assembly, such the main actuator shafts and corresponding assistive actuator shafts form an stiff torsion connection allowing position and force transfer. The assistive assembly (6) further comprises seven assistive transfer links (6.A.1, 6.A.2, 6.A.3, 6.A.4, 6.A.5, 6.A.6, 6.A.7). The assistive transfer links and the actuator shafts are arranged in a way as to represent the links and the actuator shafts of the main assembly (4) in a way that the main assembly (4) and the assistive assembly (6) move essential synchronically. The assistive assembly (6) shown in FIG. 7 further comprises a force regulator assembly (6.D). The force regulator assemblies, which is movable connected to a parallel plate (6.G) through an planar guide assembly (6.H) comprising linear guiding rails arranged in a way these enable motion in 2 degrees of freedom, such the force regulator assembly is free movable in a planar motion parallel to the baseplate (4.E). The parallel plate (6.G) is fixed connected to bottom side of the baseplate (4.E) through the housing (6.H) shown in FIG. 12. The force regulator assembly has a first and second end. The first end takes the form of a gearbox, crankshaft combination as force transmission units (6.I). A second end takes the form of a clock spring, servo load shift as energy storage units (6.J) which provide tunable assistive force. The energy storage unit (6.J) can be tunned trough shifting the servo load shift unit. This servo load shift unit is not disclosed in this patent as it will be protected in an additional patent. This unit has the capability to shift output torque will under load and at a standstill, without changing shifting resistance friction in correlation to applied output torque. In this embodiment the shifting is done by a sensor, switch or any other electric trigger, in combination with a controller and servo shift motor. The actuation of this shifting motion is not limited to electrical power components as mechanical applied shift force of any form will be sufficient to perform this shifting motion. The sensor, switch or trigger and controller are not clearly shown in FIG. 5 nor any of the Figures but are immediately clear for the skilled person. The sensor, controller and servo motor are arranged such that if the on/off sensor is triggered the controller positions servomotor and thereby also the shifts the servo load shift unit, in such a way the output torque is essential equal to the reaction force induced by the connected payload (5). The second end being the force transfer unit (6.1) is connected to the interface point (6.K) through a ball joint such the effect of this assistive force is perpendicular to the planar motion of the planar guide assembly (6.H). The resulting force perpendicular to the baseplate (4.E) acting on the interface point (6.K) is independent of this interface point (6.K) position. The assistive transfer links (6.A.1, 6.A.2, 6.A.3, 6.A.4, 6.A.5, 6.A.6, 6.A.7) and linear stage (6.L) redirect this force to the corresponding actuator shaft (6.C.1, 6.C.2, 6.C.3).
[0128] The interface point (6.K) is connected to top assistive transfer link (6.A.4) through a linear stage (6.L). The linear stage has a first and a second end. The first end being the base part with adjustment screw which is fixed connected to the top side of the transfer link (6.A.4). The second end being the adjustable slider which is fixed connected to the interface point (6.K) and connected to the first end trough a Bal screw and linear guides, such this second end can move in a linear direction. The actuation and repositioning of the linear stage (6.L) is not limited to electrical power components as mechanical applied torque of any form will be sufficient to perform this repositioning. The sensor, switch or trigger and controller are not clearly shown in FIG. 5 nor any of the Figures but are immediately clear for the skilled person. The sensor, controller and servo motor are arranged such that if the in/out sensor is triggered the controller positions servomotor and thereby also repositions the second end of the linear stage (6.L), such the distance between the interface point (6.K) and Transfer link (6.A.4) is essentially equal in correlation with the distance between the center of gravity of the payload (5) and the transfer link (4.A.4) Taking the universal scaling factor between main (4) and assistive (6) assembly into account.
[0129] Thus, the clock springs act as energy storage or release unit in support of the assistive assembly (6). Whilst FIGS. 5, 7 and 8 show a clock spring, any other springs, preferably metal springs, air spring, magnetic spring may also be used.
