US 11,911,330 B2
Upper-body robotic exoskeleton
Ashish Warren Deshpande, Austin, TX (US); and Bongsu Kim, Austin, TX (US)
Assigned to Board of Regents, The University of Texas System, Austin, TX (US)
Filed by Board of Regents, The University of Texas System, Austin, TX (US)
Filed on Jun. 14, 2021, as Appl. No. 17/346,392.
Application 16/581,028 is a division of application No. 15/082,783, filed on Mar. 28, 2016, granted, now 10,463,560, issued on Nov. 5, 2019.
Application 17/346,392 is a continuation of application No. 16/581,028, filed on Sep. 24, 2019, granted, now 11,033,449.
Application 15/082,783 is a continuation of application No. PCT/US2014/058326, filed on Sep. 30, 2014.
Claims priority of provisional application 61/884,593, filed on Sep. 30, 2013.
Prior Publication US 2021/0298983 A1, Sep. 30, 2021
This patent is subject to a terminal disclaimer.
Int. Cl. A61H 1/02 (2006.01); B25J 9/00 (2006.01); A61F 2/54 (2006.01); A61F 2/76 (2006.01); A61F 2/78 (2006.01)
CPC A61H 1/02 (2013.01) [A61F 2/54 (2013.01); A61F 2/76 (2013.01); A61F 2/78 (2013.01); A61H 1/0274 (2013.01); A61H 1/0277 (2013.01); A61H 1/0281 (2013.01); B25J 9/0006 (2013.01); A61H 2201/1207 (2013.01); A61H 2201/1215 (2013.01); A61H 2201/1454 (2013.01); A61H 2201/1481 (2013.01); A61H 2201/165 (2013.01); A61H 2201/1614 (2013.01); A61H 2201/1616 (2013.01); A61H 2201/1619 (2013.01); A61H 2201/1621 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/1676 (2013.01); A61H 2201/5058 (2013.01); A61H 2201/5061 (2013.01); A61H 2201/5064 (2013.01); A61H 2201/5069 (2013.01)] 10 Claims
OG exemplary drawing
 
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; and
a fourth hinge joint, coupled to the third hinge joint, with a fourth axis of rotation to provide an additional degree of freedom to the robotic shoulder joint.