SE545187C2

SE545187C2 - Opening mechanism for opening a cuff of a garment, related method, related control unit and garment donning machine

Info

Publication number: SE545187C2
Application number: SE2151122A
Authority: SE
Inventors: Håkan Johan Löfholm; Johan Theander; Patrik Härnman; Stefan Johansson
Original assignee: Gloveu Hygiene Platforms Ab
Priority date: 2021-09-10
Filing date: 2021-09-10
Publication date: 2023-05-09
Also published as: SE2151122A1; WO2023038565A1; WO2023038565A8

Abstract

An opening mechanism arranged to open a cuff of a garment, a related method, a related control unit and a garment donning machine comprising the opening mechanism is presented. The opening mechanism including:- a first insertion member arranged to be controlled by rotation of first and second arms arranged to be rotatable around first and second axes, respectively, whereby the first insertion member is arranged to move linearly between a first centered position and a first opened position; and- a second insertion member arranged to be controlled by rotation of third and fourth arms arranged to be rotatable around third and fourth axes, respectively, whereby the second insertion member is arranged to move linearly between a second centered position and a second opened position; wherein- said first and second insertion members in the first and second centered positions are adjacent to each other to facilitate insertion into the cuff, and in the first and second opened positions are spread apart to open the cuff.

Description

Technical Field The present invention relates to an opening mechanism arranged to open a cuff of a garment, and to a method for controlling an opening mechanism. The present invention also relates to an opening device, and to a method for controlling an opening device. The present invention also relates to control units implementing these methods. The present invention also relates to a garment donning machine. The present invention aims at facilitating donning a garment on a part of a human body.

Background In this document, the embodiments of the present invention are often described in relation to gloves, such as e.g. disposable and/or sterile gloves. However, the present invention is not limited to usage in connection with gloves. Instead, the present invention may be generally utilized for donning essentially any type of garment on essentially any body part, as is clear from the claim such as e.g. socks on feet, wording.

Disposable and/or sterile gloves are today used by persons/employees in a number of different areas/professions, such as e.g. in the health care sector and the food industry. Disposable and/or sterile gloves are typically worn to protect the hands of the user and/or to prevent spreading of bacteria and other agents. Due to current stricter hygienic requirements, safety aspects and virus spreading prevention, the use of disposable and/or sterile gloves has been rapidly increasing, and is likely to continue to increase in the future.

Summary One disadvantage with using disposable and/or sterile gloves is that it may be difficult and time consuming to put them on, especially if the gloves are tight and/or the hands are damp. In addition, the risk of damaging a glove when it is being put on is high. These drawbacks may not be that severe for persons that only occasionally uses such gloves, for private use e.g. at home. However, a lot of persons working with disposable and/or sterile gloves need to regularly change gloves. For example, a nurse typically puts on a new pair of gloves for each new patient, and a person working behind a deli counter puts on a new pair of gloves for each new customer. Hence, in certain situations and/or professions, many glove changes are performed per day per person or employee. If each of these glove changes is time consuming, there are over time major time losses and thereby costs associated with the changing of gloves.

Also, it may be stressful for the glove user to struggle with time consuming glove changes, especially if other people are waiting for the glove user to perform a task.

The use of disposable and/or sterile gloves in environments with strict hygienic requirements poses additional challenges related to contamination. When such gloves are put on manually, the user typically needs to touch the outside of the gloves with his fingers. Although care is exercised, it may be difficult to avoid touching areas of the glove which is later going to come in contact with e.g. a patient or food. Hence, there is a high risk that gloves are contaminated as they are being put on.

To avoid the above-described disadvantages related to donning/applying and changing disposable and/or sterile gloves, machines which automatically apply gloves on the hands of a user have been developed. This type of machines is hereafter referred to as glove donning machines. Typically, a conventional glove donning machine uses vacuum or suction toinflate the glove for allowing the hand of the user to be inserted into the glove. One disadvantage with using vacuum or suction is the noise produced by the vacuum pump. In addition, it is difficult to control the suction power such that the glove can be opened properly for donning, without damaging the glove.

Other types of known glove donning machines rely on complex movements of mechanical parts and requires advance mechanical structures which may be prone to malfunction.

A general problem for such complex conventional glove donning machines is that they are not quick enough, i.e. the process/sequence for preparing a glove for donning is too time consuming, and causes delays when in use. Such complex mechanical solutions are also space consuming, wherefore they result in large size glove donning machines. Consequently, there is a need for an improved and less complex/expensive opening mechanism, which facilitates easier and more reliable glove donning.

An objective of embodiments of the present invention is to provide a solution which mitigates or solves the drawbacks and problems of prior art.

The above and further objectives are achieved by the subject matter of the independent claim. Further advantageous implementation forms of the present invention are defined by the dependent claims and other embodiments.

According to an aspect of the invention, the above mentioned and other objectives are achieved with an opening mechanism arranged to open a cuff of a garment; characterized by- a first insertion member arranged to be controlled by rotation of first and second arms arranged to be rotatable around first and second axes, respectively, whereby the first insertion member is arranged to move linearly between a first centered position and a first opened position; and - a second insertion member arranged to be controlled by rotation of third and fourth arms arranged to be rotatable around third and fourth axes, respectively, whereby the second insertion member is arranged to move linearly between a second centered position and a second opened position; wherein - the first and second insertion members in the first and second centered positions are adjacent to each other to facilitate insertion into the cuff, and in said first and second opened positions are spread apart to open the cuff.

An advantage with this opening mechanism is that an automated expansion of the cuff of the garment can be achieved which is both simple and fast. The linear movements of the first and second insertion members, cooperatively caused by the rotation of the first and second arms, and the third and fourth arms, respectively, allow the opening mechanism to be made both compact, non-expensive and robust. Also, the first and second insertion members are close together in their centered positions and can thereby easily be inserted into the opening/cuff of the garment.

Further, the first and second insertion members are separated from each other in their opened position such that the cuff of the garment is expanded, whereby donning of the garment, e.g. on a hand, is facilitated. The cuff of the garment is expanded by the linear movements of the first and second insertion members inside the garment, which efficiently and safely open the cuff to facilitate donning.