[0130] FIGS. 10 and 11 are perspective views of the assistive assembly (7) of the alternative embodiment for the force regulator assembly shown in FIG. 9. further comprises a force regulator assembly (7.D). The force regulator assembly, which is movable connected to a parallel plate (6.G) through an planar guide assembly (6.H) comprising linear guiding rails arranged in a way these enable motion in 2 degrees of freedom, such the force regulator assembly is free movable in a planar motion parallel to the baseplate (4.E). The parallel plate (6.G) is fixed connected to bottom side of the baseplate (4.E) through the housing (6.H) shown in FIG. 13. The force regulator assembly has a first and a second end. The first end being the energy storage unit (7.J) takes the form of a pneumatic cylinder, pressure regulator, high and low pressure tank, resulting in a adaptable constant force spring which provide the assistive force. The regulator and tanks are not clearly shown in FIGS. 10 and 11 nor any of the Figures but are immediately clear for the skilled person. The regulator and tanks are arranged such that the output force resulting from the cylinder is constant and essential equal to the reaction force induced by the connected payload (5). The second end being the force transfer unit (7.I) in this embodiment the tread end of the cylinder shaft. The cylinder shaft is connected to the interface point (6.K) through a ball joint such the effect of this assistive force is perpendicular to the planar motion of the planar guide assembly (6.H). The resulting force perpendicular to the baseplate (4.E) acting on the interface point (6.K) is independent of this interface point (6.K) position. The assistive transfer links (6.A.1, 6.A.2, 6.A.3, 6.A.4, 6.A.5, 6.A.6, 6.A.7) and linear stage (6.L) redirect this force to the corresponding actuator shaft (6.C.1, 6.C.2, 6.C.3).
[0131] Thus, the cylinder act as energy storage units or release units in support of the assistive assembly (7). A second end of the pneumatic cylinder is connected to the interface point (6.K) of the assistive assembly through a ball joint or other flexible connecting elements such as a rubber, multi joint, flexing, . . . . Whilst FIG. 9 show an air spring in the form of a cylinder filed with pressurized Air, any other mechanical deformation springs, preferably metal springs, may also be used.
Short Description of Drawings for Principal Devices
[0132] FIG. 14 is a perspective view of an embodiment of the support device including the main and assistive device in the form of an multi degree of freedom in combination with one link.
[0133] FIG. 15 is a perspective view of an embodiment of the support device including the main and assistive device in the form of a serial manipulator with two actuated degrees of freedom and two links.
[0134] FIG. 16 is a perspective view of an embodiment of the support device including the main and assistive device in the form of a parallel manipulator with two actuated degrees of freedom and 4 position interdepending links.
Short Description of Drawings for Wearable Exoskeleton Interaction With A Human
[0135] FIG. 17 is a perspective view of an embodiment of the support device in the form of an exoskeleton for both whole arms worn by a human with virtual rotation points and additional tilt compensation.
[0136] FIG. 18 is a left side overview of three possible tilting positions of the human's upper body while carrying an exoskeleton for both arms including the tilt compensation. This view shows the change in reference plane in relation to the gravitational field.
[0137] FIG. 19 is a perspective view of an embodiment of the supporting device in the form of an exoskeleton for both arms using virtual rotation points and waist belt interface to enhance the users comfort.
[0138] FIG. 20 is a partial back view of an embodiment of the support device in the form of an exoskeleton for the whole left arm worn by a human, showing the virtual rotation point of the exoskeleton in correlation to the human's shoulder ball joint.
[0139] FIG. 21 is a top view of an embodiment of the support device in the form of an exoskeleton for both whole arms worn by a human, showing the virtual rotation point of the exoskeleton in correlation to the human's elbow and shoulder joint.
DETAILED DESCRIPTION OF DRAWINGS FOR PRINCIPAL DEVICES
[0140] The embodiments disclosed herein are merely examples to clarify the method and principals. The figures are not necessarily to scale but they intend to teach the skilled person to carry out the present invention.
