ES2370895B2 - Wearable robotic exoskeleton for human arm. - Google Patents

Abstract

The present invention relates to a robotic exoskeleton powered by cables and parallel mechanisms of reduced weight and volume, allowing the user to move comfortably and perform medical therapies, aids to the realization of orthotic forces, activities related to sports practices or specialized training that require sequences of movements or help with everyday tasks. # The system is formed by a vest (8), to which the exo-arm (2), the exo-forearm (3), a parallel kinematic structure of the shoulder are attached which allows to track the shifts of the shoulder with respect to the body, a system of compensation of the weight (4, 5) of the articulated assembly, power drives (6) that allow to move in a controlled way the articulated arm, an autonomous feeding system and a computer-based control unit (1) in which the motion control procedures will reside, which can be r programmed, tele-operated or coordinated.

Description

Wearable robotic exoskeleton for human arm.

Field of the Invention

The present invention is encompassed within the field of rehabilitation medicine, sports training equipment, robotics of parallel kinematics and assistance robots. Specifically, the invention refers to exoskeletons that can be superimposed on the arm of a person to provide assistance in rehabilitation, in sports training, or in daily life, helping to move the arms, according to movement patterns intended to achieve their rehabilitation or training or the execution of the most frequent daily movements.

Background of the invention

Currently, rehabilitation robots that exist in the international market can be classified as:

one.

Fixed robots: They are of great size, weight and inertia. They need to be anchored to a chair, the floor or a wall. Its appearance is that of an industrial robot that surrounds the user who is usually sitting. The patient cannot move.

2.

Cage-type robots: It is a skeletal room structure whose ends leave cables that control the position of the patient's arm, lying on a stretcher in the center. It is a fixed, very voluminous structure that is installed in hospital centers.

3.

Joystick type robots: The user grabs an item by hand, which may or may not wrap his wrist and moves it in a small work area. A computer in front of it reproduces the movements made in a simplified way (zoom in or out of points).

Four.

Exoskeletons They are robots that are placed on the arm to increase their strength or to do rehabilitation. Most of the known models have large mechanical structures and have large power actuators to move them. Some are full body robots to support the weight of the robot. The versions that only cover the upper part of the body are the master that allows an external slave robot to be controlled. Only usable by healthy people.

The main deficiencies or disadvantages and unresolved problems of these models are:

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Large volume: Difficult mobility in human environments and prevents taking it home or daily with the patient.

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Great weight: A heavy exoskeleton is not suitable for patients who have weak muscles or older people.

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Industrial appearance: A large robot frightens. It also stigmatizes its user. Its appearance precludes its daily use in the environments in which the person usually moves.

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Complexity: High precision elements, expensive materials, and complex mechanisms prevent domestic application. The challenge is to achieve an effective and simple solution.

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Shoulder joint: Almost all robotic systems treat the shoulder as a spherical joint, but in reality their behavior is not this. The shoulder does not maintain a fixed position or an axis or center of the fixed rotation. It moves up-down and front-back, thus changing the center of rotation during movements.

In 1995 Marc D. Taylor patented (US5,417,643, reference [2]) a rudimentary support for the arm anchored to a chair in which the user who allowed to perform lifting and rotation exercises of the arm for rehabilitation purposes is placed. Since then there has been a clear tendency in the design of rehabilitation robots to place the patient in a fixed wheelchair and place it next to the robot that will move his arm. These types of robots, which we will call “fixed robots,” correspond to designs such as the one disclosed in US6,007,500 [8] of 1999, the one disclosed in reference [9] of 2003, the ARMin, ARMin II, ARMin III of the University of Zurich [3] of 2007, or the TSAI robot of the National University of Taiwan [4] of 2010.

In 1998, Mark E. Rosheim filed one of the first patents of modern exoskeleton, US5,845,540-B1 [6]. It is a master-slave system in which a human operator places the exoskeleton on the body and uses it as a master joystick to operate a slave robot. To this type, “Master-slave exoskeletons”, correspond to the one disclosed in patent 5,845,540 [5] patented in 2001 by the Seoul Institute of Science and Technology and the model patented by Schiele, Andre Visentin, Gianfranco, EP1364755-B1 [1 ], presented two years later for space applications.

The product ReoTherapy ReoGo by Motorika [11] of 2009 is a large joystick, which reaches from the ground to the height of the hand of a person sitting in a wheelchair. The user moves the lever and a computer program shows on a screen the movement of a point that represents his hand. It proposes objectives that the user must achieve by motivating him through the computer game to execute movements.

The 2005 Intelligent automation Inc MacARM [12] is a fixed cage-type robot. The patient lies on a stretcher inside and cables from the corners of the cage move his arm through the space for rehabilitation purposes. The inventions [15] and [16] are related to the "System for bilateral training" which consists of a large inclined platform that is fixed on a table or flat surface. The patient grabs cranks and they move the patient's hands in sliding movements forward and backward. The system is not portable, nor exoskeletal. It corresponds to the "fixed robot" type.

The reference patent [1], EP1364755-B1, of 2003 is an arm exoskeleton with 16 degrees of freedom designed for space applications, conceived as a master system to give orders to a slave robot for maintenance work in space, returning a feedback of forces (joystick type) that helps to manage the slave robot with comfort. It has complex mechanisms such as the telescopic actuation unit, a high number of actuators, adjustable prestressing systems and many cables running through the exoskeleton to control the numerous joints. Its design is not well adapted to rehabilitation, training, or use by people with motor weakness. For these applications a light system is required, which can achieve great mobility. The present invention is achieved with only 5 actuators, and using lightweight, small volume and easily concealed elements. It also achieves proper tracking of the movement of the shoulder thanks to the parallel structure of the shoulder, and has an arm weight compensation system that does not have the patent EP1364755-B1, because it is designed to be moved by a human arm and not for move your arm

Patent application PCT / ES2009 / 070305 entitled "Robotic arm for arm movement control"

[10] belongs to the group of “fixed robots” in a particular version that places the patient on a hospital bed. The robot is anchored to the ceiling and takes the arm by its part furthest from the body. Like all fixed robots, they are not suitable to accompany a patient who moves.

The RUPERT exoskeleton [19] of which there are already three versions, is an exoskeleton operated by pneumatic systems, with four degrees of freedom, one on the shoulder, two on the elbow and one on the wrist. The main weaknesses of this solution are that it does not carry gravity compensation, which only has a degree of freedom in the shoulder, which makes it impossible to follow this joint in a normal range of movements and the presence of pneumatic action that forces to connect to an external source of pressurized air, which reduces its independence and mobility and makes it noisy and difficult to hide from view.

Reference patent US7,862,524-B2 [7] is an exoskeleton for the arm for shoulder rehabilitation purposes consisting of powerful power actuators and bulky “harmonic drive” type actuators located directly at the junctions of the links that compose the structure. By design it is a heavy system, and that logically needs the actuators to be large, which cannot be hidden and generates significant weights and inertia that complicate the control of arm movement. It is distinguished from virtually all previous models by having a torso-shoulder joint that does not appear in any other model. This is an important step in the resolution of the shoulder problem, but only considers the displacement of the shoulder in the frontal plane and fundamentally in vertical, which constitutes an incomplete solution.

Until today there are no known low-cost models, nor models of reduced weight with force to move the arm of the patient, or portable rehabilitation systems that can be taken to the home, or portable exoskeletons with passive gravity compensation, or systems that They adapt well to the mobility of the shoulder, or exoskeletons of sports training that allow practicing movements to improve their execution. The present invention solves the problems discussed.

References

[1] Patent EP1364755-B1. Title: "Exoskeleton for a human arm, Particularly for space applications". BOPI Publication (OEMP): ES2334780-T3. Authors: Andre Schiele; Gianfranco Visentin.

[2] US Patent Number 5,417,643. “Continuous passive motion exercise device” Inventor: Marc D. Taylor, Columbus, Ohio. Assigned to: Danninger Medical Technology, Inc, Columbus Ohio.

[3] “ARMin-Exoskeleton for Arm Therapy in Stroke Patients” Tobias Nef, Matjaz Mihelj, Gabriela Kiefer, Christina Perndl, Roland Müller, Robert Riener, member IEEE. University Zurich, Switzerland 2007

[4] TSAI -OCT 2010] “An Articulated Rehabilitation Robot for Upper Limb Physiotherapy and Training”. B.-C. Tsai, W.-W. Wang, L-C. Fu and J.-S. Lai National Taiwan University Hospital, National Taiwan University, Taiwan.

[5] Patent No: US 6,301,526 B1. “Master device having force re fl ection function”. Inventors: Mun Sang Kim, Soo Yong Lee, Chong won Lee of the Institute of Science and Technology, Seoul (KR).

[6] U.S. 5,845,540 "Robotic Manipulator" Inventor Mark E. Rosheim, St Paul, Minn. By “Ross-Hime Designs, Incorporated, St. Paul, Minn.

