WO1995032842A2 - Controleur exosquelettal de mouvement de bras a retroaction sensorielle - Google Patents

Controleur exosquelettal de mouvement de bras a retroaction sensorielle Download PDF

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Publication number
WO1995032842A2
WO1995032842A2 PCT/US1995/006376 US9506376W WO9532842A2 WO 1995032842 A2 WO1995032842 A2 WO 1995032842A2 US 9506376 W US9506376 W US 9506376W WO 9532842 A2 WO9532842 A2 WO 9532842A2
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WO
WIPO (PCT)
Prior art keywords
motor
coolant
arm
cuff
cable
Prior art date
Application number
PCT/US1995/006376
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English (en)
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WO1995032842A3 (fr
Inventor
Bin An
Thomas H. Massie
Vladimir Vayner
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Exos, Inc.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Exos, Inc. filed Critical Exos, Inc.
Priority to AU25982/95A priority Critical patent/AU2598295A/en
Publication of WO1995032842A2 publication Critical patent/WO1995032842A2/fr
Publication of WO1995032842A3 publication Critical patent/WO1995032842A3/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/04—Casings or enclosures characterised by the shape, form or construction thereof
    • H02K5/20—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium
    • H02K5/203—Casings or enclosures characterised by the shape, form or construction thereof with channels or ducts for flow of cooling medium specially adapted for liquids, e.g. cooling jackets
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0054—Cooling means

Definitions

  • This invention relates to sensory feedback mechanical exoskeletal controllers and more particularly to force feedback anthropomorphic arm controllers.
  • Mechanical controllers convert human motions into system control information.
  • a computer mouse converts the hand motion of a computer user into control information within the computer.
  • User hand motions in the x and y directions are sensed by the mouse and converted into information which is used to control the cursor location on the computer screen. Therefore a computer mouse is a mechanical controller that translates planar hand motions into control information.
  • the computer mouse is a simple mechanical controller. More complex mechanical controllers exist for converting additional human motions and forces into control information. For instance, past mechanical controllers include robot hands ( Salisbury, J.K., “Design and Control of an Articulated Hand,” International Symposium on Desing and Synthesis, Tokyo, Japan, 1984) and force-reflecting controllers (Bejczy, A., Salisbury, J., “Controlling Remote Manipulators Through Kinesthetic Coupling," Computers in Mechanical Engineering, pp.
  • the translation of user interactions into control information is relatively simple. Every change in the controller represents a change for the slave with possibly some translation or scaling. But since the kinematics of the controller model the slave, their applications are limited to the type of slave robot they model. To utilize the wider range and dexterity of user motion, the mechanical control system may model the kinematics of the operator. This approach may require a more complex translation of user motion, since the kinematics of user libm such as the arm or hand differ from the kinematics of the slave system.
  • a generic mechanical controller such as a joystick usually does not model the kinematics of either the human user of a slave robot. As a result, the output from such controllers usually must be translated to control a slave.
  • the advantage of this type of controller is that they can control a wide variety of slaves. The drawback is that they are very difficult to use because they do not have the kinematic similarity to either the slave of the user's arm or hand.
  • the control system In order to be kinematically equivalent to the user arm or hand, the control system must take one of two approaches. Either the system must have the same degrees of freedom of the arm but be tightly coupled to the arm (i.e. be anthropomorphic) or the system must have more degrees of freedom than the arm and therefore can be loosely coupled to the arm so that the user motion can be computer from the controller input. If the system has more degrees of freedom than the arm, the system grows in complexity and size, thereby decreasing the utility of the system. This complexity increases as force and touch feedback is added to the system. If the system has the same degrees of freedom as the arm, then the design is simplified but the resulting system must be tightly coupled to the arm.
  • the present invention acheives an anthropomorphic mechanical control system.
  • the invention solves the coupling problems through the use of design features which allow compliance in the control system.
  • the kinematics of the present invention model the arm, allowing the full range of user motion, while at the same time retaining an overall simple anthropomorphic design.
  • the motion of and the torque on the user's joint can be simply measured and controlled. There is no need for kinematic conversion.