[0141] In FIG. 14, the support device (500) takes the form of an multi motion manipulator to assist a payload (11.D), more specific one link what can move in 2 different actuated rotational degrees of freedom while compensating for this payload (11.D) independent of the spatial position and orientation of this load, such the compensation force acting in any of the actuated degree of freedom is depending on the position of all actuated degrees of freedom. Thereby enabling the operator to perform work and motion of this payload (11.D) whilst fully supported by the support device (100) during the motion and at any static position or orientation. The support device (100) includes a main assembly (11) and an assistive assembly (12). The assistive assembly (12) of FIG. 14 is in fluid connection with the main assembly (11). The hydraulic connections between the hydraulic cylinders are not shown in FIG. 14 nor any of the Figures but are immediately clear for the skilled person. The hydraulic cylinders are arranged such that if the hydraulic cylinders of the assistive assembly (12) are actuated, this actuation in the form of position and force is transferred through the fluid connection to the corresponding hydraulic cylinders in the main assembly (11) and the other way around, such if the hydraulic cylinders of the main assembly (11) are actuated, this actuation is transferred to the corresponding cylinders in the assistive assembly (12), more specific hydraulic cylinder (11.C.1) of the main assembly (11) is back to back coupled trough a flexible hydraulic tube to cylinder (12.C.1) of the assistive assembly (12), all additional cylinders are coupled in a similar back to back principal way. In FIG. 14, the assistive assembly (12) is a smaller scale representation of the main assembly (11) configured to represent the bidirectional movements of the main assembly (11) such that the main assembly (11) and the assistive assembly (12) move in an essentially synchronized way. For example, the assistive assembly (12) can be one half of the size of the main assembly, preferably even smaller, for example one third the size of the main assembly (11) as shown in FIG. 14.
[0142] Thus, the support device (500) shown in FIG. 14 allows for supporting in 2 degrees of freedom. A first interface ensures the connection the payload which is not shown. A quick release plate is typically reversibly mounted on the top of the link. In FIG. 14, a second interface ensures the connection with a base plate (11.E) The main assembly (11) and assistive assembly (12) of FIG. 14 is further exemplified in detailed bellow.
[0143] The main assembly (11) of the embodiment shown in FIG. 14 comprises one link (11.A.1) and one baseplate (11.E) what represent the main structure parts of the main assembly. The main assembly (11) further comprises two independent degrees of freedom (11.B.1, 11.B.2) and two hydraulic actuators (11.C.1, 11.C.2,), ensuring the actuated rotatable connections of the main link to the baseplate resulting in a spherical motion freedom of the payload.
[0144] The assistive assembly (12) of the embodiment shown in FIG. 14 comprises two assistive actuators (12.C.1, 12.C.2) that take the form of hydraulic cylinders in fluid connection with the actuators of the main assembly. The assistive assembly (12) further comprises one assistive link (12.A.1), one assistive baseplate (12.E) two independent degrees of freedom (12.B.1, 12.B.2) ensuring the rotatable connections of the assistive link to the assistive baseplate. The assistive link, assistive degrees of freedom and the assistive actuators are arranged in a way as to represent the links and the actuators of the main assembly (11) in a way that the main assembly (11) and the assistive assembly (12) move in an essential synchronic way. The assistive assembly (12) shown in FIG. 14 further comprises a force regulator assembly (12.D). The force regulator assembly has a first and a second end. The first end of the force regulator assembly is the energy storage unit which is movably connected to the base beam (12.F) through a plainer degree of freedom parallel to the assistive baseplate (12.E) in the form of a bearing, linkage assembly (12.G). The base beam is fixed connected to the assistive baseplate (12.E). The force regulator assembly takes the form of a toothed cam and chain as force transmission units and a clock spring as energy storage units which provide the assistive force. The toothed cam is configured to engage with a chain and to redirect the assistive force in an axis perpendicular to the assistive baseplate (12.E) corresponding interface point (12.K) on the assistive link (12.A.1), resulting in a redirected force acting on the assistive actuator (12.C.1,12.C.2). Thus, the clock springs act as energy storage units or release units in support of the assistive assembly (12). A second end of the chain is connected to the bar linkages of the assistive assembly through a wire or other flexible connecting elements such as a rope, a cable, a snare, a string, a belt, a chain, but also through any inflexible connecting element.