[7] Patent Number US 7,862,524 B2 "Portable arm exoskeleton for shoulder rehabilitation". Inventors: Craig R. Carignan, Michael Scott Liszka. Jan. 4, 2011.

[8] U.S. Patent 6,007,500 "Shoulder, rotator cuff, and elbow stretching machine". Inventor John J. Quintinskie, Jr. 31025 5th Ave. South, Federal Way, Wash 98003. Dec. 28, 1999.

[9] "Upper extremity exoskeleton structure and method". Inventors: Vladimir Zemlyakov, Haverhill MA (US); Patrick McDonough, Kensington, NH (US). Jun. 26, 2003.

[10] Patent application PCT / ES2009 / 070305 "Robotic arm for control of arm movement". Inventors: Jose María Sabater Navarro, Eduardo Fernandez Jover, Nicolas Manuel García Aracil, Jose María Azorín Poveda, Carlos Perez Vidal. March 11, 2010.

[11] ReoTherapy ReoGo by Motorika. Comercial product.

[12] "Development of the MACARM -a Novel Cable Robot for Upper Limb Neurorehabilitation". David Mayhew, Benjamin Bachrach, W. Zev Rymer, and Randall F. Beer. Proceedings of the 2005 IEEE.

[13] European patent application EP02075669 "Gear locomotion device". Inventor: Amit Goffer by ARGO Medical Tech. 2002.

[14] International patent application PCT / CH2002 / 000255 "Device for reeducation and / or training of the lower limbs of the person". Inventors: Roland Brodard, Raymond Clavel for the Fondation Suisse for les Cybertheses.

[15] "Dynamic orthotic device for monitoring, diagnosis and suppression of pathological tremor". Inventors: Jose Luis Pons Rovira, Eduardo Rocon de Lima, Andre Ruiz Olaya, Ramón Ceres Ruiz, Leopoldo Calderón Estevez, Juan Manuel Belda-Lois, Javier Sanchez Lacuesta, Ricard Barbera Guillem, Jaime Prat Pastor. C.S.I.C. Institute of Biomechanics of Valencia. 2008

[16] "Cartesian travel mechanism with single transmission and double drive". Inventors: Jose Miguel Sanchez Soler, Miguel �? Ngel Abad Martín-Camuas, Artemio Paya Vicens. 2006

[17] PAT US 2001 / 001,222 "Device for bilateral training" Jill Whitall, Sandy McCombe-Waller, David Grant.

[18] PAT US 2006 / 0.194.677 "Bilateral arm trainer and method of use". Jill Whitall, Sandy McCombe-Waller, David Grant. Continued request for 2002 PCT / US01 / 001222.

[19] "Design and Control of RUPERT: A device for Robotic Upper Extremity Repetitive Therapy". Thomas G. Sugar, Jiping He, Edward J. Koeneman, James B. Koeneman, Richard Herman, H. Huang, Robert S. Shultz, D.E. Herring, J. Wanberg, Sivakumar Balasubramanian, Pete Swenson, Jeffrey A. Ward. IEEE Transactions on neural systems and rehabilitation engineering vol 15. N-3 Sept 2007.

Description of the invention

The present invention refers to a wearable robotic exoskeleton powered by parallel cables and mechanisms that characterize it for being of reduced weight and volume to be dressed on the human trunk and arms and that can be used routinely to provide strength to the user.

The present invention solves the problems of the state of the art listed above by means of a parallel structure with elastic components that takes into account the additional degrees of freedom due to the displacement of the point of rotation of the shoulder in the three dimensions of space. The parallel shoulder platform assembly provides not only the torso-shoulder movement that allows its elevation in the frontal plane, but also the movement in the sagittal and transverse planes not considered in the US6,007,500 patent design, nor in no other. Additionally, it should be noted that this mobility is achieved passively (upper and lower springs), therefore, it correctly follows the movements of the shoulder in any of the presented embodiments, and not approximately.

In addition, the wearable exoskeletal robot has a cable-based drive, which distributes power actuators outside the arm, is much lighter, less bulky, with less consumption, and therefore, a completely different view in which the mechanics can be hiding from sight and its reduced weight makes it much more apt to be employed by people with motor weakness.

The system is applicable in the assistance to people with motor limitations, in functions of rehabilitation of the limbs or aid to the movement of these. It is also applicable in general activities that require control and coordination of movements such as: sports training (tennis, ping-pong, ...), surgical medical training (laparoscopy applications, etc.), manipulations specialized in control navigation, characterized by the ability of the device to reproduce movements set or controlled by an assistant through direct or remote operation.

The exoskeleton object of the present invention provides the following advantages:

-

Lightness or reduction in weight and volume: Prevents the user from loading weight unnecessarily and allows him to move freely through human environments. In addition everything contributes to being able to take the robot to casayala street. This advantage is provided by the actuation of cables (which allow the motors to be removed from the arm, reducing the weight of the arm and the size of the necessary actuators), by the parallel kinematic structure of the shoulder (which allows reducing the number of actuators necessary to make good shoulder tracking) and by the kinetostatic compensation system (an upper spring and two lower springs compensate for the weight of the arm, so less torque is required to move it, thus reducing the size and weight of the engines).

-

Correct shoulder tracking: Correct tracking of shoulder shifts relative to the body in space (provides 3 additional degrees of freedom). Avoid pain and discomfort to the user. Provided by the parallel kinematic structure of the shoulder (by the design of the structure that joins exo-arm and vest, it is possible to follow the movement of the shoulder in the space without forcing it).

-

Simplicity and low cost: In order to give access to treatment to many patients. The design avoids the complex elements of prestressing and adjustment.

-

Simplicity of movement recording and user control simplicity: Intuitive for doctors, therapists, trainers and users. Provided by external thimbles or pressure sensors, which allow a simple and intuitive guidance of the arm very similar to what a doctor would use in manual treatment. They also allow the user to move their hindered arm with a finger or two.

-

Versatility: Provided by a programmable computer and external thimbles, allowing it to be easy to record multiple and different movements to repeat its execution.

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Comfort, fit to the body: Provided by padding, wide support areas, rigid and wide support points of components that support pressures and fixations through elastic bands, which make the user not feel specific or localized efforts in specific areas of his body. The efforts are distributed in large areas improving your comfort.

-

Simple method of improving the control of the cables: Provided by helical pulleys, which make the traction cable go through the groove and thus prevent the cable from mounting on itself randomly on different turns. This allows to know better the quantity of collected or released cable, improving the position control in a simple, light and low cost way.

The present invention has important technical characteristics, which allow solving different problems:

-

Parallel kinematic structure of the shoulder, which provides the following advantages:

•

Correct shoulder tracking: Allows to follow the movement of the axis of rotation of the shoulder in all directions. That is, in addition to the three basic degrees of freedom it covers the displacement of the shoulder in vertical and horizontal (in the frontal, sagittal and transverse planes), thanks to its elastic elements, without causing damage or discomfort to the user and allowing the control of the arm .

•

Lightness or reduction in weight and volume: An upper spring and two lower springs compensate for the weight of the arm, so less torque is required to move it. This reduces the size and weight of the motors and the number of elements necessary for their control (less motors) and for the guidance of cables (less cables, covers, pulleys, ...), thus reducing the weight of the assembly.

•

Reduction of consumption, increase of autonomy: By using engines of lower power, energy consumption is lower.

•

Simplicity and low cost: It uses few elements, simple and light (springs, cables and simple pieces). Avoid complicated pre-tensioning systems and multi-guide systems for tension or cable tension maintenance. It also avoids shoulder tracking systems based on multiple degrees of freedom or large and heavy rigid parts that require precision and absence of gaps that make the system more expensive. No titanium or expensive materials are needed for its effective construction. It can be done with commonly used materials.

•

Large useful work area: By design, it allows operation while maintaining a large useful work area. Other mechanisms of the state of the art limit the real work area by the size of its engines, or by its structures, which collide in certain postures or by the complex mechanisms that surround the arm or by the difficulty of maintaining the tensile force in all positions without adding additional actuators.

•

Camouflage: The design means that bulky pieces do not protrude, which makes it concealed from view under clothing. This facilitates patient acceptance.

-

Cable operation: Provides lightness, weight and volume reduction, consumption reduction and allows it to be camouflaged. It allows to move the motors out of the arm, reducing the weight of the load and therefore the need for torque.

-

Exoskeleton: Being the invention of an exoskeleton, it provides mobility to the user, allowing him to move freely through diverse environments (do the treatment at home, train anywhere, receive assistance to an impaired arm in the street).

-

Its design: It is changeable, the design means that bulky pieces do not protrude, which makes it concealed from view under clothing. This facilitates the acceptance of the patient and others.

