WO2023167645A1 - System supporting the human arm - Google Patents
System supporting the human arm Download PDFInfo
- Publication number
- WO2023167645A1 WO2023167645A1 PCT/TR2022/050361 TR2022050361W WO2023167645A1 WO 2023167645 A1 WO2023167645 A1 WO 2023167645A1 TR 2022050361 W TR2022050361 W TR 2022050361W WO 2023167645 A1 WO2023167645 A1 WO 2023167645A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- movement
- deactivation
- latch
- throttle
- Prior art date
Links
- 230000003252 repetitive effect Effects 0.000 claims abstract description 8
- 208000023178 Musculoskeletal disease Diseases 0.000 claims abstract description 7
- 230000007246 mechanism Effects 0.000 claims description 88
- 230000009849 deactivation Effects 0.000 claims description 27
- 230000004913 activation Effects 0.000 claims description 17
- 125000006850 spacer group Chemical group 0.000 claims description 17
- 238000012546 transfer Methods 0.000 claims description 7
- 238000013519 translation Methods 0.000 claims description 3
- 230000007123 defense Effects 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000013332 literature search Methods 0.000 description 1
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
Definitions
- the present invention relates to a system used by operators performing repetitive applications in automotive, defense, machinery, logistics, agriculture and similar industries.
- the present invention relates to a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions.
- the invention aims to solve the abovementioned disadvantages by being inspired from the current conditions.
- the main aim of the present invention is to create a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions.
- Another aim of the invention is to design a system that contributes to employees and employers in terms of occupational health and safety.
- the present invention is a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions. Accordingly, the system comprises the following;
- activation lead screw that transmits the movement of said activation throttle.
- Figure 1 gives a side perspective drawing view of the inventive system.
- Figure 2 gives a rear perspective drawing view of the inventive system.
- Figure 3 gives an enlarged drawing view of the inventive system.
- Figure 4 shows the view of the mechanism that provides support to the arm.
- Figure 5 gives a side perspective view of the mechanism that supports the arm.
- Figure 6 gives a rear perspective view of the mechanism that supports the arm.
- Figure 7 shows a situation in the mechanism in which the contact of the latch and rack gear is cut off.
- Figure 8 gives another view of a situation in which the latch and rack contact has been cut off in the mechanism.
- Figure 9 shows the situation where the arm can move freely without force.
- Figure 10 gives the moment of the upward movement of the arm and re-engagement of the mechanism by moving the latch inside the carriage.
- Figure 11 shows the view showing the movement of the latch (22) inside the carriage (20) in the case of contact between the rack gear (15) and the latch (22).
- Figure 12 shows another view showing the movement of the latch (22) inside the carriage (20) in the case of contact between the rack gear (15) and the latch (22).
- Figure 13 shows the view of the mechanism body.
- Figure 14 shows the view of the rack gear.
- Figure 15 shows the view of the mechanism bottom cover.
- Figure 16 shows a view of the carriage element.
- Figure 17 shows the situation where the on/off nut is rotated a certain amount before the mechanism operates.
- Figure 18 shows an image of the latch element alone.
- the present invention is a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions.
- the system comprises the following; mechanism that supports the arm movement of the user (1 ), pinion gear (14) that transfers the rotational movement performed by the user’s (1) arm into the mechanism, rack gear (15) that converts the rotational motion transmitted by said pinion gear (14) to linear motion, mechanism body (16) that contains the elements that make up the mechanism, carriage (20) that can move back and forth on said mechanism body (16), stiffness spring (21) that is jammed to prevent the movement of the carriage (20) moving on the mechanism, latch (22) that provides translation in the direction of the rack gear movement or in the direction perpendicular to the rack gear (15) direction with the back and forth movement of said rack gear, adjustment spring (25) that compresses inside the carriage (20) while said latch (22) is in motion, mechanism box (2) that houses the mechanism and connects the arm and waist parts, waist connection (3) that allows the system to be attached to the waist
- the system comprises; mechanism bottom cover (17) which is mounted under the mechanism body (16) and on which the activation throttle (10) is located and deactivation throttle (8) that allows the mechanism deactivation adjustment and deactivation lead screw cap (24) which is fixed to the end of the deactivation lead screw (18), which puts pressure on the latch in contact with the latch (22).