By the first and second insertion members being caused/controlled to their respective linear movements, from their first and second centered positions to their first and second opened positions, respectively, a substantial expansion of the cuff of the glove can be achieved in a simple and quick way. The first and second insertion members can hereby be easily inserted/entered into the cuff of the glove at reception of the glove, and can then quickly be separated such that donning of the glove on a hand is facilitated safely and with little delay. The well controlled linear movement of the first and second insertion members also results in a low risk for damaging the glove when opening it for donning. Hereby, the number of possible gloves donned per time unit is increased by the opening mechanism.

According to an embodiment of the invention, the linear movements of the first and second insertion members, respectively, follow a line/direction passing a first central point between the first and second axes, and a second central point between the third and fourth axes. Hereby, the movements of the first and second insertion members are well defined and predictable, such that the risk for malfunction and damaged garments is reduced. Also, the linear movements make it possible for a donning apparatus including the opening mechanism to be made compact.

According to an embodiment of the invention, - the first insertion member includes first and second elongated slits in which the first and second arms, respectively, are displaceably connected to the first insertion member; and - said second insertion member includes third and fourth elongated slits in which the third and fourth arms, respectively, are displaceably connected to the secondinsertion member.

By the usage of these slits, the displaceable connection between the arms and the insertion members, and thereby also the linear movement of the first and second insertion members, is provided by a robust and low complexity solution. An advantage with this embodiment is that the design, using the cooperatively controlled linear movements of the first and second insertion members, provides for quick, robust and substantial movements within a small space/cabinet of the apparatus, whereby a compact apparatus is provided. Further, synchronized and smooth linear movements of the first and second insertion members are achieved. Also, the first and second insertion members can by these linear movements easily be inserted into the opening/cuff of the garment at a garment handover in a garment receiving position, since the first and second insertion members are neither sideways displaced nor tilted.

According to an embodiment of the invention, the first, second, third and fourth arms include first, second, third and fourth rods/pins/shafts/sticks, respectively, arranged in, and to be displaceable within, the first, second, third and fourth elongated slits, respectively, thereby providing the displaceable connection to the first and second insertion members, respectively.

By arranging the rods/pins/shafts/sticks movable within the slits, respectively, the displaceable connection between the arms and the insertion members, and the linear movements of the first and second insertion members, are securely and robustly provided.

According to an embodiment of the invention, the first, second, third and fourth elongated slits each have a slitlength x allowing the first and second insertion members to perform their linear movements during rotation of the first, second, third and fourth arms.

The combination of the slits and the therein movable rods/pins/shafts/sticks, and the controlled rotating arms, provides the advantageous linear movements of the first and second insertion members. This is made possible since the rods/pins/shafts/sticks can move within their respective slit to compensate for the changing horizontal lengths between each axis and its respective insertion member during the arm rotations. Thus, the first and second insertion members are not pushed sideways or tilted during the rotation of the arms, because the rods/pins/shafts/sticks are moveable within the slits.

According to an embodiment of the invention, the slit length x is a function of an arm length L of the first, second, third and fourth arms, respectively, and of a rotational angle d for the first, second, third and fourth arms, respectively.

Such an adaption of the slit length in relation to the arm length L and the rotational angle d makes sure that well controlled linear movements of the first and second insertion members, having a predetermined and suitable length, are provided. In other words, the slit length x is chosen to compensate for the changing distances between the first and and the first insertion member, and second axes, respectively, between the third and fourth axes, and the second insertion member, respectively, when the first, second, third and fourth arms are rotated to cause the linear movements of the first and second insertion members.

According to an embodiment of the invention, each one of the first and second insertion members have a form including awidth adapted to a width of the cuff opening of the garment in a relaxed state.

Such a form of the first and second insertion members facilitates easy entry and insertion into the garment when the garment is handed over to the opening mechanism, and also facilitates donning of the garment.

According to an embodiment of the invention, each one of the first and second insertion members is provided with a groove arranged to receive a cuff edge of the garment.

The groove, which may correspond to, and/or may be formed to receive, the shape of the cuff edge, provides for a solid grip of the garment, without damaging the garment when gripping and/or stretching it. The first and second insertion members may also include two or more such grooves.

According to an embodiment of the invention, the first and second insertion members are arranged to releasably hold on to the garment in the first and second opened positions by stretching the cuff.

Hereby, the elasticity of the garment is utilized for securely gripping/holding the garment, and for opening the cuff for donning.

According to an embodiment of the invention, the first and second insertion members are arranged to releasably hold on to the garment in first and second waiting positions by stretching the cuff, the first waiting position lying, i.e. being located, between the first centered position and the first opened position, and the second waiting position lying, i.e. being located, between the second centered position and the second opened position.

By utilizing a waiting/ready/pre-donning position, in which the cuff is less stretched than in the fully opened position, the elasticity of the garment is preserved. If, for example there is a longer time period, e.g. over night, when donning is not performed, the elasticity of the cuff is better kept intact if the cuff is less stretched over time in the waiting positions than it would be in the opened positions.

According to an embodiment of the invention, the stretching is performed without deformation of the cuff.

Since the garment is not deformed, and is instead only temporally stretched, the risk for damaging the garment is hereby reduced.

According to an embodiment of the invention, the opening mechanism in the first and second opened positions, respectively, is arranged to receive a human body part between the first and second insertion members.

Donning of the garment is thus facilitated by the linear movement of the first and second insertion members, such that a user may insert e.g. his hand into a glove in the space between the first and second insertion members. Hereby, the first and second insertion members are out of the way for a hand as the garment is donned on the hand of a user. According to an embodiment of the invention, the garment is any one in the group of: - a glove; and - a sock.

The need for fast and clean donning of e.g. gloves is huge in many areas, such as health care, restaurants, food stores, and the food industry. This is because usage of gloves greatlyreduces the risk for spreading deceases, dirt and viruses, and reduces the risk for the user to getting his hands dirty. The garments may be sterile and/or disposable, and may include, but is not limited to, a polymer e.g. an elastomer, a plastic material, rubber and/or latex. According to an aspect of the invention, the above mentioned and other objectives are achieved with an opening device, characterized by - an opening mechanism according to anyone of the preceding aspects or embodiments; and - a path track, along which the opening mechanism is arranged to move between: - a receiving position at a first end of the path track, wherein the first and second insertion members of the opening mechanism are arranged to be in the first and second centered positions, respectively; and - a donning position at a second end of the path track, wherein the first and second insertion members of the opening mechanism are arranged to be in first and second waiting positions, or in the first and second opened positions, respectively.