The wearable robotic exoskeleton for human arm comprises:

-

an exo-wrist, comprising at least one ring to support the user's wrist and allow its rotation;

-

an exo-forearm, attached to the exo-wrist and responsible for supporting the user's forearm;

-

an exo-arm responsible for supporting the user's arm, attached to the exo-forearm by a mobile joint to allow the user's elbow to rotate;

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a union of the exo-arm with the mobile shoulder platform to allow rotation of the arm on the shoulder;

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a plurality of traction cables to force the movement of each joint;

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a plurality of power actuators for actuating the traction cables;

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carrier means to be carried by the user and responsible for supporting the power actuators;

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a parallel kinematic structure of the shoulder, responsible for providing the mobility of the arm with respect to the shoulder and for correctly tracking the shifts of the shoulder with respect to the body, which comprises at least a plurality of cables connecting an arm support, which It acts as a mobile platform for the parallel kinematics structure, with the carrier means, which act as the base platform for the parallel kinematics structure.

The parallel kinematic structure of the shoulder preferably comprises a gravity compensation system, formed by a plurality of springs connecting the arm support and the carrier means to partially or totally support the weight of the user's arm.

In a preferred embodiment, the gravity compensation system comprises at least one of the following:

-

a pair of lower shock absorbers that support the arm in front of and behind it, resting on two points located at the bottom of the carrier means.

-

an upper spring anchored, vertically near a shoulder strap, to the carrier means and attached at the other end to the arm support.

The exo-wrist is preferably formed by three concentric rings, the central pulley-shaped ring arranged to guide a tractor cable and rotate on its axis to rotate the user's wrist clockwise or counterclockwise.

Both the exo-forearm and the exo-arm preferably comprise, to keep the user's arm attached to the exoskeleton, a semi-cylinder shaped grid, padding and fixations by elastic bands to hold the assembly and distribute the pressure throughout the arm .

The parallel kinematic structure of the shoulder can comprise a downward pull cable, which is responsible for forcing the movement of the arm down, which is divided into a plurality of tendons to balance the movement and obtain anchor points on the laterally displaced base support.

In a preferred embodiment a parallel kinematic structure of the shoulder comprises:

-

a traction cable responsible for acting on the arm from the front to force forward arm movement, and

-

a spring anchored behind the arm to the back of the carrier means, to force the movement of the arm back.

In another embodiment, the parallel kinematic structure of the shoulder comprises:

-

a traction cable responsible for acting on the arm from the rear to force the movement of the arm back, and

-

a spring anchored in front of the arm to the carrier means to force the movement of the arm forward.

The rotation of the arm on the shoulder can be done in any of the following ways:

-

through two cables that work in opposition;

-

by a cable and a spring.

The wrist rotation can also be done in any of the following ways:

-

by two traction cables;

-

by a traction cable and a spring.

Elbow rotation can be done in any of the following ways:

-

by two traction cables working in opposition;

-

by a traction cable and a spring.

The elbow joint preferably comprises: -two moving parts with a common axis of rotation, the first moving part forming part of the exo-forearm and the

second exo-arm moving part;

-

stops to prevent the elbow from turning backwards beyond a limit position;

-

a pulley, jointly and severally attached to the first moving part, which allows the articulation of the

elbow through two traction cables.

The exoskeleton may comprise: -a encoder located on the pulley to determine the angle that relates the position of the first moving part

with respect to the second moving part;

-

an inertial sensor in the exo-arm to determine its inclination;

-

an inertial sensor in the exo-forearm to, together with the pulley encoder information, determine the

exo-forearm position.

-

an inertial sensor on the shoulder of the carrier means to determine the relative position of the arm relative to the user's body.

The carrier means preferably comprise a vest, and may additionally comprise a backpack.

Power actuators can be selected from the following: linear actuators, rotational actuators or a combination of the above. In a preferred embodiment, the rotational power actuators exert their traction on the cable by means of a pulley with a helical groove that allows the cable to be driven in its collection.

The exoskeleton can also comprise a plurality of external sensor thimbles located in the exoskeleton itself to activate the power actuators and thus command the movements thereof. Each external sensor thimble preferably comprises a set of five sensors included inside (98) of a thimble. External sensor thimbles can be arranged in pairs of thimbles with opposite functions.

The exoskeleton can have data storage means, input means for selecting an operating mode of the exoskeleton and a control unit configured to, depending on that selection, select one of the following operating modes of the exoskeleton:

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trajectory recording mode, to record the movements made by the exoskeleton in the data storage media;

-

recorded path tracking mode, to select a desired path, previously recorded on the data storage media, and repeat that path automatically or allow the user to try to follow it and correct it when leaving it;

-

External sensor tracking mode, to allow control of exoskeleton movement through external sensors.

Brief description of the drawings

A series of drawings that help to better understand the invention and that expressly relate to an embodiment of said invention which is presented as a non-limiting example thereof is described very briefly below.

Figure 1: General front view of the exoskeleton.

Figures 2A and 2B: Rear view of the ex-skeleton.

Figure 3: Exoskeleton embodiment without top spring and with a backpack that supports the electronics

and the actuators.

Figure 4: Exoskeleton embodiment in which the actuators are linear and integrated in the vest.

Figure 5: Details of the parts and joints that make up the exoskeletal arm, which is placed on the

user's arm

Figures 6A, 6B and 6C: Shoulder structure based on a structure of springs and parallel kinematic cables.

Figure 7: Simplified diagram of the structure of the shoulder, of parallel kinematics.

Figure 8: Detail of the mechanism of rotation of the exo-wrist.

Figure 9: Detail of the structure that allows the rotation of the shoulder, supports the arm and facilitates the anchoring of this

to the vest.

Figure 10: Explosion of components of the shoulder rotation mechanism.

Figure 11: Detail of the helical pulley used by the rotary actuators.

Figure 12: Exoskeleton covered by outer clothing, with which the detail of the mechanisms is not noticeable.

Figures 13 and 14: Explosion of the complete wearable robotic exoskeleton.

Figure 15: Therapist moving the exo-arm by pressing on the external sensors located in the exo

forearm.

Figure 16: Therapist moving the exo-arm by pressing on the external sensors located on the exo-arm and the exo-forearm.

Figure 17: Block of five external pressure sensors incorporated into the control thimble.

Figure 18: Load adjustment disc placed on the exo-arm support to regulate the weight that the user can carry.

Figure 19: General view of the exo-skeleton arm with the external sensor thimbles placed in the exo-arm and the load adjustment disc in the exo-arm support.

Figure 20: Scheme of operation of the exoskeleton.

Detailed description of the invention

The wearable robotic exoskeleton has a configuration and appearance similar to a garment, so that it adapts naturally and ergonomically to the postures and movement of the person using it, so that in addition to serving to provide The person who complements and helps the movement, does not attract attention and is more acceptable in their social environment and personal perception. The assembly of the invention is composed of clearly differentiable and functional parts, shown in Figures 1 to 4, which are listed below:

one.

A harness or vest (8) duly padded that dresses on the body, whose functionality is to serve as a basis for control and power systems (1), power source (9), as well as anchors (36 ' ) of the exo-arms (2) and (3) articulated robots.

2.

A system of motorized articulated links, which we will call exo-arms (2) and (3), for being shod on the outside of the human arm (s), with fasteners conveniently located on each joint of the user's arm and used to transmit the strength of the robotic mechanism that helps movement.

3.

A set of power drives, consisting of actuators (6, 206) and remote power transmission systems based on ultra-flexible steel cables (11) and (13), anchor points (17) and (66) and power systems kinetostatic compensation (4) and (5) to optimize the power consumption required by the system.

Four.

An autonomous power supply system (9), which can also be powered by connection to the mains.

5.

A computer-based power and motion control system (1), in which the algorithms that implement procedures appropriate to the type of user and activity to be performed reside.

6.

A set of pressure sensors (100 to 103), represented in Figure 19, that allow to act on the exo-skeleton and inertial sensors of type IMU (112), (113) and (114) that allow to know their position and movement .

The vest in the form of a vest (8), is constituted by layers of flexible and light material for the protection of the body, covered by an outer fabric (72), Figure 12, which gives the pleasant appearance and support for the parts that make up. In some areas of the outer face of the vest semi-rigid plastic parts have been incorporated that provide support points for the elements that must be placed on it, such as the compensation springs

(4) or cable anchors (65). These semi-rigid pieces contribute to distributing the specific forces or forces on a surface and together with the padding, the user does not practically notice the pressures caused by the movement of the exo-skeletal arm (2) and (3). The outer cover (72) covers the mechanism and with the appropriate adaptations it can be assimilated to one of the daily garments. The exo-exkeleton system when driven by cables has the particularity of allowing the transmission of force to each joint to be easily integrated under the outer cover.

The exo-skeletal arm is an element that fits over the patient's arm by fixing it and matching the equivalent joints of both (wrist, elbow, shoulder). To achieve the movement of each joint, the force of the power actuator is transmitted by means of cables (18), (60), (61), (62), (63), (64) and (70) that are wrapped during part of its route thus obtaining a point of support for the location of the engine and another in the joint, being able to make in the middle any route that is necessary to adapt to the pose of the arm.