  • the preferred embodiment of the present invention was the design and development of an exoskeleton arm master (EAM) which provides control signals to robot arms or computer images and force feedback to the human operator.
  • EAM exoskeleton arm master
  • the EAM allows robot arms working in unstructured environments to gently touch objects, and finely manipulate them without exerting excessive forces.
  • it is a goal of the present invention to provide a mechanical control system which models the kinematics of the the human arm.
  • An additional goal of the present invention is to provide a control system which models the arm both kinematically and anthropormorphically.
  • Further goals include providing mechanisms in the system to provide force feedback to the user and additionally providing a system that is comfortable to wear and easily donned and doffed.
  • Fig. 1 is a cross-sectional diagram showing a side view of the EAM.
  • Fig. 2 is a cross-sectional diagram showing a front view of the EAM.
  • Fig. 3 is a cross-sectional diagram showing a top view of the cable remote center mechanism.
  • Fig. 4 is a cross-sectional diagram showing a front view of the cable remote center mechanism.
  • Fig. 5 is a cross-sectional diagram showing a side view of the back attachment.
  • Fig. 6 is a cross-sectional diagram showing a front view of the back attachment.
  • Fig. 7 is a cross-sectional diagram showing a back view of the back attachment.
  • Fig. 8 is a cross-sectional diagram showing both a front and side view of the drum mechanism.
  • Fig. 9 is a cross-sectional diagram showing a cut away view of the motor with water jacket.
  • Fig. 10 is a cross-sectional diagram showing both a front and side view view of the heat exchanger and pump.
  • Fig. 11 is a cross-sectional diagram showing a system view of the motor cooling system.
  • an exoskeleton mechanical controller for sensing position and movement and force information and applying motions, torques and forces to a limb.
  • the controller comprises at least one remote center drive mechanism for applying a torque to one of a selected degrees of freedom of the limb.
  • the remote center drive mechanism applies this torque remotely from the center axis of the selected degree of freedom.
  • a remote center drive mechanism is disclosed for remotely applying a torque about a center.
  • the mechanism comprises a means for supplying force or motion, a means for sensing force and motion, a means for surrounding an object centered about the axis to which the torque or motion is to be supplied, and a means for conveying the force or motion to the surrounding means thereby creating a torque or motion about the center.
  • the conveying means can utilize a cable drive mechanism.
  • the cooling system comprises a reservior for holding coolant allowing the coolant to disipate heat.
  • a first transmission means conveys the coolant to the electrical motor.
  • a fluid jacket surrounds the electrical motor and allows coolant to circulate around the motor, removing heat, and then exit the fluid jacket.
  • a second transmission means conveys the coolant back to the reservior.
  • the system is self contained and portable.
  • the system can also utilize active means such as fans and thermoelectric coolers for removing heat from the reservior.
  • the cooling system can also include a pumping means for actively circulating the coolant.
  • the preferred embodiment of the present invention is an integrated 5 degree-of-freedom (DOF) prototype EAM which can be used with various robot arms to study the interaction of robot arms with complex tasks in unstructured environments.
  • DOF 5 degree-of-freedom
  • the present invention can also be used to control and study the interactions between a computer image of a virtual object with tasks in a virtual environemnt.
  • Table 1 summarizes the specifications of the system. Description The Force ArmMaster provides joint torque feedback to the human arm and torque, motion and touch commands to the slave or simulation.
  • the design uses a spatial mechanism to achieve its low profile and compact design while allowing full anatomic motions.
  • Sensor Outputs Encoder output for each force feedback axis. Position sensing for passive motion axes.
  • the EAM was designed to provide force reflecting telerobotic control of both real and virtual slave manipulators. Its kinematics directly match robots that have human equivalent kinematics such as the Massachusetts Institute of Technology Whole Arm Manipulator (MIT-WAM) (Salisbury, J.K. , Twonsend, W.T., Eberman, B.S., DiPietro, D., "Preliminary of a Whole-Arm Manipulation System (WAMS)," Proc. IEEE International Conference on Robotics and Automation, Philadelphia, PA, April 1988) robot resident at the Johnson Space Center and other sites. Other robots can be controlled by mapping the kinematics of the EAM onto the kinematics of the slave.