- the system comprises; interconnection (12) that enables the right and left mechanism boxes (2) to be connected to each other and on/off nut (23) that provides the back-and-forth movement of said latch (22) and the activation or deactivation of the mechanism by turning the same.
- the inventive system is connected to the user (1) with the waist tie (3) and to the user (1) (human arm) with the arm connection (5).
- the mechanism box (2) is connected to the arm connection (5) with the arm spacer (4).
- the mechanism box (2) is connected to the ball joint (6) by the waist connecting piece (11 ).
- the ball joint (6) is rigidly connected to the waist tie (3).
- Interconnection (12) connects the mechanism boxes (2) on the right and left sides. Shoulder straps (7) are parts that allow the system to stand on the user (1).
- the mechanism seen in Figure 4 is located in the mechanism box (2).
- the arm spacer (4) is connected to the arm spacer bearing (13) and as the user (1) moves his/her arm up and down, the arm spacer (4) moves parallel to the arm.
- the pinion gear (14) which is mounted on the mechanism body (16)
- the rotational movement of the pinion gear (14) provides linear movement of the rack gear (15).
- Rack gear (15) is positioned in such a way that it can contact the latch (22) while in linear motion. Clockwise movement of the pinion gear (14) in the position shown in Figure 4 forces the rack gear (15) to upward linear motion from its position.
- the on/off nut (23) If the on/off nut (23) is turned a certain amount before the mechanism operates, it will cause the latch (22) to move inside the carriage (20). In this case, which can be seen in Figure 17, the contact of the rack gear (15) moving with the movement of the human arm with the latch (22) will be cut off and there will be no transfer of force whatsoever, the device will be kept in a passive state in cases where the mechanism is not required to operate, such as break times, thanks to this feature.
- the compression ratio of the stiffness spring (21 ) can be adjusted by turning the stiffness adjustment throttle (9) and thus the support force on the arm can be adjusted for people with different strengths or different physical characteristics.
- the deactivation throttle (8) When the deactivation throttle (8) is turned, it moves the deactivation lead screw (18) in a linear direction so that the position of the deactivation lead screw cap (24) can also be changed. In this way, the distance at which the latch (22) contact can be adjusted, it also means determining at which angle of the human arm the mechanism should fail and the support should be disabled.
- the mechanism activation lead screw (19) is moved in the linear direction. This determines the position of the carriage (20) on the mechanism body (16). Having determined the position where the carriage (20) will stop also means determining the position of the contact between the rack gear (15) and the latch (22), this serves to determine the angle at which the mechanism will be activated when raising the human arm into the air.
Abstract
The present invention relates to a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions.
Description
SYSTEM SUPPORTING THE HUMAN ARM
Field of the Invention
The present invention relates to a system used by operators performing repetitive applications in automotive, defense, machinery, logistics, agriculture and similar industries.
In particular, the present invention relates to a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions.
State of the Art
Today, operators working in sectors especially automotive, defense, machinery, logistics, agriculture etc. or areas such as port operations, shipyards, industrial cleaning sector, e-commerce warehouses work in repetitive jobs. This situation causes operators to suffer from musculoskeletal disorders, especially in the shoulder areas.
In the literature search, the patent numbered “WO2018/073629 A1” was encountered. It is based on the principle of trying to compress the part working in the logic of a leaf spring with the movement of the human arm and thus getting a support that helps holding the arm in the air. However, in this solution, since the system is always active and cannot be deactivated by the product users, while using the product, undesirable movements may occur, and this may create risks in terms of occupational safety and worker health.
On the other hand, in the solutions in the applications numbered "WO2017/201517A1" and "US2014/0158839A1 ”, since the supporting mechanism is in the arm, the arm must carry this mechanism as well. This creates an extra burden on the operator.
