US 12,390,387 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 Feb. 22, 2024, as Appl. No. 18/583,985.
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 18/583,985 is a continuation of application No. 17/346,392, filed on Jun. 14, 2021, granted, now 11,911,330.
Application 17/346,392 is a continuation of application No. 16/581,028, filed on Sep. 24, 2019, granted, now 11,033,449, issued on Jun. 15, 2021.
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 2024/0315908 A1, Sep. 26, 2024
This patent is subject to a terminal disclaimer.
Int. Cl. A61H 1/02 (2006.01); A61F 2/54 (2006.01); A61F 2/76 (2006.01); A61F 2/78 (2006.01); B25J 9/00 (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 2201/1614 (2013.01); A61H 2201/1616 (2013.01); A61H 2201/1619 (2013.01); A61H 2201/1621 (2013.01); A61H 2201/1638 (2013.01); A61H 2201/165 (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)] 5 Claims
OG exemplary drawing
 
1. A robotic arm joint comprising:
a first hinge joint with a first axis of rotation;
a grounded linkage coupled to the first hinge joint;
a second linkage coupled to the grounded linkage via the first hinge joint and coupled to a third linkage via a second hinge joint;
a fourth linkage coupled to the third linkage via a third hinge joint and coupled to the grounded linkage via a fourth hinge joint;
a first pulley linkage coupled to the second linkage; and
a second pulley linkage coupled to the third linkage;
wherein the second linkage and the fourth linkage rotate with respect to the grounded linkage and translate the third linkage along a first curvature radius, and the second pulley linkage revolves around a center of revolution with the first curvature radius, the center of revolution adapted to be located inside of a human arm; and
wherein the first and second pulley linkages are coupled by a transmission such that as the second pulley linkage revolves around the center of revolution, the second pulley linkage simultaneously rotates about a center point of the second pulley linkage such that a same face of an arm portion is adapted to face the human arm as the second pulley linkage revolves around a second axis of rotation.