  • MIT-WAM Massachusetts Institute of Technology Whole Arm Manipulator
  • WAMS Whole-Arm Manipulation System
  • a form of whole arm feedback can be produced by mapping the net force on each link of the slave robot to an equivalent force at the end of the link and then applying this equivalent force to the operator. This mapping can also be used to provide feedback for bracing.
  • EAM specifications were developed based on the specifications for the MIT- W AM, which is the expected slave robot at NASA Johnson. Based on information from Barrett Technologies, the MIT- W AM has the following performance characteristics.
  • Peak Speed 5 m/s (20 ft/s) at end tip
  • the kinematic setup of the EAM provides for the human range of motion and also appropriately distributes a number of actuated degrees of freedom to effectively simulate slave-object interaction forces. Five DOF are used to fully simulate the interaction forces between a WAM robot and the environment. Also, while the EAM is able to apply forces to simulate contact with virtual objects, it is also unencumbering, allowing free motion when virtual objects are not being touched. Thus the system is light and freely back driveable, by either active or passive means.
  • the motors In addition to carrying their own weight, the weight of the operator's arm and that of the device, the motors generate sufficient torque to display the interaction forces between the slave robot and the environment. This high torque leads to bigger motors and gearheads, which creates greater inertia, friction, weight, and lower back driveability. Incorporating transmission reductions into the design amplifies the torque, thus reducing the torque requirement of the motors.
  • the EAM fits a wide range of body sizes, as any component that interfaces with the human body is adjustable.
  • the EAM is designed to fit at least users in the range of 50 percentile female to 95 percentile male.
  • the exoskeleton arm has five powered degrees of freedom.
  • the first DOF 111 is mounted on the backpack by bracket
  • drum 106 is driven to rotate about axis 107.
  • This drum 106 is coupled to a bracket 112 by a link rod
  • bracket 112 Since drum 106, link rod 108 and bracket 112 are all supported by ball bearing 110a, b, c, d, and e, a planar four-bar linkage transmission exists between bracket 112 and drum 106 where the rotation of bracket 112 about axis 113 is the output and the rotation of drum 106 is the input. Consequently, motor 104 drives bracket 112 about axis 113. This constitutes the first DOF 111 of the arm.
  • Drum 114, motor 116 and support bracket 118 form the second DOF 117 where drum 114 is fixed to bracket 112, bracket 118 and motor 116 are driven to rotate about axis 119.
  • CRCM Cable Remote Center Mechanism
  • This upper arm CRCM is the third DOF where the motor bracket 120 is attached to bracket 118 through an adjustment 122.
  • Motor 124 drives the upper arm cuff 126, the mechanism below it and the arm to rotate about the longitudinal axis of the upper arm 127.
  • a bladder 125 inflatable by air liquid or other agent, is used between the cuff 126 and the upper arm of the user to compensate for any misalignment between the device and the shoulder.
  • the fourth DOF 131 is mounted to rotating cuff 126 through another adjustment 130 where motor 132 and its mounting frame 128 are fixed and drum 134 is driven to rotate about axis 135. Attached to this drum 13 ⁇ is an adapter plate 136 to which the lower arm CRCM is mounted.
  • the lower arm CRCM is the fifth DOF 141.
  • the motor mounting frame 138 is attached to adapter plate 136 through adjustment 140.
  • Motor 142 drives cuff 144 to rotate about the longitudinal axis of the forearm 145.
  • Mounted to this rotating cuff is a forearm extension rod 146 to which a hand cuff 150 is attached.
  • the position of the cuff is adjustable through two adjustments 148 and 152.
  • Figs. 4 and 5 shows the Cable Remote Center Mechanism. It consists of a motor mounting frame 3, a driving capstans la and lb connected to a motor 11 , idlers 2a and 2b, a driven cuff 4, two pieces of cables 5a and 5b and the associated cable terminators 6 and tensioning mechanisms 7a, 7b and 12.