On the other hand, there are different types of mechanisms, and they are based on the principle that these mechanisms work with arm movement and help to keep the arm in the air in the patent documents numbered “US 10,569,413 B2”, “US 2020/0093676 A1”, “US 2019/0254910 A1 ”.
As a result, due to the abovementioned disadvantages and the insufficiency of the current solutions regarding the subject matter, a development is required to be made in the relevant technical field.
Aim of the Invention
The invention aims to solve the abovementioned disadvantages by being inspired from the current conditions.
The main aim of the present invention is to create a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions.
Another aim of the invention is to design a system that contributes to employees and employers in terms of occupational health and safety.
In order to fulfill the above-described aims, the present invention is a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions. Accordingly, the system comprises the following;
• mechanism that supports the arm movement of the user,
• pinion gear that transfers the rotational movement performed by the user's arm into the mechanism,
• rack gear that converts the rotational motion transmitted by said pinion gear to linear motion,
• mechanism body that contains the elements that make up the mechanism,
• carriage that can move back and forth on said mechanism body,
• stiffness spring that is jammed to prevent the movement of the carriage moving on the mechanism,
• latch that provides translation in the direction of the rack gear movement or in the direction perpendicular to the rack gear direction with the back and forth movement of said rack gear,
• adjustment spring that compresses inside the carriage while said latch is in motion,
• mechanism box that houses the mechanism and connects the arm and waist parts,
• waist connection that allows the system to be attached to the waist of the user,
• arm spacer that transfers said mechanism box to the arm,
• arm spacer bearing wherein said arm spacer is connected to the mechanism,
• arm connection that allows the system to be connected to the human arm,
• ball joint where said mechanism box is attached to the waist and which is the bearing part that allows spherical movement,
• shoulder strap set that allows the system to be hung on the user's shoulder,
• deactivation throttle that enables the adjustment of the angle at which said mechanism will be deactivated,
• stiffness adjustment throttle that enables the adjustment of the support amount of said mechanism,
• activation throttle that enables the adjustment of the angle at which said mechanism will be activated,
• waist connecting piece that establishes connection between said mechanism box and the waist of the user,
• deactivation lead screw that transmits the movement of said deactivation throttle,
• activation lead screw that transmits the movement of said activation throttle.
The structural and characteristic features of the present invention will be understood clearly by the following drawings and the detailed description made with reference to these drawings and therefore the evaluation shall be made by taking these figures and the detailed description into consideration.
Figures Clarifying the Invention
Figure 1 gives a side perspective drawing view of the inventive system.
Figure 2 gives a rear perspective drawing view of the inventive system.
Figure 3 gives an enlarged drawing view of the inventive system.
Figure 4 shows the view of the mechanism that provides support to the arm.
Figure 5 gives a side perspective view of the mechanism that supports the arm.
Figure 6 gives a rear perspective view of the mechanism that supports the arm.
Figure 7 shows a situation in the mechanism in which the contact of the latch and rack gear is cut off.
Figure 8 gives another view of a situation in which the latch and rack contact has been cut off in the mechanism.
Figure 9 shows the situation where the arm can move freely without force.
Figure 10 gives the moment of the upward movement of the arm and re-engagement of the mechanism by moving the latch inside the carriage.
Figure 11 shows the view showing the movement of the latch (22) inside the carriage (20) in the case of contact between the rack gear (15) and the latch (22).
Figure 12 shows another view showing the movement of the latch (22) inside the carriage (20) in the case of contact between the rack gear (15) and the latch (22).
Figure 13 shows the view of the mechanism body.
Figure 14 shows the view of the rack gear.
Figure 15 shows the view of the mechanism bottom cover.
Figure 16 shows a view of the carriage element.
Figure 17 shows the situation where the on/off nut is rotated a certain amount before the mechanism operates.
Figure 18 shows an image of the latch element alone.