The exo-skeletal arm, shown in Figure 5, consists of several elements:

-Exo-Doll: It is an element formed by three rings (21), (22) and (23), as shown in detail in Figure 8. The central ring (22) is shaped as a pulley to guide the cable tractor (56) and can rotate on its axis helping to rotate the patient's wrist, clockwise or counterclockwise.

-Exo-Forearm (3): It is a semi-cylinder shaped grid that attaches to the patient's forearm. It is attached on one side to the exo-wrist and on the other end to the exo-arm (2).

-Exo-Arm (2): it is another half-cylinder shaped grid that attaches to the patient's arm and joins:

◦

To the exo-forearm (3) by a mobile joint (15) of a degree of freedom, providing mobility to the elbow.

◦

To an arm support (33) by means of a rotational joint that shares the axis of rotation with the exo-arm (2).

-

Arm support 33: it is an annular piece that allows the exo-arm (2) to rotate inside and joins the vest

(8) by means of a parallel kinematics structure and a kinetostatic compensation system described later.

-

Parallel kinematic structure of the shoulder: A parallel structure is formed by cables around the shoulder and arm junction. This wired structure between the arm support (33) and the vest (8) provides the mobility of the arm with respect to the shoulder. The structure is formed by a ring (33) around the arm that we have called “arm support” and another fi nal ring formed by a shoulder strap (46) and side of the vest (45), the part of the vest that joins the anchor points of the cables to it (Figures 6A, 6B and 6C). The "legs" of the parallel structure would be the springs (4), (5) and (12) and the cables (11) and (13), see Figure 7, which join the rings and the user's own arm (48) which acts as an additional leg of fixed length, terminated in a universal joint that moves vertically and horizontally. Cable fixing on the mobile base (33) can be done in many ways, but some favor that the tractor power is greater from all angles (Figures 6B and 6C). If the anchorage point (130) of the tendons of the lower cable (13) is the one indicated in Figure 6A, it will work best in elevated or mid-height arm positions (the anchorage protrudes more than the vertical formed by the axis of rotation of the shoulder (47) and the point of traction on the side (79)) than in lower positions. This is compensated by the fact that in low positions the springs (4) also approach the vertical and reduce the weight compensation of the arm. The anchoring (130) of the cables can be done in many ways. For example, on the outer or upper part of the mobile base at medium height (Figure 6B). This means that in high or middle arm positions we are in the same conditions as before. On the other hand, in low arm positions the cables are separated from the mobile platform, being anchored to it by a point (130) that is more separated from the vertical that form the axis of rotation of the shoulder and the point of traction on the side . This improves the ability of the motors to make traction in low arm positions. The traction can still be improved in low areas, if the mentioned anchor points (130) rise above the surface of the mobile base (Figure 6C). This elevation can be done in many ways. Any projection that provides a high support point, without or with reinforcements to give greater resistance, in the form of a quarter of a wheel with a groove to guide the cable and always keep a traction point well separated from the mentioned axis, with polygonal shape to regulate the vertical separation by sections, etc. The same reasoning could be applied to the other cable (11) that operates the mobile platform (33), and similar solutions would also be valid in the same direction.

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Gravity compensation system: By means of one or several joints between the arm support (33) and the vest (8), the springs (4) and (5) provide support, reference points and kinetic compensation. In this way the weight of the arm is supported to a large extent by the springs, reducing the load that the power actuators must bear.

The "Kinetic Compensation System" is composed of:

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A pair of lower shock absorbers (4) that support the arm in front and behind it, resting on two lower points located in the vest (8). The travel of the dampers must allow the movement of the arm from positions of raised arm to down arm and with the possibility of traveling the normal range of movement of the arm that corresponds to something more than a quarter of sphere cut vertically.

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An upper spring (5) anchored, vertically near the shoulder, to the backpack (10) or to the vest itself (8), see Figure 1 (front view of the exoskeleton), and attached at the other end to the ex-arm (2 ). At rest the spring will keep the exo-arm (2) vertical, compensating the weight of the arm. To lower the arm, an actuator will pull down through the cable harness (13), see Figure 2B where a rear view of the exoskeleton with the actuators, cables, electronics and power supply is shown. Thus, the arm can be moved through the work area with a minimum amount of energy. The actuator that controls this movement does so by means of the pulley (80) that picks up the cable (67) and (13) that is wrapped between the stops (66) and (79).

Some of the above elements could be suppressed and the system would remain functional. If the

upper spring (5), the load should be divided between the two lower shock absorbers (4) and vice versa. The elimination

of an element reduces weight and volume in the area where it is located.

If the lower shock absorbers (4) are removed there will be no obstacles under the arm which facilitates movement. In addition, due to its “elastic in all directions” nature, the upper spring (5) allows to achieve a slightly larger work area and effectiveness as a gravity compensator in many different positions (equivalent with the arm advanced or delayed, halfway up or halfway go down).

In all cases, the path of the passive component (4) and (5) must be dimensioned to cover the desired work area and its stiffness to adequately compensate the weight of the arm so that the effort to be made by the power actuators is minimal in both directions of operation.

The most complex point of the exo-arm (2) is the shoulder. There are several elements in this design that working together solve the problem of the change of center of rotation that causes shoulder mobility. The vest (8) accompanies the movement of the shoulder by displacing the anchor points of the arm. On the other hand, the exo-arm (2) is united in solidarity with the user's arm, instead of accompanying its movement closely, like other models. This is achieved due to its semi-cylinder shape that collects the arm, the cushions that accommodate it, adjust and protect it and the fixations by elastic bands that ensure it by distributing the pressure throughout the arm. This point is key, because if the robot moves with respect to the arm the condition of accompaniment to the center of rotation would be lost (47). The union of the exo-arm (2) to the vest (8) by means of cables and springs allows the robot to adapt to the movements of the arm throughout its work space.

The set of power drives comprises the power actuators, linear (206) and / or rotational (6), which provide traction, a system of ultra-flexible cables that transmit force and springs that allow the return to the rest position and compensate the weight of the moving elements. In addition there are transition points (17, 66) of bare to covered cable that allow the transmission of force between separate points regardless of their position.

In the movement of raising / lowering the arm, for example, a cable that is pulled from above linked to one motor and another below linked to another motor could be used. However, the most efficient solution is a spring or set of them (4, 5) that provides sufficient vertical thrust to lift the arm by itself and a cable (13) anchored inferiorly to lower it. Therefore, the arm is pushed up by the springs (4, 5) and lowered by the tension of the cable that counteracts the thrust of the springs. The control of the position of the arm is achieved by regulating the amount of cable that is released at any time by means of a motor. This avoids the superior traction by means of cable or actuator from the shoulder that presents numerous problems:

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It requires a support point that protrudes noticeably from the shoulder when the arm is relaxed to be able to lift it. When the arm is raised, the support point limits the path of the arm.

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It requires that the vest braces be very reinforced, often with additional fastening straps to be able to serve as a point of traction. The alternative is to give them a lot of rigidity that is uncomfortable for the user.

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It requires very powerful, heavy and bulky actuators.

In addition, the pull-down cable (13) is divided into two (although there may be more) tendons, as shown in Figure 6, which allow balancing the movement in any position and taking laterally displaced anchor points and more protrusions, of so that the traction is effective when the arm is very high and does not hinder its descent when it is in very low positions.

Forward / backward movement is also achieved with cable traction (11) from the front (anchor point 17) and spring return (12) anchored behind the arm to the back of the vest, although they could also be placed in reverse position: spring (12) in front and cable (11) behind. The choice of two cables that work in opposition to a single power actuator is complicated in the shoulder, since it would require a perfect alignment of the two cables with respect to the axis of rotation of the arm with respect to the shoulder, which as explained above constantly moves of place. The alternatives would be to use the one presented here or the installation of two independent power actuators and the control of the cable length released at each height by each power actuator.

The rotation of the arm on the shoulder could be achieved interchangeably by two cables (60) and (61) that work in opposition or by means of a cable (60) and a spring.

In the elbow joint, the option of two cables (62) and (64) working in opposition is preferable, since the alternative of a cable and a spring forces the motor to be oversized. The reason is that in certain positions the spring compensates for gravity and in others it adds to it, making it difficult for the engine to work. This effect does not occur in cases previously treated due to the nature of the joints, their position and their path.

In the wrist joint, it may be indifferent to use double cable or cable and spring, but since it is the furthest point from the shoulder, the solution of less weight and complexity is preferable, which is a cable (63) and a spring (51 ).

The power actuators, thanks to the cable action, can be placed at any point so as not to take up too much space or stand out. In the back they do not limit the work area of the arm. You can also occupy the sides at the bottom near the back. The weight should be placed low to stabilize the exoskeleton vest assembly and can be distributed so that they balance the exoskeleton's weight by placing them on the opposite side, or they can be distributed on the back if two exo-actuated arms are required.