An advantage with this opening device is that an automated receiving of the garment, expansion of the cuff of the garment, and donning of the garment on a body part can be achieved, which is both simple, fast, robust, and small in size. Donning of the glove on a hand is facilitated safely and with little delay. Hereby, the number of possible gloves donned per time unit is increase.

According to an embodiment of the invention, the path track is essentially L-shaped.

When the opening device is in use, it may hereby utilize gravity causing the garment to hang vertically at handover to the opening mechanism, which facilitates handover/reception of the garment. Thus, one first leg of the L-shaped path track, where the opening mechanism is positioned at handover, may be oriented essentially vertically. The L-shape may e.g. also provide for an ergonomically donning of the garment in an essentially horizontal direction, when the opening mechanism is positioned on the second leg of the L-shaped path track. According to an aspect of the present invention, a method for controlling an opening mechanism arranged to open a cuff of a garment is presented. The method includes: - controlling a first insertion member by rotating first and second arms around their first and second axes, respectively; and - controlling a second insertion member by rotating third and fourth arms around their third and fourth axes, respectively; such that - the first and second insertion members move linearly between first and second centered positions, respectively, wherein the first and second insertion members are adjacent to each other to be inserted into said garment, and first and second opened positions, respectively, wherein the first and second insertion members are spread apart to open the garment.

The method may be adapted in accordance with the above- mentioned embodiments of the opening mechanism, and has corresponding advantages as mentioned above for the opening mechanism.

According to an aspect of the present invention, a method for controlling an opening device is presented. The method including: - controlling an opening mechanism according to the opening mechanism method; and- controlling movements of the opening mechanism along a path track between: - a receiving position at a first end of the path track, wherein the first and second insertion members are arranged to be in the first and second centered positions, respectively; and - a donning position at a second end of the path track, wherein the first and second insertion members are arranged to be in first and second waiting positions, or in the first and second opened positions, respectively.

The method may be adapted in accordance with the above- mentioned embodiments of the opening mechanism and the opening device, and has corresponding advantages as mentioned above for the opening mechanism and the opening device.

According to an aspect of the present invention, a control unit is arranged for controlling the opening mechanism to perform the herein described opening mechanism method. According to an aspect of the present invention, a control unit is arranged for controlling an opening device to perform the herein described opening device method.

The control units may be adapted in accordance with the above- mentioned embodiments of the opening mechanism and the opening device, and has corresponding advantages as mentioned above for the opening mechanism.

According to an aspect of the present invention, a garment donning machine comprising at least one opening mechanism according to a herein described embodiment is also presented. the According to further aspects of the present invention, herein described methods are implemented by use of computerprogram products comprising instructions which, when the programs are executed by a computer, such as e.g. a herein mentioned control unit, cause the computer to carry out the steps of the methods according to any one of the herein described embodiments.

According to further aspects of the present invention, the herein described methods are implemented by use of computer- such readable storage media that, when executed by a computer, as e.g. a herein mentioned control unit, cause the computer to carry out the steps of the methods according to any one of the herein described embodiments.

Further applications and advantages of the present invention will be apparent from the following detailed description.

Brief Description of the Drawings The appended drawings are intended to clarify and explain different embodiments of the present invention, in which: Fig. la shows a front view of an opening mechanism in a centered position according to an embodiment of the invention; Fig. lb shows a side view of insertions members in a centered position according to an embodiment of the invention; Fig. 2a shows a front view of an opening mechanism in an opened position according to an embodiment of the invention; Fig. 2b shows a side view of insertion members in an opened position according to an embodiment of the invention; Fig. 3a shows a front view of an insertion member according to an embodiment of the invention; Fig. 3b shows movements of an insertion member according to an embodiment of the invention; Fig. 4a shows a front view of an insertion member according to an embodiment of the invention; Fig. 4b shows movements of an insertion member according to an embodiment of the invention;Fig. 5a shows a back view of an insertion member according to an embodiment of the invention; Fig. 5b shows a side view of an insertion member according to an embodiment of the invention; Fig. 6a shows opened positions for insertion members according to an embodiment of the invention; Fig. 6b shows waiting positions for insertion members according to an embodiment of the invention; Fig. 7a shows side views of insertion members according to an embodiment of the invention; Fig. 7b shows side views of insertion members according to an embodiment of the invention; Fig. 8 shows an opening device according to an embodiment of the invention; Fig. 9 shows a flow chart for a method according to an embodiment of the invention; shows Fig. a flow chart for a method according to an embodiment of the invention; and Fig. ll shows an apparatus/machine for donning. Detailed Description It should be generally understood that the figures are simplified and schematical figures, in which only the features necessary for understanding the principles of the illustrated apparatuses, mechanisms, methods and control units are shown. Many features have been omitted in the various figures, in order to enhance intelligibility. Thus, the figures are not complete illustrations of the herein described apparatuses, mechanisms, methods and control units. For example, cabinets, and a number of exterior and interior features have often been omitted, in order to more clearly illustrate the embodiments.

Figs. la-b and 2a-b schematically illustrate an opening mechanism 300 arranged for opening a cuff of a garment, such as e.g. a glove, thereby facilitating donning of such agarment on a part of a human body. The opening mechanism 300 includes first 3l0a and second 3l0b insertion members that are arranged for linear movements between first 3l4a and second 3l4b centered positions and first 3l6a and second 3l6b opened positions, respectively. With the first 3l0a and second 3l0b insertion members adjacent to each other in the first 3l4a and second 3l4b centered positions (Fig. la), the garment 120 is received. With the first 3l0a and second 3l0b insertion members in the first 3l6a and second 3l6b opened positions (Fig. 2a), the garment 120 is opened such that donning of the garment 120 on a body part is facilitated. The first insertion member 3l0a is moved linearly by rotation of first 3l2a and second 3l2b arms, whereby these rotations according to some embodiments are cooperatively controlled and/or synchronized. The first 3l2a and second 3l2b arms are rotatable around first A1 and second A2 axes, respectively. Hereby, the first 3l2a and second 3l2b arms together perform/provide the linear movement between the first centered position 3l4a and the first opened position 3l6a. Correspondingly, the second insertion member 3l0b is moved linearly by rotation of third 3l2c and fourth 3l2d arms being rotatable around third A3 and fourth AA axes, respectively. By these rotations, that according to some embodiments are coordinated/synchronized, the second insertion member 3l0b is also moved linearly between the second centered position 3l4b and the second opened position 3l6b.