Description of the Part References
1 . User person
2. Mechanism box
3. Waist tie
4. Arm spacer
5. Arm connection
6. Ball joint
7. Shoulder strap set
8. Deactivation throttle
9. Stiffness throttle
10. Activation throttle
11 . Waist connecting piece
12. Interconnection
13. Arm spacer bearing
14. Pinion gear
15. Rack gear
16. Mechanism body
17. Mechanism bottom cover
18. Deactivation lead screw
19. Activation lead screw
20. Carriage
21. Stiffness spring
22. Latch
23. On/off nut
24. Deactivation lead screw cap
25. Adjustment spring
Detailed Description of the Invention
In this detailed description, the preferred embodiments of the inventive system are described by means of examples only for clarifying the subject matter.
The present invention is a system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions. Various views
of the inventive system are given between Figure-1 to Figure-18. Accordingly, the system comprises the following; mechanism that supports the arm movement of the user (1 ), pinion gear (14) that transfers the rotational movement performed by the user’s (1) arm into the mechanism, rack gear (15) that converts the rotational motion transmitted by said pinion gear (14) to linear motion, mechanism body (16) that contains the elements that make up the mechanism, carriage (20) that can move back and forth on said mechanism body (16), stiffness spring (21) that is jammed to prevent the movement of the carriage (20) moving on the mechanism, latch (22) that provides translation in the direction of the rack gear movement or in the direction perpendicular to the rack gear (15) direction with the back and forth movement of said rack gear, adjustment spring (25) that compresses inside the carriage (20) while said latch (22) is in motion, mechanism box (2) that houses the mechanism and connects the arm and waist parts, waist connection (3) that allows the system to be attached to the waist of the user (1), arm spacer (4) that transfers said mechanism box (2) to the arm, arm spacer bearing (13) wherein said arm spacer (4) is connected to the mechanism, arm connection (5) that allows the system to be connected to the human arm, ball joint (6) where said mechanism box (2) is attached to the waist and which is the bearing part that allows spherical movement, shoulder strap set (7) that allows the system to be hung on the user’s (1) shoulder, deactivation throttle (8) that enables the adjustment of the angle at which said mechanism will be deactivated, stiffness adjustment throttle (9) that enables the adjustment of the support amount of said mechanism, activation throttle (10) that enables the adjustment of the angle at which said mechanism will be activated, waist connecting piece (11) that establishes connection between said mechanism box (2) and the waist of the user (1), deactivation lead screw (18) that transmits the movement of said deactivation throttle (8), activation lead screw (19) that transmits the movement of said activation throttle (10).
In a preferred embodiment, the system comprises; mechanism bottom cover (17) which is mounted under the mechanism body (16) and on which the activation throttle (10) is located and deactivation throttle (8) that allows the mechanism deactivation adjustment and deactivation lead screw cap (24) which is fixed to the end of the deactivation lead screw (18), which puts pressure on the latch in contact with the latch (22).
In a preferred embodiment, the system comprises; interconnection (12) that enables the right and left mechanism boxes (2) to be connected to each other and on/off nut
(23) that provides the back-and-forth movement of said latch (22) and the activation or deactivation of the mechanism by turning the same.
The operating principle of the system is as follows:
The inventive system is connected to the user (1) with the waist tie (3) and to the user (1) (human arm) with the arm connection (5). The mechanism box (2) is connected to the arm connection (5) with the arm spacer (4). The mechanism box (2) is connected to the ball joint (6) by the waist connecting piece (11 ). The ball joint (6) is rigidly connected to the waist tie (3). Interconnection (12) connects the mechanism boxes (2) on the right and left sides. Shoulder straps (7) are parts that allow the system to stand on the user (1).