[0145] In FIG. 15, the support device (600) takes the form of an serial manipulator to assist a payload (13.D), more specific two links what can move in 2 different actuated rotational degrees of freedom while compensating for this payload (13.D) independent of the spatial position and orientation of this load, such the compensation force acting in any of the actuated degree of freedom is depending on the position of all actuated degrees of freedom. Thereby enabling the operator to perform work and motion of this payload (13.D) whilst fully supported by the support device (600) during the motion and at any static position or orientation. The support device (600) includes a main assembly (13) and an assistive assembly (14). The assistive assembly (14) of FIG. 15 is in fluid connection with the main assembly (13). The hydraulic connections between the hydraulic cylinders are not shown in FIG. 15 nor any of the Figures but are immediately clear for the skilled person. The hydraulic cylinders are arranged such that if the hydraulic cylinders of the assistive assembly (14) are actuated, this actuation in the form of position and force is transferred through the fluid connection to the corresponding hydraulic cylinders in the main assembly (13) and the other way around, such if the hydraulic cylinders of the main assembly (13) are actuated, this actuation is transferred to the corresponding cylinders in the assistive assembly (14), more specific hydraulic cylinder (13.C.1) of the main assembly (13) is back to back coupled trough a flexible hydraulic tube to cylinder (14.C.1) of the assistive assembly (14), all additional cylinders are coupled in a similar back to back principal way. In FIG. 15, the assistive assembly (14) is a smaller scale representation of the main assembly (13) configured to represent the bidirectional movements of the main assembly (13) such that the main assembly (13) and the assistive assembly (14) move in an essentially synchronized way. For example, the assistive assembly (14) can be one half of the size of the main assembly, preferably even smaller, for example one third the size of the main assembly (13) as shown in FIG. 15.
[0146] Thus, the support device (600) shown in FIG. 15 allows for supporting in 2 degrees of freedom. A first interface ensures the connection the payload which is not shown. A quick release plate is typically reversibly mounted on the top of the link. In FIG. 15, a second interface ensures the connection with a base plate (13.E) The main assembly (13) and assistive assembly (14) of FIG. 15 is further exemplified in detailed bellow.
[0147] The main assembly (13) of the embodiment shown in FIG. 15 comprises two links (13.A.1, 13.A.2) and one baseplate (13.E) what represent the main structure parts of the main assembly. The main assembly (13) further comprises two independent degrees of freedom (13.B.1, 13.B.2) and two hydraulic actuators (13.C.1, 13.C.2), ensuring the actuated rotatable connections of the main links in correlation to each other and to the baseplate (13.E) resulting in a planar motion freedom of the payload perpendicular to the baseplate (13.E).
[0148] The assistive assembly (14) of the embodiment shown in FIG. 15 comprises two assistive actuators (14.C.1, 14.C.2) that take the form of hydraulic cylinders in fluid connection with the actuators of the main assembly. The assistive assembly (14) further comprises two assistive link (14.A.1, 14.A.2), one assistive baseplate (14.E) two independent degrees of freedom (14.B.1, 14.B.2) ensuring the rotatable connections of the assistive links to each other and the assistive baseplate (14.E). The assistive links, assistive degrees of freedom and the assistive actuators are arranged in a way as to represent the links and the actuators of the main assembly (13) in a way that the main assembly (13) and the assistive assembly (14) move in an essential synchronic way. The assistive assembly (14) shown in FIG. 15 further comprises a force regulator assembly (14.D). The force regulator assembly has a first and a second end. The first end of the force regulator assembly is the energy storage unit which is movably connected to the base beam (14.F) through a plainer degree of freedom parallel to the assistive baseplate (14.E) in the form of a bearing, linkage assembly (14.G). The base beam (14.F) is fixed connected to the assistive baseplate (14.E). The force regulator assembly takes the form of a toothed cam and chain as force transmission units and a clock spring as energy storage units which provide the assistive force. The toothed cam is configured to engage with a chain and to redirect the assistive force in an axis perpendicular to the assistive baseplate (14.E) corresponding interface point (14.K) on the assistive link (14.A.2), resulting in a redirected force acting on the assistive actuator (14.C.1,14.C.2). Thus, the clock springs act as energy storage units or release units in support of the assistive assembly (14). A second end of the chain is connected to the link of the assistive assembly through a wire or other flexible connecting elements such as a rope, a cable, a snare, a string, a belt, a chain, but also through any inflexible connecting element.