In other words, the coordinated rotations of the first 3l2a, second 3l2b, third 3l2c, and fourth 3l2d arms result in coordinated linear movements of the first 3l0a and second 3l0b between their insertion members to and from each other, i.e. first 3l4a and second 3l4b centered positions, that are adjacent to each other, and their first 3l6a and second 3l6b opened positions, that are spread apart. By these coordinated linear movements, the cuff 122 of the garment 120, in which the first 3lOa and second 3lOb insertion members are inserted and spread apart, is opened to receive a body part of the user. For example, the cuff of a glove may hereby be opened to receive a hand. Further, the first axis A2 and the third axis A2 are arranged at a distance HA from each other, and the second axis A2 and the fourth axis A4 are arranged at the same distance HA from each other. Thus, the pair of first A2 and second A2 axes controlling the first insertion member 3lOa are arranged at a distance/height HA from the pair of third A2 and fourth A4 axes this controlling the second insertion member 3lOb. In use, will be a vertical distance according to some embodiments. According to an embodiment, illustrated schematically in Figs. la-b and 2a-b, the distance/height HA between these pairs of axes A2, A2 and A2, A4 corresponds essentially to an opening height H2 between the first 3lOa and second 3lOb insertion members in their first 3l6a and second 3l6b opened positions.

According to an embodiment schematically illustrated, the first axis A2 and the third axis A2, and the second axis A2 and the fourth axis A4, respectively, are instead arranged at a distance HA from each other, where this distance HA is smaller than the opening height H2 between the first 3lOa and second 3lOb insertion members in their first 3l6a and second 3l6b opened positions.

Thus, the pair of first A2 and second A2 axes controlling the first insertion member 3lOa are arranged at a distance/height HA from the pair of third A2 and fourth A4 axes controlling the second insertion member 3lOb, where the distance/height HA is less than the opening height H2; HA < H For example, the first axis A2 and the third axis A2, and the second axis A2 and the fourth axis A4, respectively, may bedislocated towards each other as compared to their positions shown in Figs. la-b and 2a-b, e.g. such that they are arranged adjacent to each other. Otherwise, this embodiment works/functions as explained for the embodiment shown in Figs. la-b and 2a-b.

According to another embodiment, the first axis AA and the third axis A3, and the second axis A2 and the fourth axis A4, respectively, are arranged at a distance HA from each other, where this distance HA is larger/longer than the opening height H1 between the first 3lOa and second 3lOb insertion members in their first 3l6a and second 3l6b opened positions; HA > H Thus, the first axis AA and the third axis A3, and the second axis A2 and the fourth axis A4, respectively, may be dislocated away from each other as compared to their positions shown in Figs. la-b and 2a-b. However, this embodiment otherwise works/functions as explained for the embodiment shown in Figs. la-b and 2a-b.

The linear movements of the first 3lOa and second 3lOb insertion members, respectively, i.e. the first 3lOa and second 3lOb insertion members being linearly moved between the first 3l4a and second 3l4b centered positions and the first 3l6a and second 3l6b opened positions, respectively, may in this document be understood/interpreted as the first 3lOa and second 3lOb insertion members follow essentially straight lines/directions, respectively.

Thus, the first insertion member 3lOa may, by the rotation of the first 3l2a and second 3l2b arms, be moved along an essentially straight line between the first centered position the 3l4a and the first opened position 3l6a. Correspondingly, second insertion member 3lOb is, by the rotation of the third 3l2c and fourth 3l2d arms, moved along an essentially straight line between the second centered position 3l4b and the secondopened position 3l6b.

These straight lines may coincide with a line C passing a first central point 3l8a in the middle between the first Ai and second A2 axes, and a second central point 3l8b in the middle between the third A3 and fourth AA axes, as illustrated in Figs. la and 2a. The rotational movements of the first 3l2a, second 3l2b, third 3l2c and fourth 3l2d arms, respectively, described in this document may be provided by a mechanical rotation means, which is reliable and dependable. The rotational movements of the first, second, third and fourth arms, respectively, may also be provided with an electrical rotation means which requires little maintenance. The movements may also be provided by an electromechanical combination of electrical and mechanical means, e.g. an electrical motor and mechanical gears.

As schematically illustrated in Figs. 3a-b and 4a-b, the first insertion member 3lOa, according to an embodiment, includes first 320a and second 320b elongated slits. In these first 320a and second 320b slits, the first 3l2a and second 3l2b arms, respectively, are displaceably/movably/slidably connected to the first insertion member 3lOa. Correspondingly, the second insertion member 3lOb includes third 320c and fourth 320c elongated slits in which the third 3l2c and fourth 3l2d arms, respectively, are displaceably/movably/slidably connected to the second insertion member 3lOb. According to an embodiment, the displaceable connections of the first 3l2a and second 3l2b, and the third 3l2c and fourth l32d arms to the first 3lOa and second 3lOb insertion members, respectively, are provided by first 322a, second 322b, third322c and fourth 322d rods that are arranged/fastened movable within the first 320a, second 320b, third 320c and fourth 320d slits, respectively.

More in detail, the first arm 3l2a includes a first rod 322a arranged within the first slit 320a, the second arm 3l2b includes a second rod 322b arranged within the second slit 320b, the third arm 3l2c includes a third rod 322c arranged within the third slit 320c, and the fourth arm 3l2d includes a fourth rod 322d arranged within the fourth slit 320d. Hereby, the displaceable connections between the first 3l2a and second 3l2b, and the third 3l2c and fourth 3l2d arms and the first 3lOa and second 3lOb insertion members, respectively, are provided.