Actuators, power supply systems and control systems can also be placed in a backpack (10). This would allow the user to download this weight from their back when sitting. In general, the backpack will increase the weight of the set.

The computer control system (1) controls the execution of the movements by means of algorithms adapted to the application given to it:

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Rehabilitation: algorithms to execute the movements indicated by the doctor or therapist.

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Sport: algorithms to execute training movements.

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Learning in surgery: algorithms to repeat the movements indicated by the teacher.

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Daily assistance: algorithms for the most frequently used movements in daily life.

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Resistance assistance: algorithms that allow you to maintain an uncomfortable or exhausting posture for a long time with minimal effort. For example, in the work of the workshop, changing parts that require having long raised arms, or lying under a car with strength with raised arms.

The algorithms present in the computer may have been programmed in several ways:

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Externally displacing the arm: The assistant (for example the doctor, see Figures 15 and 16) takes the user's arm or forearm with their hands and executes the movement. In order for the exoskeleton to respond to the doctor's action, he will have his fingers supported by the external pressure sensors (100 to 103) located in the ex-arm (2) and in the ex-forearm (3). Thus the computer records the path that must be repeated later.

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Through an external element. The assistant would move a special joystick equipped with six degrees of freedom (3 position and 3 orientation) with a wide path, and the computer would record the trajectory of the hand to replicate it with the patient's hand, moving the entire arm. It could also be used as an external element other exoskeleton equal to the one presented that the assistant would move to record the movement that the assisted person must perform.

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Direct programming: In an external computer the movement is simulated and the control pattern is generated to load it into the computer memory of the exoskeleton.

On the exo-skeleton there are inertial sensors (113, 114) IMU type - see Figure 2A - that report the position, speed and acceleration of the exo-arm (2) and the exo-forearm (3), as well as its inclination . One could have been located only on the mobile platform of the parallel structure, but the presence of these two sensors, together with the information of the elbow joint encoder provide redundant information that allows to improve the position estimation using any fusion method Kalman fi lter type sensorial. Additionally, an IMU inertial sensor (112) is placed on the shoulder of the vest. In this way we can know the relative position of the arm with respect to the user's body that could be stooped, tilted or lying down to perform different types of movements.

Example 1

Mode of realization for stroke patient rehabilitation

The harness or rig-shaped vest (8) is a soft and flexible piece that is placed on the trunk of the user, serves as support for other parts and gives stability to the system. It is composed of quilts (20), soft elements that could be artificial foams and viscoelastic materials, which pad the contact with the body, some of which are covered by rigid pieces on which other components are supported (4, 17, 18, 36 '). The vest can have a zipper (73) in the front that allows to put on and take off the exoskeleton with comfort.

On the rigid parts that make up the outside of the vest are placed universal joints (36 ') for the placement of the shock absorbers (4) and the pull pins (17) in which the cable passes from being bare (11, 13) to be covered (18). At these points the tensile stress that allows the arm to move is supported. After the traction pins in general there are usually dams (65) that flange the sheathed cable, directing it on its way to the actuators.

The power actuators (6,206) are coupled in the suit itself hidden in discrete places and that do not disturb or coupled in a backpack (10) on the back. The exo-arm (2, 3) is attached to the vest by means of the rotary joint of the shoulder (33) by various means: orientation cables (11, 13), gas absorbers (4) and / or gravity compensating spring (5 ) that slides on the pin (31) depending on the position it adopts. The exo-arm (2) joins the exo-forearm (3) in the elbow joint (15). At the end of the forearm (3) is the wrist joint (16).

The exo-arm (2) and the exo-forearm (3) are grilles composed of metallic aluminum tubes (24), all of them covered with a flexible, thermally insulating arti fi cial foam (110). The tubes fit into final pieces that give the exo-arm (2) and the exo-forearm (3) a semi-cylinder shape. They accommodate the user's arm. An alternative is to wrap the arm with a band of visco-elastic material with the foam exterior until it reaches the size of the exo-arm and exo-forearm. The visco-elastic part adapts to the shape of the arm and the foam padding more evenly ensuring that the arm is held tightly by the outer elastic band and does not slide down the structure.

In Figure 5 the exo-wrist (21, 22, 23) can be distinguished, which is composed of two outer rings (21, 23) that are joined by aluminum cylinders (42) and enclose another pulley-shaped ring narrow

(22)

that slides inside the previous structure. The system could carry axial bearings or simply be made of materials that allow reasonable sliding.

As shown in Figure 8, the pulley is attached to a cable (56) from which an actuator (6) pulls to force it to rotate in one direction. The return is achieved by means of a spring (51) that returns it to its original position when the actuators release the bare cable that is collected in the pulley rail (22). The central pulley (22) has a hole (50) to which one end of the return spring (51) is attached. The other end is anchored to the outer piece

(2. 3)

on the ledge (52). The pulley also has a projection (53) that forces the spring (51) to stretch following a distance away from the user's wrist.

The traction cable (56) enters the hole (55) and passes through the hole (54) to a hollow cylindrical tube (24) that is part of the arm structure and circulates through it to reach the actuators. In its interior route it is dressed by a cover that reaches the pin of its actuator. To do this, it circulates through the tube (24), exits through the point

(26)

and it enters again through (28), as shown in Figure 5, in this way it almost does not support flexion and there is no significant stretching of the sheathed cable (27) in the elbow joint. On the other hand there are practically no visible cables, they do not occupy additional space and the whole system is very compact in a minimum volume.

The inside of the pulley has an entrance that allows the hand to enter in a certain orientation in which the opening is wider. Once the hand has been introduced, a half moon elastomeric foam padding is placed on the flanges (53) with flanges that accommodate the wrist and allow it to act smoothly on it, without forcing or damaging it.

The elbow joint (Figure 5) is formed by two moving parts (26, 29) joined by a common axis of rotation (39). The first moving part (26) is part of the exo-forearm (3) and the second moving part (29) of the exo-arm (2). Both have stops (43) that prevent the elbow from turning back and causing injury to the user. In this joint there is also a pulley (40), jointly and severally attached to the first moving part (26) that allows the actuation of this joint. There is a bare cable anchored to the pulley that runs through it until it reaches the entrance located at (38). From this point the cable circulates sheathed (37) to the actuator. At the outlet of the shoulder joint both sheathed cables (27, 37) are collected in a single beam that goes to the actuators.

In the pulley (40) there is an encoder that allows to know the angle that relates the position of the first moving part

(26) with respect to the second moving part (29). Additionally there is an inertial sensor (114) in the exo-arm (2) and another inertial sensor (113) in the exo-forearm (3). The inertial sensor (114) of the exo-arm (2) reports its inclination. With the information of the encoder of the pulley (40) the position of the exo-forearm (3) can be known, besides having the information of its inertial sensor (113), with which using EKF (extended Kalman fi lter) you can have more accurate and reliable information. Additionally an inertial sensor (112) is placed on the shoulder of the vest. In this way it is possible to know the relative position of the arm with respect to the user's body that could be bent down or inclined.

The shoulder rotation joint (Figures 5, 9 and 10) is essentially formed by the pieces (33, 34, 35). The piece (33) is the support point for the rest, as it is anchored to the vest by means of the shock absorbers (4) and / or to the backpack by means of the upper spring (5). It is also attached to the vest through the actuation cables.

The pieces (34) and (35) are located on both sides of the piece (33), joined together by the tubes (44) that make up the arm. The assembly (34, 35) slides on the part (33) directly or separating from it by axial bearings. Piece 34 is shaped like a pulley. Two bare wires are anchored to it that run through it in opposition, so that it can be operated both ways. The cables are collected in a piece that is hidden in Figure 5 and that makes the passage from bare cable to sheathed cable to go to the actuators.

The set (30, 31, 32) is a support for various elements of the robot. The tube (31) is rigidly attached to the shoulder rotation support (33) and serves as the anchoring point of the upper spring compensation spring (5). The spring (5) is anchored on the sliding part (32), giving it a travel margin that allows the arm to adopt the different positions without appearing unwanted bulges due to the deformation of the spring (5). It is also possible to observe the element (30) which is a stop that limits the travel of the slider and prevents it from leaving its guide.

The universal joint (36) allows the coupling with the shock absorbers providing gravity compensation and a reference point for the movement of the rest of the arm.

A basic design to solve the shoulder problem could consist of a parallel kinematics platform with four cables that exert traction to raise the arm, lower it, move it forward or backward. In this design, two of these four cables are removed and replaced by springs. The upper traction is eliminated and replaced by the gas springs (4) and the upper spring (5). The rear-wheel drive is also replaced by a spring (12).

The parallel structure of the shoulder is formed by a fixed base (45, 46) corresponding to the vest, a movable base (33) annularly corresponding to the beginning of the ex-arm and the legs that join them (4, 5, 11, 12, 13, 48). All of them arti fi cial except the number 48.