  • Cable 5a starts from the terminator 6, travels along the outer surface of cuff 4, passes under and wraps around idler 2a clock- wise as shown in the front view.
  • motor 11 When motor 11 is energized, it will drive the cuff to rotate about its center 8. For instance if the motor 11 and the attached capstan la and lb rotate CCW, cable will be forced to travel as shown by arrow 9a, which in turn drives cuff 4 in the same direction. Since the cuff is constrained by the capstans and idlers, it can only rotate about its longitudinal axis 8. The speed of rotation of the cuff is different from that of the capstan. The relationship is defined by the transmission ratio which in turn is defmed by the diameters of the capstan, the cuff and the cables. By varying the ratio of diameters of the capstan and the cuff, a desired speed reduction and toque amplification can be achieved. This CRCM has a speed reduction built in by merit of its design, which reduces the need or requirement of additional external reduction.
  • the capstans la and lb have threaded grooves on both ends to seat and guide the cable. These threads have the same pitch but opposite direction, left hand for one and right hand for the other.
  • the load on the cuff is purely rotational driving the cuff to rotate about its longitudinal axis.
  • the cable is wrapped to both the capstan and the idler on both ends to constrain the cuff.
  • the cuff is well constrained and can only be driven about its longitudinal axis.
  • the cuff 4 can be rotated manually by a user about its axis 8.
  • the rotation of the cuff forces the cable to travel with it and back-drives the capstan, the motor and the encoder attached to the motor end. Therefore, both the passive and active motions of the cuff can be monitored.
  • This type of mechanism is commonly called a Remote Center Mechanism because there is no bearing support to the cuff on its axis of rotation. Although small bearings can be used for additional support and siffness under the cuff, in this particular design, there is no bearing support inside the cuff.
  • the cuff is fully supported by cables, capstans and idlers outside of the cuff.
  • the advantage of this particular design is that the same existing drive mechanism, ., ground frame, capstans, idlers and motor, can accept and drive cuffs of different diameters. If other support bearings were used, or more than one idler were used, the cuff diameter and thickness that could fit a particular drive mechanism would be fixed. This enables the changing of the cuff without modification of the underlying drive mechism.
  • the driven cuff is open, i.e. , the cuff is only a portion of a cylinder. The open cuff design allows the user to easily don and doff the device. Alternatively, if a big ring bearing such as those manufactured by Kaydon Corporation of Muskegon, Michigan, were used, a full cylinder would have to be used for the cuff and therefore donning and doffing the device would be very difficult.
  • An bladder 125 of Fig. 2 inflatable by air, jell, or other agent, was used at the upper arm CRCM. Kinematically it served as a combination of limited stroke slider and pivots and offered the compliai-;;e needed to conform to the arm's anatomy. It also offered a very friendly and comfortable interface between the arm and the device. When properly inflated, the perceived stiffness of virtual objects would not decrease noticeably, if at all.
  • FIG. 5 the back attachment was built mainly with the harness from a Gregory backpack 30, a contoured spacer 32, a rigid base frame 34 and a series of adjustments.
  • the adjustment in the vertical direction is achieved through a horizontal frame 36 which also holds heat exchanger 200 and water pump 201.
  • Two sliding blocks 61a and 61b loosely connected to frame 36 by four shoulder screws 41a, 41b, 51a and 51b can slide up and down freely and locked in position by two thrum screws 43 and 53.
  • the horizontal adjustment is implemented between previously described horizontal frame and a vertical truss 38.
  • two sliding blocks 63a and 63b are loosely coupled to truss 38 by four small shoulder screws 45a, 45b, 43a and 43b.
  • the sliding blocks can slide freely inside the two horizontal tubes of frame 36 and be locked in position by two thumb screws 47 and 49. Front-back adjustment is achieved by sliding bracket 40 in tube 70. The position can be locked by thumb screw 71.
  • the exoskeleton is mounted to the back pack by three bolts at bracket 40.
  • the spacer 32 serves as an intermediate support between the rigid base frame 34 and the compliant backpack 30.
  • the spacer is a three-dimensional structure that is planar on one side and curved to conform to body contours on the other side.