As illustrated e.g. in Figs. la, 2a, 3b and 4b, the rods move from one end of the slits to the other end of the slits when the first 3lOa and second 3lOb insertion members linearly move between the first 3l4a and second 3l4b centered positions and the first 3l6a and second 3l6b opened positions, respectively. The possibility for these rods to move within the respective slits makes it possible for the first 3lOa and second 3lOb insertion members to move linearly between their centered 3l6b, positions 3l4a, 3l4b and their opened positions 3l6a, respectively, when the first 3l2a, second 3l2b, third 3l2c and fourth 3l2d arms are rotated. This linear movement can hereby also be performed without sideways moving or tilting the first 3lOa and second 3lOb insertion members. According to an embodiment, the first 320a, second 320b, third 320c and fourth 320d elongated slits each have a slit length x, where this length x is chosen such that the linear movements of the first 3lOa and second 3lOb insertion members second 3l2b, can be performed when the first 3l2a, third 3l2cand fourth 3l2d arms are rotated around their respective axes A¿, A2, A3, A4, respectively. The length x of the slit allows the rod in each slit to move from one end of the slit to the other end during the rotation of the arms, as is schematically illustrated in Figs. 3b and 4b. Hereby, the first 3lOa and second 3lOb insertion members are not pushed away sideways during the rotation of the arms, which results in their linear movements from their centered positions 3l4a, 3l4b to their opened positions 3l6a, 3l6b, and vice versa.

According to an embodiment, the slit length x is a function of an arm length L of the first 3l2a, second 3l2b, third 3l2c and fourth 3l2d arms, respectively, and of a rotational angle d (denoted "Alpha" in the figures) for the first 3l2a, second 3l2b, third 3l2c and fourth 3l2d arms around their axes, when the first 3lOa and second 3lOb insertion 3l4b and respectively, members move between their centered positions 3l4a, their opened positions 3l6a, 3l6b. According to an embodiment, the respective slit length x may be expressed as: x = L * cos d; wherein L = the distance between the rotational centre (axis) of the arm and the rod (the point where the rod is in contact with the insertion member); and d = the rotation angle for the arm when the insertion member move between the centered and opened positions.

According to an embodiment, as schematically illustrated in Fig. 5a for the first insertion member 3lOa, the first 3lOa and second 3lOb insertion members have a form including a width W1 of a tongue 330a to be inserted into the cuff 122, wherein the width W1 is adapted to a width WC of the cuff opening of the garment 120 in a relaxed state.

According to an embodiment, the first 310a and second 310b insertion members have an asymmetric form. More in detail, a cross section of the first 310a and second 310b insertion members, respectively, may on the outer side facing the garment to be donned have a convex shape, as shown in Fig. 5a. The inner side of the first 310a and second 310b insertion members, respectively, facing a hand on which a garment is to be donned, may have a concave shape. The first 310a and second 310b insertion members, respectively, may thus have a cross section shape corresponding to the cross section of a classical shoehorn.

According to an embodiment, the first 310a and second 310b insertion members are provided with first 332a and second 332b grooves/ditches/trenches, respectively, arranged to receive a cuff edge 124 of the garment 120, i.e. on the outer side of the first 310a and second 310b insertion members. The inner sides of the first 310a and second 310b insertion members, respectively, may be even/smooth, i.e. without grooves/ditches/trenches. A first groove 332a of the first insertion member 310a is schematically shown in Fig. 5b, and is also indicated in Fig. 5a.

The second insertion member 310b is correspondingly shaped as the first insertion member 310a shown in Figs. 5a-b and disclosed above, i.e. it includes a corresponding second tongue 330b and a corresponding second groove 332b, and has a corresponding width W The first 332a and second 332b grooves are shaped to receive the cuff edge 124 of the garment, such that the garment 120 is safely and securely held/gripped by the first 310a and second 310b insertion members when they are moved linearly away from each other.

Thus, the first 332a and second 332b grooves are formed such that the cuff edge 124 fits into them, whereby thegarment 120 is securely held in place on the first 310a and second 310b insertion members. According to some embodiments, the first 310a and second 310b insertion members include two or more such grooves.

According to an embodiment schematically shown in Fig. 6a, the first 310a and second 310b insertion members are arranged to stretch the cuff 122 of the garment 120, with the cuff edge 124 fitted into the first 332a and second 332b grooves, in their first 316a and second 316b opened positions. Hereby, the garment 120 is releasably but securely held by the first 310a and second 310b insertion members in these first 316a and second 316b opened positions.

The stretching resulting in the garment 120 being releasably held by the first 310a and second 310b insertion members is, according to an embodiment, performed with regard to the elastic properties of the garment 120, cuff 122 and/or cuff edge 124, such that permanent deformation of the cuff 122 is avoided. The height H1 between the first 310a and second 310b insertion members in their respective opened positions 316a, 316b and/or the force moving and/or holding the 310a and second 310b insertion members apart are therefore related to the height HC of the cuff 122 of the garment 120 in a stretched state and/or to the elasticity of the garment material. According to an embodiment, the opening mechanism 300 is arranged to receive a human body part 340 between the first 310a and second 310b insertion members in their first 316a and second 316b opened positions, respectively. As non-limiting examples, the height H1 between the first 310a and second 310b insertion members in their first 316a and is in the interval second 316b opened positions, respectively,of 100-150 mm for gloves, depending e.g. on the material and the design/model of the glove. By usage of these heights H1 a robust function without deformation of the cuffs/gloves is provided. Further, according to an embodiment of the invention schematically illustrated in Fig. 6b, a first waiting/ready/pre-donning position 315a for the first insertion member 310a is defined between the first centered position 314a and the first opened position 316a. A second waiting/ready/pre-donning position 315b for the second 310b insertion member is defined between the second centered position 314b and the second opened position 316b. Thus, along the above mentioned line C passing a first central point 318a between the first Ai and second A2 axes, and a second central point 318b between the third A3 and fourth AA axes, the first 314a centered position, followed by the first 315a waiting/ready/pre-donning position, followed by the first 316a opened position are defined in one direction, and the second 314b centered position, followed by the second 315b waiting/ready/pre-donning position, followed by the second 316a opened position are defined in the other direction.