[0149] In FIG. 16, the support device (700) takes the form of an parallel manipulator to assist a payload (15.D), more specific fore interdependent links end to end connected to each other by 5 rotational degrees of freedom (15.B.1, 15.B.2, 15.B.3, 15.B.4, 15.B.5) where rotation point (15.B.1) and (15.B.2) are actuated and rotate around a mutual rotation axis. This interdependent movement of al the links leads to motion in 2 different degrees of freedom. payload (15.D) is compensated in a planar motion freedom parallel to the main baseplate independent of the spatial position and orientation of this load, such the compensation force acting in any of the actuated degree of freedom is depending on the position of all actuated degrees of freedom. Thereby enabling the operator to perform work and motion of this payload (15.D) whilst fully supported by the support device (700) during the motion and at any static position or orientation. The support device (700) includes a main assembly (15) and an assistive assembly (16). The assistive assembly (16) of FIG. 16 is in fluid connection with the main assembly (15). The hydraulic connections between the hydraulic cylinders are not shown in FIG. 15 nor any of the Figures but are immediately clear for the skilled person. The hydraulic cylinders are arranged such that if the hydraulic cylinders of the assistive assembly (16) are actuated, this actuation in the form of position and force is transferred through the fluid connection to the corresponding hydraulic cylinders in the main assembly (15) and the other way around, such if the hydraulic cylinders of the main assembly (15) are actuated, this actuation is transferred to the corresponding cylinders in the assistive assembly (16), more specific hydraulic cylinder (15.C.1) of the main assembly (15) is back to back coupled trough a flexible hydraulic tube to cylinder (16.C.1) of the assistive assembly (16), all additional cylinders are coupled in a similar back to back principal way. In FIG. 16, the assistive assembly (16) is a smaller scale representation of the main assembly (15) configured to represent the bidirectional movements of the main assembly (15) such that the main assembly (15) and the assistive assembly (16) move in an essentially synchronized way. For example, the assistive assembly (16) can be one half of the size of the main assembly, preferably even smaller, for example one third the size of the main assembly (15) as shown in FIG. 16.
[0150] Thus, the support device (700) shown in FIG. 16 allows for supporting in 2 degrees of freedom. A first interface ensures the connection the payload which is not shown. A quick release plate is typically reversibly mounted on the top of the link. In FIG. 16, a second interface ensures the connection with a base plate (15.E) The main assembly (15) and assistive assembly (16) of FIG. 16 is further exemplified in detailed bellow.
[0151] The main assembly (15) of the embodiment shown in FIG. 16 comprises two links (15.A.1, 15.A.2) and one baseplate (15.E) what represent the main structure parts of the main assembly. The main assembly (15) further comprises five independent degrees of freedom (15.B.1, 15.B.2, 15.B.3, 15.B.4, 15.B.5) and two hydraulic actuators (15.C.1, 15.C.2), ensuring the actuated rotatable connections of the main links in correlation to each other and to the baseplate (15.E) resulting in a planar motion freedom of the payload perpendicular to the baseplate (15.E).
[0152] The assistive assembly (16) of the embodiment shown in FIG. 16 comprises two assistive actuators (16.C.1, 16.C.2) that take the form of hydraulic cylinders in fluid connection with the actuators of the main assembly. The assistive assembly (16) further comprises fore assistive link (16.A.1, 16.A.2, 16.A.3, 16.A.4), one assistive baseplate (14.E) and five independent degrees of freedom (16.B.1, 16.B.2, 16.B.3, 16.B.4, 16.B.5) ensuring the rotatable connections of the assistive links to each other and the assistive baseplate (16.E). The assistive links, assistive degrees of freedom and the assistive actuators are arranged in a way as to represent the links and the actuators of the main assembly (15) in a way that the main assembly (15) and the assistive assembly (16) move in an essential synchronic way. The assistive assembly (16) shown in FIG. 16 further comprises a force regulator assembly (16.D). The force regulator assembly has a first and a second end. The first end of the force regulator assembly is the energy storage unit which is movably connected to the base beam (16.F) through a plainer degree of freedom parallel to the assistive baseplate (16.E) in the form of a bearing, linkage assembly (16.G). The base beam (16.F) is fixed connected to the assistive baseplate (16.E). The force regulator assembly takes the form of a toothed cam and chain as force transmission units and a clock spring as energy storage units which provide the assistive force. The toothed cam is configured to engage with a chain and to redirect the assistive force in an axis perpendicular to the assistive baseplate (16.E) corresponding interface point (16.K) which is located on the axis of the mutual rotation degree of freedom (16.B.5) between link (16.A.4) and link (16.A.3), resulting in a redirected force acting on the assistive actuator (16.C.1,16.C.2). Thus, the clock springs act as energy storage units or release units in support of the assistive assembly (16). A second end of the chain is connected to the link of the assistive assembly through a wire or other flexible connecting elements such as a rope, a cable, a snare, a string, a belt, a chain, but also through any inflexible connecting element.