  • the rigid frame 34 is mounted on the flat surface of the spacer.
  • the backack is mounted to the contoured side of the spacer through a compliant, sheet plastic stay 31 which further distributes the load to the backpack evenly.
  • a padded hip belt 33 is added to the Gregory pack to support the weight of the EAM device. Once it's properly tightened at buckle 35, it should carry approximately 80% of the overall weight. Although the two shoulder straps 65 also carries some weight, their main function is to keep the pack on the back of the user. Three adjustable buckles 39a, 39b and 37 can be used for proper fit and comfort. As an alternative embodiment, the EAM can also be mounted to a stand or movable platform.
  • Fig. 8 shows a more detailed diagram of the drum drive mechanism. It shows a motor 210 connected to a hybrid speed reducer consisting of a gear reduction 322 connected to the motor 210 and a cable reduction 320 connected to the gear reduction 322.
  • Cable 301 starts from the tensioning block 300, travels along the outer surface of drum 302, wraps around one end of capstan 304, over pulley 306 and back to the other end of capstan 304, wraps around it in the ooposite direction and back to tensioning block 300. Cable tension is controlled by adjusting the tensioning screw 303.
  • the role of pulley 306 is to ensure the cable tension is balanced between both sides of the pulley 306 in order to maximize cable life.
  • a direct drive motor would always be preferred. Because of the torque requirement and the limitation of current motor technologies a speed reduction or a torque amplification must be used. In general the larger the reduction, the more torque amplification can be achieved, but more friction and backlash would be introduced. Both friction/stiction and backlash are very destructive for a force reflective device. For example, a one stage precision planetary gearhead has a friction 15% of the torque being transmitted and a backlash of 0.9 degree, a two stage gearhead transmission has a friction of 25% and a backlash of 1.8 degree and a three stage has a friction of 30% and a backlash of 2.7 degrees. On the other hand, a cable reduction is backlash free and has 99% transmission efficiency. Clearly cable reductions would be ideal for this application. However due to design constrains associated with cables, a single stage cable transmission of more than 15: 1 reduction would be too large in size, and a two stage cable reduction would be complicated to design and difficult to assemble.
  • the hybrid transmission offers higher transmission efficiency than that of an equivalent gearhead because of the very high efficiency of a cable reduction. It gives very small backlash because it divides the backlash of the preceding gearhead by the cable reduction ratio.
  • the resultant efficiency is 85% for gears times 99% for cable reduction. It is 84%, much higher than that of a two stage gearhead, 75% .
  • the resultant backlash is only 0.1 degree, much better than that of a two stage gearhead (1.8 degree).
  • a hybrid cable-gear reduction with the gear reduction as the first stage and cable reduction as the second stage, can produce excellent speed reduction, torque amplification with very low backlash while keeping its size compact and transmission efficiency relatively high.
  • a two stage gearhead is used in conjunction to a cable reduction.
  • a two stage gearhead is used with a cable reduction.
  • a motor was directly mounted to a CRCM was used.
  • Fig. 8 also shows a cooling jacket 324 around the motor housing.
  • a cooling fluid such as water can be pumped through the gap between the cooling sleave 214 and the motor housing 216 to cool the motor.
  • a cooling fluid such as water can be pumped through the gap between the cooling sleave 214 and the motor housing 216 to cool the motor.
  • the continuous torque of the motor can be increased and therefore the output torque of the cable reduction is also increased. Therefore, a hybrid transmission consists of a gearhead as the first stage and a cable reduction as the second stage and a water cooling method can be used either together or separately to increase the output of a motor while keeping its backlash very small, efficiency relatively high and profile low.
  • the motor winding temperature rise is solely determined by the amount of heat generated by the current and what is dissipated to the ambient air.
  • the rate of heat dissipation is a function of the sum of thermal resistance between the rotor and the housing, the housing and the ambient air. Thermal resistance between the rotor and the housing depends on the air gap between these two parts. It is optimized by a motor manufacturer. Thermal resistance between the housing and the ambient air depends on the thermal properties of the housing and the ambient. Several techniques are possible to reduce the motor thermal resistance and thus increase the maximum continuous torque.