The leg (48) is the user's humerus. The arm fits the body in such a way that its center of rotation (47) moves vertically and horizontally. This is the reason that makes a special structure necessary to accompany the arm in its movement. Due to the union between the arm and the ex-arm, the flue (48) can be considered perpendicular in (49) to the plane of the mobile platform (33).

The lower shock absorbers (4) provide the necessary force to raise the arm. In the same way the spring works (5), although with nuances. Being elastic elements it is not a problem that the center of rotation (47) moves. With the cable (13) the elevation of the arm produced by the elastic elements (4, 5) will be controlled, regulating the amount of cable that is released and also the descent of the same, picking up the necessary cable. Meanwhile, the other three antagonistic elements (4, 5) accommodate the variations in position of the center of rotation (47).

The cable (11) controls the position of the arm on the horizontal axis by regulating forward and reverse. It works in opposition to the dock (12). Also in this axis there is displacement of the center of rotation (47), but again the presence of elastic elements (12) allows the accommodation.

The support (33) of the exo-arm is the mobile platform of the parallel structure of the shoulder. The anchor point (57), shown in Figure 9 (and exploded in Figure 10), is adapted for the incorporation of the cables that control the rotation of the exo-arm with respect to the support (33). The anchors (58) provide the cables that will make the lower traction a point of attachment that protrudes from the arm, improving the efficiency of the system. Finally, the bar (31) coupled to the support (33) allows the sliding of the element (32) between the ends (30, 33). On the sliding part (32), it engages the upper spring (5) that exerts upward traction.

The rotary power actuators that are placed in the backpack exert their traction on the cable by means of a pulley (80) shown in Figure 11. The pulley (80) instead of having a flat cylindrical span has a helical groove ( 84) which allows the cable to be driven in its collection, which allows greater control of the length of the cable recovered and therefore of the position of the joint. If it does not exist, random overlays of the cable would occur on itself that would make the control difficult. The element (81) is the anchoring point of the cable that is introduced through the hole (82). It exists at both ends of the pulley to be able to use it with a single cable or with two, so that one is collected while the one working in opposition is released. The helical projections (83) ensure correct cable conduction. Point (85) allows entry of the shaft on which the pulley rotates.

The clothes that the robot should cover in principle are normal or almost normal clothes. Bulky clothing such as a coat will allow structures to more easily change, but in general everything in the robot has been designed to occupy a reasonably moderate space. The upper spring would be camouflaged under point (77) or protruding only slightly. This may require expanding the slack of the garment in that area. Volume extensions would also be required in (74) to allow free movement of the dampers if present. Another area that may require a special design is (75). It is preferable that on canvas to admit an easy extension and collection of clothes when moving the elbow. The garment could go loose on the robot or fixed in some points like (76). It has also been considered that there should be an opening in the front area (73), for example a zipper to be able to easily put on and take off the garment, since it is not a simple jersey, but instead has a robot inside.

The advantages of the proposed model are:

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Cable-based drive: There are no power actuators in the joints, which reduces the weight and inertia of the exoskeleton and the power of the actuators. These are installed in the vest or backpack contributing to the stability of the set, reducing the volume and facilitating its concealment under the clothes. The model gains lightness and mobility.

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Kinetostatic compensation: The springs reduce the actuator load, and its size, lightening the system and increasing its autonomy.

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Structure of parallel kinematics in the shoulder: Solves the problem of the shoulder by means of a parallel structure formed by springs and cables that accommodate the displacements of the joint. The exoskeleton / vest junction is not rigid, although the union between the exoskeleton and the user's arm and the union of the body trunk with the vest is.

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Semi-cylindrical grid structure: The grid structure of the "exo-arm" and "exo-forearm" keeps the patient's arm subject, accommodated and protected, while maintaining the exoskeleton's rigidity. The structure is light, allows the passage of cables through the interior of the tubes and could be constructed adjustable in length by means of a telescopic system.

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Wrist and shoulder ring system: Wrist and shoulder rotation is achieved by a concentric ring structure narrower radially, but larger longitudinally. Structural rigidity is maintained with reduced volume.

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Five degrees of freedom: The possible movements of the shoulder, elbow and wrist rotation are resolved with only five actuators.

The patient can put the vest on the body as he would with a coat, this is introducing the arm that needs rehabilitation first by the sleeve in which the exoskeleton is located and introducing the other arm later. Finally he would close the zipper and adjust the belt.

Because of its low weight and volume, it does not need an open and clear environment, such as rehabilitation centers or industrial environments. It can be used to perform rehabilitation exercises at home. Therapists indicate that there are several factors that contribute to the effective rehabilitation of the patient:

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Be able to perform exercises such as "take and leave an object" in an upright position, sitting and crouching. The portable and very light conception of the exoskeleton facilitates the adoption of all these postures, which are impossible with most existing systems.

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To be able to vary from the task execution environment so that the patient feels stimulated to the execution of a task that is not attractive because it is repetitive. The exoskeleton is designed to occupy a minimum volume, which makes it easy to move everywhere easily overcoming doors, narrow aisles and elevators.

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The frequency of rehabilitation exercises. Being able to use it in different places of the hospital increases the frequency of use, since it shifts from place and schedules. The appearance of clothing also helps the user to accept the system better, and be willing to use it at home and elsewhere.

The movements to be executed for rehabilitation may be pre-programmed, or they may be prepared specifically for the patient in question. The therapist, after activating the recording mode, could grasp the patient's forearm with his hands by pressing them on the external sensors and the exoskeleton will react contributing to the doctor's push on the arm by moving it. At the time the movement will be registered.

An embodiment of the external sensor module is in the form of opposite thimbles. There may be a variable number of pairs of thimbles, preferably located on the forearm (100, 101; 102, 103), as shown in Figure 19 in which two pairs of opposite thimbles are represented, so that the movement of the arm It can be directed naturally by grasping the forearm. The thimbles can also be located on the wrist or on the arm (105, 106), as shown in Figure 16. Figure 17 shows, by way of example, a module of five sensors (93, 94, 95 , 96, 97) included inside (98) of a thimble (99). The therapist grabs the patient's arm below in a natural posture, as shown in Figures 15 and 16. You will find two wide holes (98) to insert the thumb and heart of each hand. Each of them has five sensors located above (94), below (97), to the right (93), to the left (96) and to the bottom (95). When you move your hand you will trip over the sensors by exerting pressure on them and activating the power actuators that will collaborate with the desired movement.

Assuming that the therapist acts on a single pair of dams (102, 103), if it exerts force on the upper sensors (94) of the opposite thimbles (102, 103) the arm is raised, if it does on the two lower sensors ( 97) the arm descends. If you press the two sensors closest to the hand (96) the arm will move forward and if you do it on the two sensors closest to the elbow (93) the arm will go back. If you press on only one of the bottom sensors (95) the arm will move forward trying to reduce the pressure of the sensor and thus lateral movements of approach or distance to the trunk of the body will be achieved, depending on the thimble (102, 103) on which it is acting. If both bottom sensors (95) are pressed simultaneously, regardless of the pressure difference, it will be understood that lateral movement is not desired. Pressing on an upper (94) and the lower opposite (97) will turn the wrist-forearm in the corresponding direction of rotation. If 4 sensors (100, 101, 102, 103) are available on the forearm -Figure 19-or two on the forearm (102, 103) and two on the arm (105, 106) -Figure 16-, in the vicinity from the elbow it is possible to make any movement. Following the instructions above, the forearm can be moved to any position and orientation that is natural for man. Since the human arm is an open kinematic chain and the patient's body is much heavier than the forearm, the elbow and arm will adapt to the new location of the forearm, keeping the body in a fixed position. If we fold the forearm over the body, the elbow will flex. If we do this by keeping the sensors at the same height, the elbow will float horizontally, instead if we place the sensors at the same vertical, the elbow will float vertically. In addition, to record special movements, the patient can be seated or laid down so that greater immobility of the body is achieved, if necessary.

In general, the pressure is at the same time the way of regulating the speed of advance. When releasing the forearm it stops, because the sensors detect the lack of pressure. The pressure difference between the therapist's two hands allows the orientation of the arm to vary.

Once the movement has been registered, the playback mode can be activated, and the patient can repeat the movements that have been recorded as many times as he wants. Using a small wireless controller, you can choose the sequence to play and give the start order. You can also use the external sensors to indicate by simple contact with the unaffected hand the beginning of any of the recorded movements.

On the recording result, a low-pass filtering is applied by default, which will soften the trajectory and make it more continuous.

Example 2

Performance with backpack

A simple example of arrangement of power actuators on a backpack (10) is shown in Figure 3. This allows you to download this weight when sitting.