When the first 310a and second 310b insertion members are in the first 315a and second 315b waiting/ready/pre-donning positions, an opening height HW between the first 310a and second 310b insertion members is less than the opening height H1 between them in their first 316a and second 316b opened positions; HW < H1. For example, the opening height HW in these first 315a and second 315b waiting positions may be a portion y of the opening height in the opened positions 316a, 316b; HW or 0.7-0. = y * H1; wherein y has a value of 0.6-0.9, In use, the first 310a and second 310b insertion members are arranged to also releasably hold on to the garment 120 inthese first 315a and second 315b waiting positions by stretching the cuff 122. Thus, the first 310a and second 310b insertion members hold on to the garment 122 in the first 315a and second 315b waiting positions and in the first 316a and second 316b opened positions by the cuff edge 124 being placed in the first 332a and second 332b grooves while stretching the cuff 122. For example, when the opening mechanism 300 is in a donning position Pdmmﬂ@ (see Fig. 8) it may be arranged to increase an opening of the cuff 122 for donning by moving the first 310a and second 310b insertion members from their waiting positions 315a, 316b, 315b to their opened positions 316a, respectively, if it is detected that a body part of a user is within a of a donning apparatus in predetermined distance, 10 cm, e.g. which the opening mechanism 300 is included. Conversely, the opening mechanism 300 being in the donning position Pdmmnw may be arranged to reduce an opening of the cuff 122, by moving the first 310a and second 310b insertion members from their opened positions 316a, 316b to their waiting positions 315a, 315b, respectively, if it is detected that no body part of a user is within the predetermined distance.

By utilizing these waiting/ready/pre-donning positions, in which the cuff 122 is less stretched than in the fully opened positions, the elasticity of the garment 120 is better preserved by not unnecessarily stretching the cuff 122 when no donning takes place. i.e.

In use, when the opening mechanism 300 is operated for opening a cuff 122 of a garment 120, the first A1, second A2, third A3 and fourth AA axes may according to some embodiments be arranged essentially horizontally, such that the rotationof first 3l2a, second 3l2b, third 3l2c and fourth 3l2d arms around these horizontally oriented axes, respectively, takes place in a plane perpendicular to the orientation of the axes. This causes vertical linear movements of the first 3l0a and second 3l0b insertion members, as is schematically illustrated in Fig. 7a.

According to another embodiment, third the first A1, second A2, A3 and fourth AA axes are arranged, in use, at an angle B to the horizontal plane, whereby the linear movements is also tilted with that angle B (denoted "Beta" in the figures) from the vertical plane. According to an embodiment, the first Ai and second A2 arms are arranged, in use, at a first angle B1 to the horizontal plane, and the third A3 and fourth AA axes are arranged at another second angle B2 to the horizontal plane. Whereby the linear movements of the first insertion member 3l0a and of the second insertion member 3l0b are tilted in first B1 and second B2 directions, respectively, in relation to the vertical plane, as is schematically illustrated in Fig. 7b. These first B1 and second B2 angles may differ in size and/or sign, or may have the same size and sign.

According to an aspect of the invention, an opening deviceis presented, which is schematically shown in Fig. 8. The opening device 400 includes an opening mechanism 300 according to anyone of the herein described aspects or embodiments. The opening device 400 also includes a path track 410, along which the opening mechanism 300 is arranged to move. Along the path track 410, there are a number of defined positions, between which the opening mechanism 300 is arranged to move when a sequence for donning of a garment 120 is to be performed.

At a first end 4l2a of the path track 410, a receiving pOSitiOn Pmw@yn@ is defined for the opening mechanism 300. In this opening position, the garment 120 is handed over from a fetching mechanism to the opening mechanism 300. The first 310a and second 310b insertion members of the opening mechanism 300 are arranged to at least initially be in the first 314a and second 314b centered positions, respectively, in this receiving position Pmw@yﬂ@, such that they may easily be inserted into the cuff 122 of the garment 120 during the handover from the fetching mechanism to the opening mechanism 300. The first 310a and second 310b insertion members are then spread apart to hold on to the garment 120. At a second end 412b of the path track 410, a donning position Pdmmnw is defined. At donning, when the opening mechanism 300 is at the donning position Pdmmnw, the first 310a and second 310b insertion members of the opening mechanism 300 are arranged to be in the first 316a and second 316b opened positions, respectively, in this donning position PdmmÜ@, such that a body part 340 of a user may easily be inserted into the cuff 122 when donning is performed.

When the opening mechanism 300 is at the donning position Pammnw although no donning takes place, the first 310a and second 310b insertion members of the opening mechanism 300 are arranged to be in the first 315a and second 315b waiting positions, respectively. When a body part comes close to the opening mechanism, the first 310a and second 310b insertion members are spread apart to the first 316a and second 316b opened positions, respectively, to facilitate donning, as explained above.

According to an embodiment, the first 310a and second 310b insertion members of the opening mechanism 300 are arranged to be moved to and from each other between the first 314a and second 314b centered positions, and the first 315a and second3l5b waiting positions or the first 3l6a and second 3l6b opened positions, respectively, when the opening mechanism 300 travels along the path track 410 between the receiving position Pmw@yﬂ@ and the donning position Pdmmﬂ@. This is indicated in Fig. 8 by an opening mechanism 300 with broken/dashed lines between the receiving position Pmc@yﬂ@ and the donning position Pdmmnw, and moving towards either of the receiving position Pmw@yﬂ@ and the donning position PdmmÜ@. If donning is to take place immediately when arriving at the donning position Pdmmmw, the first 3l0a and second 3l0b insertion members are spread all the way apart to the first 3l6a and second 3l6b opened positions. Otherwise, the first 3l0a and second 3l0b insertion members are moved apart to the first 3l5a and second 3lb waiting positions.

According to an embodiment, the path track 410 has a form suitable for the handover of the garment 120 from the fetching mechanism to the opening mechanism and/or for the donning of the garment on a body part. The suitability of the form may here consider that the donning of the garment 120 in the donning position Pdmmnw is facilitated and/or is ergonomic for the user.