  • a dielectric liquid can be used to fill the air gap between the rotor and the housing. This decreases the thermal resistance between the rotor and the housing. This method could be used in conjunction of the subsequent methods to achieve an excellent motor performance. In addition this method does not significantly increase the bulk and weight of the motor assembly. The disadvantage of this method is the high cost and long lead time required for custom built motors.
  • the force reflective exoskeleton motor is used mostly in a near stall condition.
  • the motor does not generate sufficient rotor RPM to force an air flow through the motor air gap.
  • the small air gap between the rotor and the housing may make this method impossible.
  • a stand alone fan can be mounted next to each motor to create air-over cooling.
  • the disadvantage is the nosie, the added weight and the negative effect air flow itself on the users.
  • thermoelectric ceramic heat pump also known as Peltier cooler
  • a thermoelectric ceramic heat pump is a silicone chip that is capable of creating a temperature differential between its two surfaces. Attaching its cold surface to a motor housing and hot surface to a heat sink, it can be used to remove heat from the motor directly.
  • the motor surface temperature can be decreased dramatically, well below the ambient, thus allowing for greater temperature gradient and more effective cooling.
  • the disadvantages are its low efficiency and difficulty of mounting on a cylindrical surface. The typical efficiency of such a chip is about 50% . So to remove 100 watts of heat, a 200 watt chip would be necessary. Five motors would require a total of 1000 watts of electrical power. When 24 v power supply is used the current would need to be 41 A, requiring a huge electrical cable.
  • the heat sink required for each chip would also add weight to the motor assembly.
  • a water pump can be used to pump water to the motors, which in turn remove the heat from the motors to a heat exchanger on the backpack.
  • Water is an excellent coolant, its thermal conductivity is 81 times greater than that of air. In this method the thermal resistance between the motor housing and the water is practically zero. The heat in the water would be dissipated to the air either though a radiator or a chiller more effectively.
  • a thermalelectrical chip and a heat sink and/or a fan can be used for the heat exchanger. As discussed previously, the power required for this system to work would not be practical.
  • a commercially available refrigeration unit could be used as the heat exchanger. This would be effective and simple because no design would be necessary. However, the smallest commercially available unit is about 11 lb., which is too heavy for the EAM.
  • a heat radiating radiator can be used for this purpose. They are small, light, very effective and are widely available. If needed, the efficiency of the radiator can be boosted by use of a fan.
  • Fig. 9 illustrates the electrical motor as used in the EAM.
  • the motor 210 is a model RE 025-055-33-EBA201A manufactured by Maxon Interelectric AG, Brunigstrasse 220, CH 6072 Sachseln, Switzerland.
  • a planetary gearhead 211 is attached to the motor output shaft 213.
  • a model 2932.701-0005.0-000 manufactured by Maxon Interelectric AG, Brunigstrasse 220, CH 6072 Sachseln, Switzerland is used in the preferred embodiment.
  • Also connected to motor 210 is a position encoder 212.
  • a model HEDS5010 manufactuered by Hewlett Packard of Boise, Idaho is used.
  • the motor 210 is modified by the addition of a cooling sleave 214.
  • the cooling sleave 214 surrounds the motor housing 216. This allows coolant to circulate through fitting 215a, between the sleave 214 and the motor housing 216, and back out through fitting 215b.
  • a heat exchanger 200, a pump 201 and five water jackets 202a, b, c, d, and e for five motors are all connected in series, and form an endless water loop.
  • the heat generated by the motors is removed by water, carried to the exchanger mounted on the backpack and then dissipated to the ambient air through the exchanger.
  • the heat exchanger 200 can be a relatively light aluminum radiator combined with a fluid reservior 203 combined with a bleeder valve 204. The cooled water is then pumped back to the motors by the pump to start another heat transfer cycle.