[0153] Whilst FIG. 14 show a clock spring and hydraulic actuators, any other mechanical deformation springs and other type of actuating means may also be used, for example the once mentioned in this patent text.
[0154] The lengths of the all links shown in FIGS. 14,15 and 16 may vary. In general, the length of the links may vary widely and may reflect the needs of the specific application. The dimensions of the links shown in FIGS. 14,15 and 16 may be chosen to optimally support the payload of a target for a certain motion or position.
DETAILED DESCRIPTION OF DRAWINGS FOR WEARABLE EXOSKELETON
[0155] The embodiments disclosed herein are merely examples. The figures are not necessarily to scale but they intend to teach the skilled person to carry out the present invention.
[0156] In FIG. 17, the support device (800) takes the form of an exoskeleton to assist the whole left and right arm of a human being thereby enabling the user to perform work and motion whilst fully supported by the support device (800) during the motion and at any static position or orientation. The support device (800) includes a main assembly (17) and an assistive assembly (18). The assistive assembly (18) of FIG. 17 is in mechanical and fluid connection with the main assembly (17). The hydraulic connections between the hydraulic cylinders and torsion cable actuation rotation point (17.B.3) are not shown in FIG. 17 nor any of the Figures but are immediately clear for the skilled person. The hydraulic cylinders and torsion cable connection are arranged such that if the hydraulic cylinders and or torsion cable end of the assistive system (18) are actuated, this actuation in the form of position and force is transferred through the fluid and or flexible shaft connection to the corresponding hydraulic cylinders and rotation point in the main assembly (17) and the other way around, such if the hydraulic cylinders and flexible shaft of the main assembly (17) are actuated, this actuation is transferred to the corresponding cylinders and rotation point in the assistive assembly (18). In FIG. 17, the assistive assembly (18) is a smaller scale representation of the of the main assembly (17) configured to represent the bidirectional movements of the main assembly (17) such that the main assembly (17) and the assistive assembly (18) move in an essentially synchronized way.
[0157] Thus, the support device (800) shown in FIG. 17 allows for supporting lateral, forward and backward motions of both arms and of the forearms. A first interface (17.D.1) ensures the connection with the arm. In FIG. 17, a second interface (17.E) in the form of a waist which is typically reversibly mounted on the hips. Where the 2 additional actuated degrees of freedom per arm enable the device to compensate for torso position deviation in correlation to the gravitational field. The Tilt compensation of FIG. 17 is further exemplified in FIG. 18. Every orientation deviation of the torso in correlation to the gravitational field will result in a mismatch between the applied and desired assistive force. A fifth degree of freedom in combination with link four (17.A.4) and actuator (17.C.2) ensures the tilt position of the humans' upper body is detected and transferred to the assistive device. FIG. 18 shows the mismatch between Exoskeleton reference and the gravitational field reference due to upper body motion. One additional actuator is focused on detecting and transferring these reference angles shown in FIG. 18 to the assistive device, such the force regulators inside the assistive device (18) change their interaction angle with the assistive links in an essentially synchronized way with the position of the upper body. Thereby resulting in proper weight compensation of the upper and lower arm in correlation to the gravitational field. Note that FIG. 17 does not show a detailed version of the assistive device (18), but rather an enclosure in which the assistive device is contained. The enclosure is reversibly mounted on the waist belt. FIG. 17 therefore does not show a detailed view of the assistive device (18). The assistive device (18) enclosed shown in FIG. 17 is based on the same principles describes above.