For example, the path track may be essentially L- shaped, such that the path track 410 in use is essentially vertical at the receiving position Pmw@yﬂ@, and is essentially horizontal at the donning position Pdmmﬂw. Alternatively, the path track 410 may in the donning position PdmmÜ@ be arranged i.e. in relation to the horizontal tilted, with an angle, plan, to provide a more ergonomic donning.

The path track 410 may include a rod/bar/tube/trail, to which the opening mechanism 300 is movably arranged/attached/connected. a methodAccording to an aspect of the present invention, for controlling an opening mechanism 300 arranged to open acuff of a garment 120 is presented. A flow chart for the method is shown in figure In a step 602 of the method 600, the first insertion member 310a is controlled by rotating the first 312a and second 312b around their first Ai and second A2 axes, arms respectively.

In a step 604 of the method 600, the second insertion member 310b is controlled by rotating the third 312c and fourth 312d around their third A3 and fourth AA axes, arms respectively.

By this control 602, 604 of the first 310a and second 310b insertion members, they are moved linearly between the first 314a and second 314b centered positions, and the first 316a and second 316b opened positions respectively. In the first 314a and second 314b centered positions, the first 310a and second 310b insertion members are adjacent to each other to facilitate insertion into the cuff 122 of the garment 120. In the first 316a and second 316b opened positions, the first 310a and second 310b insertion members are spread apart to open the cuff 122 of the garment 120 to facilitate donning of the garment on a body part of the user.

According to an aspect of the present invention, a method 660 for controlling an opening device 400 is presented. A flow chart for the method is shown in figure In a step 600 of the method 660, the opening mechanism is controlled according to the herein described method 600. In a step 680 of the method 660, the movements of the opening mechanism 300 along a path track 410 is controlled. The opening mechanism is hereby controlled to travel between the above-mentioned receiving position Pmw@yﬂ@ at the first end 412a of the path track 410, and the above mentioned donningpOSitiOn Pammnw at the second end 4l2b of the path track 410. In the receiving position Pmw@yﬂ@, the first 3l0a and second 3l0b insertion members are arranged/controlled to be in their first 3l4a and second 3l4b centered positions, respectively.

In the donning position Pdmmﬂw, the first 3l0a and second 3l0b insertion members are arranged/controlled to be in the first 3l5a and second 3l5b waiting positions, or in the first 3l6a and second 3l6b opened positions, respectively. Hereby, easy and safe handover and donning of the garment 120 is provided. According to an aspect of the present invention, a control unit, connected to or comprised in the opening mechanism, arranged/programmed for controlling the herein described opening mechanism to carry out the herein described methods, is presented. The control unit may hence be arranged/configured/programmed with instruction to control the opening mechanism 300 to perform the steps of the of the herein described embodiments.

According to further aspects of the present invention, the herein described methods are implemented by use of computer program products comprising instructions which, when the programs are executed by a computer, such as e.g. an herein mentioned control unit, cause the computer to carry out the steps of the methods according to any one of the herein described embodiments.

According to further aspects of the present invention, the herein described methods are implemented by use of computer- such readable storage media that, when executed by a computer, as e.g. an above mentioned control unit, cause the computer to carry out the steps of the methods according to any one of the herein described embodiments.

The opening mechanism 300 according to any one of the hereindescribed embodiments may be used in an apparatus 100 for facilitating donning of a garment. Fig. 11 shows an example of such a donning apparatus, an apparatus 100 for facilitating donning of a garment 120 comprising a cuff 122 on a part of a human body. The cuff opening mechanism, and the various embodiments of the invention may be implemented in such an apparatus, or may be implemented in another apparatus. Thus, the apparatus 100 is not limiting for the present invention and its embodiments, and is herein described to explain one of a number of possible usages of the herein presented embodiments.

The apparatus 100 includes a garment storage 110, from which initially at least the cuff 122 of the garment 120 is extracted and hanging out. The apparatus 100 further includes a fetching mechanism 200 and the opening mechanism 300, that work together to get the garment 120 from the garment storage 110 and preparing the garment 120 for donning. The fetching mechanism 200 grips the cuff 122 of the garment 120, in the and moves to the handover position 11), fetching position Pætwmw, Phæﬂmær (indicated with dotted lines in Fig. while holding on to the cuff 122. The garment 120 is thereby pulled further out from the garment storage 110, but not completely and hence partly still remains in the garment storage 110, when the fetching mechanism 200 reaches the handover position Phæumær. The fetching mechanism 200 prepares the cuff 122 for handover to the opening mechanism 300, while the garment 120 at least partly remains in the garment storage 110. The opening mechanism 300 is inserted into the prepared garment 120 in a receiving position Preceiving (indicated with dashed lines in Fig. 11). The opening mechanism 300 moves along a path track 410 from the receiving position Pmw@yﬂ@ to a donning position Pdmmnw while holding on to the garment 120. The garment 120 is thereby completely pulled out of the garment storage 110. In the donning position Pdmmnw, the opening mechanism 300 opens the cuff 122 for facilitating donning of the garment 120, i.e. such that the body part of the user can easily be inserted into the garment A garment donning machine may include e.g. one or two glove storages, one or two fetching mechanisms, and one or two opening mechanisms, as herein described. Each set of glove storage, fetching mechanism, and opening mechanism can provide donning of one garment, one glove, at a time. Thus, if e.g. two such sets are used, two garments, e.g. two gloves, at a time may be donned, and so on.

The herein described opening mechanism, opening device, and garment donning machine are not limited by the above-mentioned embodiments. The opening mechanism, opening device, and garment donning machine are instead limited by the independent claims.

