UPPER-BODY ROBOTIC EXOSKELETON

摘要

The present disclosure includes a robotic exoskeleton comprising a back portion providing at least two degrees of freedom, two shoulder portions, each shoulder portion providing at least five degrees of freedom, two elbow portions, each elbow portion providing at least one degree of freedom, and two forearm portions, each forearm portion providing at least one degree of freedom. The present disclosure may also relate to associated robotic forearm joints and robotic shoulder joints.

主权项

1. A robotic shoulder joint comprising:
a first hinge joint with a first axis of rotation oriented towards a center of a human shoulder joint, the first axis of rotation aligned with a frontal axis of a user; a second hinge joint coupled to the first hinge joint, with a second axis of rotation oriented between approximately 55° and 75° from the first axis of rotation and oriented towards the center of the human shoulder joint; a third hinge joint coupled to the second hinge joint, with a third axis of rotation oriented between approximately 55° and 75° from second axis of rotation and oriented between approximately 50° and 80° from the first axis of rotation, and oriented towards the center of the human shoulder joint, the third hinge joint acting with the first hinge joint and the second hinge joint to replicate a ball and socket joint; a fourth joint formed of a parallelogram linkage, the fourth joint coupled to the third hinge joint and having a fourth axis of rotation to provide a fourth degree of freedom and oriented to replicate horizontal motion of the clavicle; and a fifth hinge joint coupled to the fourth hinge joint with a fifth axis of rotation to provide a fifth degree of freedom and oriented to replicate vertical motion of a clavicle.