The mechanism seen in Figure 4 is located in the mechanism box (2). The arm spacer (4) is connected to the arm spacer bearing (13) and as the user (1) moves his/her arm up and down, the arm spacer (4) moves parallel to the arm. When the movement of the human arm moves the arm spacer (4) and also the arm spacer bearing (13) the pinion gear (14), which is mounted on the mechanism body (16), makes a rotational movement. The rotational movement of the pinion gear (14) provides linear movement of the rack gear (15). Rack gear (15) is positioned in such a way that it can contact the latch (22) while in linear motion. Clockwise movement of the pinion gear (14) in the position shown in Figure 4 forces the rack gear (15) to upward linear motion from its position. In the case of Figure 4, the upper part of the rack gear (15) presses against the latch (22) and forces this latch (22) to move upwards. Since the latch (22) is supported in the carriage (20), forcing the latch (22) to move also forces the carriage (20) to move, therefore, the carriage (20) also forces the stiffness spring (21) to be compressed. Thus, a counterclockwise coercive force is applied to the human arm, thus the force that helps to keep the arm in the air is provided. When the human arm is pressed clockwise enough to overcome the stiffness spring (21 ), the carriage (20) advances a certain amount and continues to advance until the latch (22) comes into contact with the deactivation lead screw cap (24). After the latch (22) comes into contact with the deactivation lead screw cap (24), the latch (22) is forced to move in the carriage (20) and moves in the direction perpendicular to the direction of the rack gear (15). When the movement of the latch (22) in the carriage (20) reaches a certain level, then its contact with the rack gear (15) is interrupted, Figure 7 and Figure 8 show the
situation at the time of this contact interruption. After this contact is interrupted, the force on the rack gear (15) is removed, thus the counterclockwise force on the human arm is removed and the human arm can move freely.
The state of the human arm, which can move freely without any force, is as in Figure 9. In this case, there is no contact between the rack gear (15) and the latch (22). When the mechanism is requested to reactivate and support the human arm, it moves the human arm up counterclockwise, when the upper part of the rack gear (15) comes into contact with the latch (22) it forces the latch (22) to move inside the carriage (20), and the upper part of the rack gear (15) is passed to the other side of the latch (22) with the help of the movement of the latch (22) inside the carriage (20). Thus, when the user (1) moves his arm clockwise again, a counterforce force comes into play, the upward direction of the arm movement and the latch (22) in the carriage (20) are as in Figure 10, which shows the re-engagement moment of the mechanism. In case of contact between rack gear (15) and latch (22), the situation showing the movement of the latch (22) inside the carriage (20) can be seen in Figures 11 and 12, when the latch (22) is in the carriage (20), it moves until enough force is applied to overcome the force of the small adjustment spring (25).
If the on/off nut (23) is turned a certain amount before the mechanism operates, it will cause the latch (22) to move inside the carriage (20). In this case, which can be seen in Figure 17, the contact of the rack gear (15) moving with the movement of the human arm with the latch (22) will be cut off and there will be no transfer of force whatsoever, the device will be kept in a passive state in cases where the mechanism is not required to operate, such as break times, thanks to this feature. The compression ratio of the stiffness spring (21 ) can be adjusted by turning the stiffness adjustment throttle (9) and thus the support force on the arm can be adjusted for people with different strengths or different physical characteristics. When the deactivation throttle (8) is turned, it moves the deactivation lead screw (18) in a linear direction so that the position of the deactivation lead screw cap (24) can also be changed. In this way, the distance at which the latch (22) contact can be adjusted, it also means determining at which angle of the human arm the mechanism should fail and the support should be disabled.
When the mechanism activation throttle (10) on the mechanism bottom cover (17) attached to the mechanism body (16) is rotated, the mechanism activation lead screw
(19) is moved in the linear direction. This determines the position of the carriage (20) on the mechanism body (16). Having determined the position where the carriage (20) will stop also means determining the position of the contact between the rack gear (15) and the latch (22), this serves to determine the angle at which the mechanism will be activated when raising the human arm into the air.