Claims

1. An opening mechanism (300) (l20); arranged to open a cuff of a garment characterized by (3lOa) and second (3l2b) - a first insertion member (3l2a) (A1) arranged to be controlled by rotation of first arms arranged to be and second (A2) (3lOa) rotatable around first axes, respectively, whereby said first insertion member is arranged to move linearly between a first centered position (3l4a) and a first opened position (3l6a); and (3lOb) and fourth - a second insertion member arranged to be controlled (3l2d) and fourth (A4) by rotation of third (3l2c) arms arranged to be rotatable around third (A3) axes, respectively, whereby said second insertion member (3lOb) is arranged to move linearly between a second centered position (3l4b) and a second opened position (3l6b); wherein - said first (3lOa) and second (3lOb) insertion members in said first (3l4a) and second (3l4b) centered positions are adjacent to each other to facilitate insertion into said cuff (122), and in said first (3l6a) and second (3l6b) opened positions are spread apart to open said cuff (122).

2. An opening mechanism (300) according to claim 1, wherein the linear movements of said first (3lOa) and second (3lOb) insertion members, respectively, follow a line passing a first central point (3l8a) between said first (A¿) and second (A2) axes, and a second central point (3l8b) between said third (A3) and fourth (A4) axes.

3. An opening mechanism () according to any one of claims 1- 2, wherein (3lOa) (320a) (3l2a) - said first insertion member includes first and second (320b) elongated slits in which said first and second (3l2b) arms, (3lOa) respectively, are displaceably connected to said first insertion member; and(3l0b) elongated slits in which said third (3l2c) - said second insertion member includes third (320c) (320c) (3l2d) and fourth and fourth arms, respectively, are displaceably connected to said second (3l0b) insertion member.

4. An opening mechanism (300) wherein (3l2a), according to claim 3, second (3l2b), (322a), said first third (3l2c) and fourth (3l2d) arms include first second (322b), third (322c) and fourth (322d) rods, respectively, and to be (320a), arranged in, displaceable within, said first second (320b), third (320c) and fourth (320d) elongated slits, respectively, thereby providing the displaceable connection to said first (3l0a) and second (3l0b) insertion members, respectively.

5. An opening mechanism (300) 3-4, (320a), according to any one of claims wherein said first second (320b), third (320c) and fourth (320d) elongated slits each have a slit length x allowing said first (3l0a) and second (3l0b) insertion members to perform their linear movements during rotation of said first (3l2a), second (3l2b), third (3l2c) and fourth (3l2d) arms.

6. An opening mechanism (300) according to claim 5, wherein said slit length x is a function of an arm length L of said first (3l2a), second (3l2b), third (3l2c) and fourth (3l2d) arms, (3l2a), respectively, and of a rotational angle d for said first second (3l2b), third (3l2c) and fourth (3l2d) arms, respectively.

7. An opening mechanism (300) according to any one of the preceding claims, wherein each one of said first (3l0a) and second (3l0b) (WI) insertion members have a form including a width adapted to a width (WC) of the cuff opening of the garment in a relaxed state.

8. An opening mechanism (300) according to any one of the preceding claims, wherein each one of said first (310a) and second (310b) (332) (120). insertion members is provided with a groove arranged to receive a cuff edge (124) of said garment

9. An opening mechanism (300) according to any one of the preceding claims, wherein said first (310a) and second (310b) insertion members are arranged to releasably hold on to said (120) (316a) and second (316b) (122). garment in said first opened positions by stretching said cuff

10. An opening mechanism (300) according to any one of the preceding claims, wherein said first (310a) and second (310b) insertion members are arranged to releasably hold on to said garment (120) in first (315a) and second (315b) waiting positions by stretching said cuff (122), said first waiting position (315a) lying between said first centered position (314a) and said first opened position (316a) and said second waiting position (315b) lying between said second centered position (314b) and said second opened position (316b).

11. An opening mechanism (300) according to any one of the preceding claims, wherein said opening mechanism (300) in said first (316a) and second (316b) opened positions, respectively, is arranged to receive a human body part (340) between said first (310a) and second (310b) insertion members.

12. An opening mechanism (300) according to any one of the preceding claims, wherein said garment (120) is any one in the group of: - a glove; and - a sock.

13. An opening device (400), characterized by- an opening mechanism (300) according to anyone of the preceding claims; and - a path track (410), along which said opening mechanism (300) is arranged to move between: at a first end (412a) of said (3l0a) - a receiving position (410), (P receiving) path track wherein said first and second (310b) insertion members of said opening mechanism (300) are arranged to be in said first (314a) and second (314b) centered positions, respectively; and - a donning position (Pdmmnw) at a second end (412b) of said path track (410), wherein said first (310a) and second (310b) insertion members of said opening mechanism (300) (3l5a) (316a) are arranged to be in first and second (315b) waiting positions, or in said first and second (316b) opened positions, respectively. wherein

14. An opening device (400) (410) according to claim 13, said path track is essentially L-shaped.

15. A method (600) for controlling an opening mechanism (300) arranged to open a cuff of a garment (120); characterized by - controlling (602) a first insertion member (310a) by rotating first (312a) and second (312b) arms around their first (Ai) and second (A2) axes, respectively; and - controlling (604) a second insertion member (310b) by rotating third (312c) and fourth arms around their (A4) and second (310b) (3l4a) (312d) third (A3) and fourth (3l0a) axes, respectively; such that - said first insertion members move and second (314b) (3l0a) linearly between first centered positions, wherein said first and second (310b) respectively, insertion members are adjacent to each other to be inserted into said garment (120), and first (316a) and second (316b) (3l0a) opened positions, respectively, wherein said first and second (310b) insertion members are spread apart to open said cuff of said garment (120).

16. A method (660) for controlling an opening device (400), characterized by - controlling (600) an opening mechanism (300) according to claim 15; and - controlling (680) movements of said opening mechanism (300) along a path track (410) between: at a first end (412a) of said (310a) - a receiving position (410), (P receiving) and second (310b) (314a) path track wherein said first insertion members are arranged to be in said first and second (314b) centered positions, respectively; and - a donning position (Pdmmnw) at a second end (412b) of said path track (410), wherein said first (310a) and second (310b) insertion members are arranged to be in first (315a) and second (315b) waiting positions, or in said first (316a) and second (316b) opened positions, respectively.

17. A control unit arranged to control an opening mechanism (300) to carry out a method (600) according to claim

18. A control unit arranged to control an opening device (400) to carry out a method (660) according to claim

19. A garment donning machine characterized by at least one opening mechanism (300) according to any one of claims 1- 36