Upper-body robotic exoskeleton
A robotic exoskeleton comprising a back portion providing at least two degrees of freedom, two shoulder portions, each shoulder portion providing at least five degrees of freedom, two elbow portions, each elbow portion providing at least one degree of freedom, and two forearm portions, each forearm portion providing at least one degree of freedom. Associated robotic forearm joints and robotic shoulder joints are also addressed.
1. A robotic shoulder joint comprising:
a first hinge joint with a first axis of rotation configured to be oriented towards a center of a human shoulder joint, the first axis of rotation to be aligned with a frontal axis of a user;
a second hinge joint coupled to the first hinge joint, with a second axis of rotation oriented between 55° and 75° from the first axis of rotation and configured to be oriented towards the center of the human shoulder joint;
a third hinge joint coupled to the second hinge joint, with a third axis of rotation oriented between 55° and 75° from the second axis of rotation and oriented between 50° and 80° from the first axis of rotation, configured to be oriented towards the center of the human shoulder joint;
a fourth joint formed of a parallelogram linkage, the fourth joint coupled to the third hinge joint and having a fourth axis of rotation to provide a degree of freedom to the robotic shoulder joint; and
a fifth hinge joint, coupled to the fourth joint, with a fifth axis of rotation to provide an additional degree of freedom to the robotic shoulder joint.
2. The robotic shoulder joint of claim 1 , wherein at least one of the first hinge joint, the second hinge joint, the third hinge joint, the fourth joint, or the fifth hinge joint is coupled to an actuator to provide motive force to the at least one of the first hinge joint, the second hinge joint, the third hinge joint, the fourth joint, or the fifth hinge joint.
3. The robotic shoulder joint of claim 2 , wherein the actuator comprises a speed reduction mechanism to increase a torque of the at least one of the first hinge joint, the second hinge joint, the third hinge joint, the fourth joint, or the fifth hinge joint.
4. The robotic shoulder joint of claim 2 , wherein the actuator comprises at least one of a sensor to detect and control a torque of the actuator, a sensor to detect and control a position of the actuator, or combinations thereof.
5. The robotic shoulder joint of claim 2 , wherein the actuator comprises at least one of a gear box, a harmonic drive, or combinations thereof to increase a torque of the at least one of the first hinge joint, the second hinge joint, the third hinge joint, the fourth joint, or the fifth hinge joint.
6. The robotic shoulder joint of claim 1 , wherein the fourth axis of rotation is configured to be located within the human shoulder joint.
7. A robotic exoskeleton comprising:
a back portion providing at least two degrees of freedom;
two shoulder portions, each shoulder portion providing at least five degrees of freedom;
two elbow portions, each elbow portion providing at least one degree of freedom; and
two forearm portions, each forearm portion providing at least one degree of freedom;
wherein a first of the two shoulder portions includes:
a first joint with a first axis of rotation configured to be oriented towards a center of a human shoulder joint;
a second joint, coupled to the first joint, with a second axis of rotation configured to be oriented towards the center of the human shoulder joint;
a third joint, coupled to the second joint, with a third axis of rotation configured to be oriented towards the center of the human shoulder joint; and
a fourth joint, including a parallelogram linkage and coupled to the third joint, with a fourth axis of rotation to provide a degree of freedom of the at least five degrees of freedom of the first shoulder portion to the robotic exoskeleton.
8. The robotic exoskeleton of claim 6 , wherein the second axis of rotation is configured to be oriented between 55° and 75° from the first axis of rotation;
the third axis of rotation is configured to be oriented between 55° and 75° from the second axis of rotation and configured to be oriented between 50° and 80° from the first axis of rotation; and
the first of the two shoulder portions includes a fifth joint, coupled to the fourth joint, with a fifth axis of rotation to provide another degree of freedom of the at least five degrees of freedom of the first shoulder portion to the robotic exoskeleton.
9. The robotic exoskeleton of claim 8 , wherein at least one of the first, second, third, fourth, or fifth joints is coupled to an actuator to provide motive force to the at least one of the first, second, third, fourth, or fifth joints.
10. The robotic exoskeleton of claim 9 , wherein the actuator comprises a speed reduction mechanism to increase a torque of the at least one of the first, second, third, fourth, or fifth joints.
11. The robotic exoskeleton of claim 9 , wherein the actuator comprises at least one of a sensor to detect and control a torque of the actuator, a sensor to detect and control a position of the actuator, or combinations thereof.
12. The robotic exoskeleton of claim 9 , wherein the actuator comprises at least one of a gear box, a harmonic drive, or combinations thereof to increase a torque of the at least one of the first, second, third, fourth, or fifth joints.
13. The robotic exoskeleton of claim 8 , wherein the fourth axis of rotation is configured to be located within the human shoulder joint.