Claims
1. A system that prevents repetitive operators from being exposed to musculoskeletal diseases, especially in the shoulder regions, characterized by comprising;
• mechanism that supports the arm movement of the user (1 ),
• pinion gear (14) which transfers the rotational movement performed by the user's (1) arm into the mechanism,
• rack gear (15) which converts the rotational motion transmitted by said pinion gear (14) to linear motion,
• mechanism body (16) which contains the elements that make up the mechanism,
• carriage (20) that can move back and forth on said mechanism body (16),
• stiffness spring (21 ) which is jammed to prevent the movement of the carriage (20) moving on the mechanism,
• latch (22) that provides translation in the direction of the rack gear (15) movement or in the direction perpendicular to the rack gear direction with the back and forth movement of said rack gear,
• adjustment spring (25) that compresses inside the carriage (20) while said latch (22) is in motion,
• mechanism box (2) that houses the mechanism and connects the arm and waist parts,
• waist connection (3) that allows the system to be attached to the waist of the user (1),
• arm spacer (4) that transfers said mechanism box (2) to the arm,
• arm spacer bearing (13), wherein said arm spacer (4) is connected to the mechanism,
• arm connection (5) which allows the system to be connected to the human arm,
• ball joint (6) where said mechanism box (2) is attached to the waist and which is the bearing part that allows spherical movement,
• shoulder strap set (7) that allows the system to be hung on the user's (1) shoulder,
• deactivation throttle (8) that enables the adjustment of the angle at which said mechanism will be deactivated,
• stiffness adjustment throttle (9) that enables the adjustment of the support amount of said mechanism,
• activation throttle (10) that enables the adjustment of the angle at which said mechanism will be activated,
• waist connecting piece (11) that establishes connection between said mechanism box (2) and the waist of the user (1),
• deactivation lead screw (18) that transmits the movement of said deactivation throttle (8),
• activation lead screw (19) that transmits the movement of said activation throttle (10).
2. The system according to claim 1 , characterized by comprising; mechanism bottom cover (17) which is mounted under the mechanism body (16) and on which the activation throttle (10) is located.
3. The system according to claim 1 , characterized by comprising; interconnection (12) that connects the mechanism boxes (2) on the right and left sides.
4. The system according to claim 1 , characterized by comprising; on/off nut (23) that provides the back-and-forth movement of said latch (22) and the activation or deactivation of the mechanism by turning the same.
5. The system according to claim 1 , characterized by comprising; deactivation throttle (8) that allows the mechanism deactivation adjustment and deactivation lead screw cap (24) which is fixed to the end of the deactivation lead screw (18), which puts pressure on the latch in contact with the latch (22).
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TR2022/003083 TR2022003083A1 (en) | 2022-03-02 | SYSTEM THAT SUPPORTS THE HUMAN ARM | |
| TR2022003083 | 2022-03-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2023167645A1 true WO2023167645A1 (en) | 2023-09-07 |
Family
ID=87884098
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/TR2022/050361 WO2023167645A1 (en) | 2022-03-02 | 2022-04-21 | System supporting the human arm |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2023167645A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140212243A1 (en) * | 2011-09-06 | 2014-07-31 | Wakayama University | Power assisting robotic device and control method thereof |
| US20180092792A1 (en) * | 2016-10-03 | 2018-04-05 | Jtekt Corporation | Assistance apparatus |
| WO2018111853A1 (en) * | 2016-12-13 | 2018-06-21 | Abilitech Medical, Inc. | Upper torso augmentation system and method |
| WO2018173411A1 (en) * | 2017-03-22 | 2018-09-27 | 株式会社クボタ | Load-holding handle part and power assist suit |
-
2022
- 2022-04-21 WO PCT/TR2022/050361 patent/WO2023167645A1/en unknown
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140212243A1 (en) * | 2011-09-06 | 2014-07-31 | Wakayama University | Power assisting robotic device and control method thereof |
| US20180092792A1 (en) * | 2016-10-03 | 2018-04-05 | Jtekt Corporation | Assistance apparatus |
| WO2018111853A1 (en) * | 2016-12-13 | 2018-06-21 | Abilitech Medical, Inc. | Upper torso augmentation system and method |
| WO2018173411A1 (en) * | 2017-03-22 | 2018-09-27 | 株式会社クボタ | Load-holding handle part and power assist suit |
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