The pulleys (80) are connected by the shaft to the actuators (6) that are fixed to the vest or to the backpack by means of the power actuator holders (69). The fixing of the pulleys that support the tension of the cable is double by means of the power actuator holders (69) and the pulley holders (86). The pulleys exert their traction on the joints of the robot by means of the cable (67) that we see wrapped in (62) from the pin (66). The sheathed cable

(62) is sometimes guided by the arm arm tubes and is sometimes held in its path, by means of flanges or dams (65).

Example 3

Method of realization with linear actuators

In Figure 4 another embodiment can be observed in which the power actuators (6) are placed on the vest (8), this being an integrated version in which there is no backpack (10).

In it you can see the same elements as in the previous one, but integrated in the vest (8) to occupy the smallest space and volume possible and to distribute them in the most appropriate way. The pins (66) make the change between sheathed cable (62) and bare cable (67). In this version, linear power actuators (206) have been installed in which the rod (205) is attached to the bare cable (67) and pulls or releases it to control the movement. The advantage of these linear actuators (206) is that they are integrated very easily, in the vest allowing a better camouflage of equipment. The supports (204) are placed on both sides of the linear actuator (206), or following the manufacturer's recommendation, trying to take up little space. In the image they have been drawn only to the side to show the stem.

Example 4

2-arm embodiment

This embodiment can be used to exercise with both arms in parallel or in coordination of movements, for example for sports use. The essential difference is that two exo-arms and the actuators needed to move both arms would be installed.

Example 5

Execution mode for assistance to the elderly

In the design, high precision elements have been eliminated, which are not necessary for these uses, making it a low-cost system that can be purchased massively for assistance to the elderly or for rehabilitation in the home itself, as support for muscles weakened by age or other causes, or for sports training due to their ability to reproduce movements.

On the same assembly described in the first example, there could be a series of pre-recorded movements that allow the most frequent or heavier tasks to be executed so that the user can perform them without fear of causing an accident.

In this mode it would be enough to select the desired program by means of a keyboard or buttons arranged on the forearm. Another mode of use is the “follow me” mode in which the user can move his affected arm by directing it with his other hand by using the external sensors (100, 101, 102, 103, 105, 106). In this case, the same precision is not required, so it is not necessary to use the four sets of two-hand sensors. In general, just use a finger to move it. The user will place the arm in a certain position and the exoskeleton will keep it until new order. This is a way of being able to hold things without actually supporting their weight or holding objects that must be handled with two hands.

If necessary, the user can regulate the force that the exoskeleton is capable of, by displacing the support point of the lower shock absorbers on the arm. It is enough for this to have a few pre-set positions (that of normal movement, load moderate weights, load of medium weights and load of high weights). One embodiment of the variable anchor point would be that it was on a disk (90) whose center (92) is fixed to the exobrazo (2), as shown in Figures 18 and 19. A slight movement of the disk and the introduction of a pin

(91) to fix it they will serve to achieve the variation of the anchor point (104) of the shock absorbers lower than the exobrazo (moving them away or closer to the shoulder) and therefore the load regulation that the exoskeleton can support.

Example 6

Mode of realization of the set of external sensors

If it exerts force on the lower sensors the arm rises, if it does on the upper sensors the arm descends. If it is being held by the sensors closest to the hand, the arm will move forward and if it is held by those closest to the elbow, the arm will recede. If you hold both at the same time the forearm will rise or fall without forward or reverse. If, for example, it is desired that the arm advances without raising or lowering, the upper and lower sensors close to the wrist will be attached. The pressure is at the same time the way of regulating the speed of advance. When releasing the forearm it stops, because the sensors detect the lack of pressure.

Finally, Figure 20 represents the scheme of operation of the exoskeleton (310). The exoskeleton actuators are operated by a closed loop control system (308) that will ensure that they are positioned at all times in the desired location.

The block (302) allows the user or the assistant (300) to select the mode of operation of the exoskeleton. The essential modes are:

one

Exoskeleton stopped: He will do nothing. It will be in this mode when it is not in use or the user is placing it.

2

Exoskeleton in trajectory recording mode: records the movements made by the exoskeleton.

3

Exoskeleton in recorded trajectory tracking mode: The desired trajectory will be selected and the robot will repeat it a certain number of times (programmable).

4

Exoskeleton in external sensor tracking mode (thimbles): The exoskeleton will follow the movements indicated by the thimbles.

Any contact with the thimbles or external sensors (304) should bring the exoskeleton to the “external sensor tracking” mode, for user protection. In this mode the user could place his arm in the desired position, or stop an unwanted movement. On the other hand, the doctor, therapist, the trainer, or the assistant in question (316) can move the exoskeleton using the thimbles and record at the same time in the system the path generated for later reproduction.

The trajectory recording system (318) allows to record any movement executed by the exoskeleton. In this way you can store test movements, habitual movements in the daily work, training or therapy movements that must be repeated frequently, etc.

The assistant (316) can also record trajectories obtained by simulation (312) on an external computer or on the exoskeleton. In this way you can digitally retouch or treat predefined paths for later execution. You can also load in the trajectory generator (306) those that you have already used with other clients, which are well tested and that prove to be more useful.

In general, all trajectories, regardless of their origin, can be registered in the path generation system (306), which will be responsible for indicating to the control system the movement to be performed, if it is in track mode of recorded paths.

Example 7

Execution mode for specific applications

In industry, or in special applications, as it could be in a mechanical workshop, it could be the circumstance, for example, that the user carries out the work in a horizontal position all the time, to place parts underneath in an equipment that is above him while he is lying on his back. In such a case, it makes more sense that the kinetic system is located in opposition to the force of gravity. In essence, the only change in this embodiment is that the parallel shoulder platform would be rotated about 90º with respect to its normal placement. Other positions on the same platform are also possible for specific applications that require it.

Claims (22)

1. Wearable robotic exoskeleton for human arm, comprising:

-

an exo-wrist, comprising at least one ring (21, 22, 23) to support the user's wrist and allow its rotation;

-

an exo-forearm (3), attached to the exo-wrist and in charge of supporting the user's forearm;

-

an exo-arm (2) responsible for supporting the user's arm, attached to the exo-forearm (3) by means of a mobile joint (15) to allow the user's elbow to rotate;

-

a joint of the exo-arm (2) with the mobile shoulder platform to allow rotation of the arm on the shoulder;

-

a plurality of traction cables (67) to force the movement of each joint;

-

a plurality of power actuators (6, 206) to actuate the traction cables (67);

characterized in that it comprises:

-

carrier means (8) to be carried by the user and responsible for supporting the power actuators (6, 206);

-

a parallel kinematic structure of the shoulder, responsible for providing the mobility of the arm with respect to the shoulder and for tracking the movements of the shoulder with respect to the body, which comprises at least a plurality of cables (11, 13) that connect a support of arm (33), which acts as a mobile platform of the parallel kinematics structure, with the carrier means (8), which act as the base platform of the parallel kinematics structure.

2.

Wearable robotic exoskeleton for human arm according to claim 1, characterized in that the parallel kinematic structure of the shoulder comprises a gravity compensation system, formed by a plurality of springs (4, 5) connecting the arm support (33) and the carrier means (8) to partially or totally support the weight of the user's arm.

3.

Wearable robotic exoskeleton for human arm according to claim 2, characterized in that the gravity compensation system comprises at least one of the following:

-

a pair of lower shock absorbers (4) that support the arm in front of and behind it, resting on two points located at the bottom of the carrier means (8).

-

an upper spring (5) anchored, vertically near a shoulder strap, to the carrier means (8) and attached at the other end to the arm support (33).

4. Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that the exo-wrist is formed by three concentric rings (21, 22, 23), the central ring being arranged (22) Pulley shape to guide a tractor cable (56) and be able to rotate on its axis to rotate the user's wrist clockwise or counterclockwise.

5.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that both the exo-forearm (3) and the ex-arm (2) comprise, to keep the user's arm attached to the exoskeleton, a semi-cylinder shaped grid , padding and fixation by elastic bands to hold the assembly and distribute the pressure throughout the arm.

6.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that the parallel kinematic structure of the shoulder comprises:

-a pull cable down (13), responsible for forcing the movement of the arm down, which is divided into a plurality of tendons to balance the movement and obtain anchor points (130) on the base support (33) displaced laterally .

7.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that the parallel kinematic structure of the shoulder comprises:

-

a pull cable (11) responsible for acting on the arm from the front to force forward arm movement, and

-

a spring (12) anchored behind the arm to the back of the carrier means (8,10), to force the movement of the arm backwards.

8. Wearable robotic exoskeleton for human arm according to any of claims 1 to 7, characterized in that the parallel kinematic structure of the shoulder comprises:

-

a traction cable responsible for acting on the arm from the rear to force the movement of the arm back, and

-

a spring anchored in front of the arm to the carrier means (8, 10) to force the movement of the arm forward.

9.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that the rotation of the arm on the shoulder is carried out in any of the following ways:

- through two cables (60, 61) that work in opposition; -by a cable and a spring.

