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1. (WO2018022692) SPHERICAL PARALLEL MANIPULATOR ARCHITECTURE FOR SHOULDER ROBOTIC EXOSKELETON
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Pub. No.: WO/2018/022692 International Application No.: PCT/US2017/043851
Publication Date: 01.02.2018 International Filing Date: 26.07.2017
IPC:
B25J 9/00 (2006.01) ,B25J 9/14 (2006.01) ,B25J 19/02 (2006.01)
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9
Programme-controlled manipulators
10
characterised by positioning means for manipulator elements
14
fluid
B PERFORMING OPERATIONS; TRANSPORTING
25
HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
J
MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
19
Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
02
Sensing devices
Applicants:
ARIZONA BOARD OF REGENTS ON BEHALF OF ARIZONA STATE UNIVERSITY [US/US]; Suite 601, Room 691AA 699 South Mills Avenue Tempe, Arizona 85281, US
Inventors:
ARTEMIADIS, Panagiotis; US
LEE, Hyunglae; US
HUNT, Justin; US
Agent:
BAI, Ari M.; US
Priority Data:
62/367,03426.07.2016US
Title (EN) SPHERICAL PARALLEL MANIPULATOR ARCHITECTURE FOR SHOULDER ROBOTIC EXOSKELETON
(FR) ARCHITECTURE DE MANIPULATEUR PARALLÈLE SPHÉRIQUE POUR EXOSQUELETTE ROBOTIQUE D'ÉPAULE
Abstract:
(EN) Implementations described and claimed herein involve a shoulder exoskeleton having a spherical parallel manipulator with a plurality of parallel linear actuators connected to a base coupled to a user's arm. A passive slip mechanism is operatively coupled to the spherical parallel manipulator as well as being coupled to the user's arm. The slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference.
(FR) Les modes de réalisation décrits et revendiqués ici concernent un exosquelette d'épaule ayant un manipulateur parallèle sphérique avec une pluralité d'actionneurs linéaires parallèles reliés à une base couplée au bras d'un utilisateur. Un mécanisme de glissement passif est couplé de manière fonctionnelle au manipulateur parallèle sphérique ainsi qu'au bras de l'utilisateur. Le mécanisme de glissement augmente la mobilité du système et empêche un mauvais alignement des articulations provoqué par le mouvement de translation de l'articulation gléno-humérale de l'utilisateur à partir de l'introduction d'une interférence mécanique.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JO, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)