Abstract

La présente invention concerne un dispositif à rétroaction sensorielle de type exosquelettal extrayant les données de position et de force en provenance d'un utilisateur et appliquant les forces et couples à un membre. Le dispositif comporte le même nombre de degrés de liberté (Ddl, 111, 117, 121, 131, 141) que le membre auquel il est rattaché. Le dispositif met en ÷uvre pour cela des dispositifs aux centres déportés, des éléments de structure mécanique adaptables et des systèmes portables monoblocs de refroidissement des moteurs électriques (200, 201, 202a, 202c).
PCT/US1995/006376 1994-05-19 1995-05-19 Controleur exosquelettal de mouvement de bras a retroaction sensorielle WO1995032842A2 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
AU25982/95A AU2598295A (en) 1994-05-19 1995-05-19 Sensory feedback exoskeleton armmaster

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US24587394A 1994-05-19 1994-05-19
US08/245,873 1994-05-19

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WO1995032842A3 WO1995032842A3 (fr) 1996-01-11

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EP1364755A1 (fr) * 2002-05-22 2003-11-26 Organisation Intergouvernementale Dite Agence Spatiale Europeenne Exosquelette pour bras humain, notamment pour des applications spatiales
WO2004058457A1 (fr) * 2002-12-31 2004-07-15 Fabio Salsedo Articulation rotative entrainee par un element de tension pour structure exosquelettique
FR2861983A1 (fr) * 2003-11-07 2005-05-13 Patrick Sadok Systeme d'exosquelette pour segment biologique a mouvement proportionnel et assemblage exosquelettique de tels systemes
EP1581368A1 (fr) * 2002-12-31 2005-10-05 Fabio Salsedo Appareil a interface exosquelettique
EP1609451A1 (fr) * 2003-03-28 2005-12-28 Hitachi Medical Corporation Dispositif d'entra nement de joint d'usure
WO2006058442A1 (fr) * 2004-11-30 2006-06-08 Eidgenössische Technische Hochschule Zürich Systeme et procede pour une therapie du bras cooperative et module de rotation utilise a cette fin
FR2917323A1 (fr) * 2007-06-12 2008-12-19 Commissariat Energie Atomique Mecanisme de rotation d'avant-bras et orthese comportant un tel mecanisme
EP2052709A1 (fr) * 2007-10-24 2009-04-29 ETH Zurich Système pour le traitement des bras
FR2949669A1 (fr) * 2009-09-09 2011-03-11 Commissariat Energie Atomique Mecanisme d'epaule pour orthese
ITMI20101769A1 (it) * 2010-09-28 2012-03-29 C N R Consiglio Naz Ricerche Dispositivo biomedico per la riabilitazione robotizzata dell'arto superiore umano, particolarmente per la riabilitazione neuromotoria dell'articolazione della spalla e del gomito.
WO2012175211A1 (fr) 2011-06-21 2012-12-27 Sabanci University Exosquelette
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US20180235829A1 (en) * 2015-02-11 2018-08-23 Korea University Of Technology And Education Industry-University Cooperation Foundation Upper-limb exercising device of a type worn on the body
US10058994B2 (en) 2015-12-22 2018-08-28 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
CN109475462A (zh) * 2017-05-25 2019-03-15 美国仿生公司 用于外骨骼设备的可调整躯干及髋部组合件
USD876654S1 (en) 2018-04-24 2020-02-25 Ossur Iceland Ehf Posterior strut
US10569413B2 (en) 2015-12-22 2020-02-25 Ekso Bionics, Inc. Exoskeleton and method of providing an assistive torque to an arm of a wearer
WO2021010821A1 (fr) 2019-07-15 2021-01-21 Yumen Bionics B.V. Exosquelette permettant de supporter le bras d'un utilisateur
US10918559B2 (en) 2017-04-25 2021-02-16 Ossur Iceland Ehf Interface system in an exoskeleton
US11000439B2 (en) 2017-09-28 2021-05-11 Ossur Iceland Ehf Body interface
CN116276899A (zh) * 2023-01-31 2023-06-23 哈尔滨商业大学 一种机器人关节装置
US20230202058A1 (en) * 2020-03-23 2023-06-29 Kawasaki Jukogyo Kabushiki Kaisha Cooling medium flow path structure, cooler, robot, and method of mounting cooler to robot

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