10.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that the rotation of the wrist is carried out in any of the following ways:

-by two traction cables; -by means of a traction cable (63) and a spring (51).

eleven.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that the rotation of the elbow is carried out in any of the following ways:

-by two traction cables (62, 64) working in opposition; -by a traction cable and a spring.

12.

Wearable robotic exoskeleton for human arm according to the preceding claim, characterized in that the elbow joint comprises:

-

two moving parts (26, 29) with a common axis of rotation (39), the first moving part (26) forming part of the exo-arm (3) and the second moving part (29) of the ex-arm (2);

-

stops (43) to prevent the elbow from turning backwards beyond a limit position;

-

a pulley (40), jointly and severally connected to the first moving part (26), which allows actuation of the elbow joint through two traction cables (62, 64).

13. Wearable robotic exoskeleton for human arm according to the preceding claim, characterized in that it comprises:

-

an encoder located on the pulley (40) to determine the angle that relates the position of the first moving part

(26) with respect to the second moving part (29); - an inertial sensor (114) in the exo-arm (2) to determine its inclination; - an inertial sensor (113) in the exo-forearm (3) for, together with the information of the pulley encoder (40), determine the position of the exo-forearm (3). - an inertial sensor (112) on the shoulder of the carrier means (8) to determine the relative position of the arm relative to the user's body. 14. Wearable robotic exoskeleton for human arm according to any of claims 1-12, characterized in that the carrier means comprise a vest (8).

fifteen.

Wearable robotic exoskeleton for human arm according to the preceding claim, characterized in that the carrier means additionally comprise a backpack (10).

16.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, wherein the power actuators are selected from the following:

-

linear actuators (106);

-

rotational actuators (6);

-

A combination of the above.

17.

Wearable robotic exoskeleton for human arm according to the preceding claim, wherein the rotational power actuators (6) exert their traction on the cable by means of a pulley (80) with a helical groove (84) that allows the cable to be collected.

18.

Wearable robotic exoskeleton for human arm according to any of the preceding claims, characterized in that it comprises a plurality of external sensor thimbles (100, 101, 102, 103, 105, 106) located in the exoskeleton itself to activate the power actuators (6 , 206) and thus command its movements.

19.

Wearable robotic exoskeleton for human arm according to the preceding claim, characterized in that each external sensor thimble comprises a set of five sensors (93, 94, 95, 96, 97) included inside

(98) of a thimble (99).

twenty.

Wearable robotic exoskeleton for human arm according to any of claims 18 to 19, characterized in that the external sensor thimbles are arranged in pairs of thimbles (100, 101; 102, 103; 105, 106) with opposite functions.

twenty-one.

Wearable robotic exoskeleton for human arm according to any of claims 18 to 20, characterized in that it has data storage means, input means for selecting an operating mode of the exoskeleton and a control unit configured for, depending on said selection, select one of the following modes of operation of the exoskeleton:

-

trajectory recording mode, to record the movements made by the exoskeleton in the data storage media;

-

recorded path tracking mode, to select a desired path, previously recorded on the data storage media, and repeat that path automatically or allow the user to try to follow it and correct it when leaving it;

-

External sensor tracking mode, to allow control of exoskeleton movement through external sensors.

SPANISH OFFICE OF THE PATENTS AND BRAND Application number: 201131435 SPAIN Date of submission of the application: 31.08.2011 Priority Date: REPORT ON THE STATE OF THE TECHNIQUE 51 Int. Cl.: See Additional Sheet RELEVANT DOCUMENTS

Category

Documents cited Claims Affected

TO

WO 2008031023 A2 (OHIO UNIVERSITY) 13.03.2008, page 6, line 9 - page 11, line 7; figures. one

TO

EN 2334780 T3 (ORGANIZATION INTERGOUVERNEMENTALE DITE AGENCE SPATIALE EUROPEENNE) 16.03.2010, page 4, line 24 - page 16, line 39; figures. one

TO

US 7862524 B2 (CARIGNAN et al.) 04.01.2011, column 4, line 29 - column 7, line 40; figures. one

TO

WO 2011029564 A2 (COMMISSARIAT A L'ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES) 17.03.2011, pages 1-5; figures. one

TO

US 2010204804 A1 (COMMISSARIAT A L'ENERGIE ATOMIQUE) 12.08.2010, paragraphs [71-208]; figures. one

TO

US 2008009771 A1 (PERRY et al.) 10.01.2008, paragraphs [77-130]; figures. one

Category of the documents cited X: of particular relevance Y: of particular relevance combined with other / s of the same category A: reflects the state of the art O: refers to unwritten disclosure P: published between the priority date and the date of priority submission of the application E: previous document, but published after the date of submission of the application

This report has been prepared • for all claims • for claims no:

Date of realization of the report 21.11.2011

Examiner J. Square Prados Page 1/4

REPORT OF THE STATE OF THE TECHNIQUE Application number: 201131435 CLASSIFICATION OBJECT OF THE APPLICATION A61F5 / 01 (2006.01) A61H1 / 02 (2006.01) B25J9 / 00 (2006.01) Minimum documentation sought (classification system followed by classification symbols) A61F, A61H, B25J Electronic databases consulted during the search (name of the database and, if possible, terms of search used) INVENES, EPODOC, WPI, PAJ, ECLA, INTERNET. State of the Art Report Page 2/4  WRITTEN OPINION Application number: 201131435 Date of Written Opinion: 21.11.2011 Statement

Novelty (Art. 6.1 LP 11/1986)

Claims Claims 1-21 IF NOT

Inventive activity (Art. 8.1 LP11 / 1986)

Claims Claims 1-21 IF NOT

The application is considered to comply with the industrial application requirement. This requirement was evaluated during the formal and technical examination phase of the application (Article 31.2 Law 11/1986).  Opinion Base. This opinion has been made on the basis of the patent application as published. State of the Art Report Page 3/4  WRITTEN OPINION Application number: 201131435 1. Documents considered.- The documents belonging to the state of the art taken into consideration for the realization of this opinion are listed below.

Document

Publication or Identification Number publication date

D01

WO 2008031023 A2 13.03.2008

D02

ES 2334780 T3 03/16/2010

D03

US 7862524 B2 04.01.2011

D04

WO 2011029564 A2 03.17.2011

D05

US 2010204804 A1 12.08.2010

D06

US 2008009771 A1 10.01.2008

2. Statement motivated according to articles 29.6 and 29.7 of the Regulations for the execution of Law 11/1986, of March 20, on Patents on novelty and inventive activity; quotes and explanations in support of this statement The request refers to a wearable robotic exoskeleton, which can be superimposed on the arm of a person to provide assistance in rehabilitation, sports training, or in daily life, helping to move the arms according to movement patterns aimed at getting their rehabilitation, training or the execution of the most frequent daily movements. The exoskeleton has a configuration and appearance similar to a garment, so that it adapts naturally and ergonomically to the postures and movements of the person using it, so that in addition to serving to provide the user with a complement and help the movement, do not attract attention and be more acceptable in your social environment and personal perception. The performance of the exoskeleton of the application is based on a cable drive and with a parallel kinematic structure of the shoulder, which provides a reduced weight and volume to be dressed on the human trunk and arms, so that it can be used in usual way to provide strength to the user. Specifically, with the parallel kinematic structure on the shoulder, the problem of the shoulder joint is resolved by means of a parallel structure formed by springs and cables that accommodate the displacements of the joint, providing a non-rigid exoskeleton / vest joint, although it is the union between the exoskeleton and the user's arm and the union of the body trunk with the vest. In the state of the art there are a variety of exoskeletons designed for the upper extremity of a human body, some of which allow to be carried on the user's trunk and the arm that is intended to move, in which the objectives or functions for that have been conceived are the same or similar to those cited by way of example in the application. Examples of this background of the prior art can be considered documents D01 to D06 cited in the Report. Even one of these exoskeletons shows a characteristic design to solve the shoulder joint, anticipating in some of them the use of a parallel mechanism for it. However, although some background is similar to the exoskeleton of the application under study in terms of the functions and objectives pursued, the solutions provided therein can be considered to have different characteristics in relation to the technical object defined in the main claim of the request. Documents D01 to D06 cited in the Report only show the general state of the art and are not considered of particular relevance. Any of these documents anticipate exoskeletons that can be considered similar to the robotic exoskeleton wearable for a human arm that occupies us, or show a structure that has some resemblance to it, but none of them anticipate all the characteristics that limit the object of protection of the first claim. Thus, the documents cited only show the general state of the art, and are not considered of particular relevance. It would not be obvious for a person skilled in the art to apply the features included in the cited documents and arrive at the invention as disclosed in the first claim. Therefore, the object of this main claim meets the requirements of novelty and inventive activity. Dependent claims 2 to 21 delimit additional optional features and as the first general also meet the requirements regarding novelty and inventive activity. State of the Art Report Page 4/4