[0158] The main assembly (17) comprises four hydraulic actuators (17.C.1, 17.C.2, 17.C.3, 17.C.4), one interface for a torsion cable and four links (17.A.1, 17.A.2, 17.A.3, 17.A.4). The main assembly (17) further comprises four independent degrees of freedom (17.B.1, 17.B.2, 17.B.3, 17.B.4) ensuring the rotatable connection (17.B.4) of the second (17.A.2) and the third link (17.A.3) where the rest resulting in a maximum of freedom of movement for the wearer.
[0159] The lengths of the links (17.A.1, 17.A.2, 17.A.3, 17.A.4) shown in FIG. 17 may vary. In general, the length of the links may vary widely and may reflect the needs of the specific application. The dimensions and orientation of the links and rotation points shown in FIG. 17 are chosen to create a virtual rotation point shown in FIGS. 20 and 21 to optimally support the ergonomics of the whole right and left human arm, in particular its shoulders, fore and back arms. Due to the use of these virtual rotation point the composition and range of motion are impacted in a positive way. Virtual rotation points enable parallel motion between the human's body and the exoskeleton while being located outside of the human and locally allow rotation around a different reference axis. The intersection points between the motion axis coming from the kinematic structure of the exoskeleton and the motion axis following from the humans kinematic structure, determines the location of this virtual rotation point.
[0160] In FIG. 19, the support device (900) takes the form of an exoskeleton to assist the whole left and right arm of a human being thereby enabling the user to perform work and motion whilst fully supported by the support device (900) during the motion and at any static position or orientation. The support device (900) includes a main assembly (19) and an assistive assembly (20). The assistive assembly (20) of FIG. 19 is in mechanical and fluid connection with the main assembly (19). The hydraulic connections between the hydraulic cylinders and torsion cable actuation rotation point (17.B.3) are not shown in FIG. 19 nor any of the Figures but are immediately clear for the skilled person. The hydraulic cylinders and torsion cable connection are arranged such that if the hydraulic cylinders and or torsion cable end of the assistive system (20) are actuated, this actuation in the form of position and force is transferred through the fluid and flexible shaft connection to the corresponding hydraulic cylinders and rotation point in the main assembly (19) and the other way around, such if the hydraulic cylinders and flexible shaft of the main assembly (20) are actuated, this actuation is transferred to the corresponding cylinders and rotation point in the assistive assembly (20). In FIG. 17, the assistive assembly (20) is a smaller scale representation of the of the main assembly (19) configured to represent the bidirectional movements of the main assembly (19) such that the main assembly (19) and the assistive assembly (20) move in an essentially synchronized way.
[0161] Thus, the support device (900) shown in FIG. 19 allows for supporting lateral, forward and backward motions of both arms and of the forearms.
[0162] The assistive assembly (20) of FIG. 19 is shown in an enclosure that is reversible mounted on the waist belt. FIG. 19 therefore does not show a detailed view of the assistive device (20). The assistive device (20) enclosed shown in FIG. 19 is based on the same principles describes above, meaning, it is a scaled representation of the main assembly including force regulator assemblies witch counteract gravitational forces acting on the human arms. These forces are transferred trough interfacing point (19.D), main linkages, main rotation points (19.B.1, 19.B.2, 19.B.3, 19.B.4), main actuators(19.C.1, 19.C.2), flexible shaft connected to and transferring from rotation point (19.B.3) and hydraulic couplings to the assistive assembly. this assembly transfers these gravitational forces trough the assistive links, Assistive degrees of freedom and a coupling to the force regulator and the other way around.
[0163] The main assembly (19) comprises two hydraulic actuators (19.C.1, 19.C.2), One interface for a torsion cable and tree links (19.A.1, 19.A.2, 19.A.3). The main assembly (19) further comprises four independent degrees of freedom (19.B.1, 19.B.2, 19.B.3, 19.B.4) ensuring a similar motion possibility in terms of degrees, such the wearable exoskeleton is not limiting any desired day tot day motion of the whole left and right arm.
