An arm movement mechanism for exoskeletons

Abstract

The invention relates to an arm movement mechanism (B) suitable for use in an exoskeleton comprising at least one body (A) worn by the user, which distributes the weight of the load evenly by keeping the user's arms fixed during load carrying, and which enables the user's arms to be released in a practical way when the load is not carried, and which is located in the exoskeleton separately for each arm of the user. Said arm movement mechanism (B) comprises a motion transmission element (1) connected to the body (A); a first carrier arm (2); a second carrier arm (3) movably connected to said first carrier arm (2) at any point on said first carrier arm (2); a third carrier arm (4) movably connected to an end of said first carrier arm (2); a first connecting part (5) connecting said second carrier arm (3) and said third carrier arm (4); and a second connecting part (6) connecting said motion transmission element (1) and said third carrier arm (4), further comprising a second connecting part (6) connecting said connecting end (3.1) comprising a stopper part (7) arranged on said body (A) so as to prevent movement of said connecting end (3.1) in the Y direction (Y).

Description

[0001] AN ARM MOVEMENT MECHANISM FOR EXOSKELETONS

[0002] Technical Field

[0003] The invention relates to an arm movement mechanism suitable for use in exoskeletons and configured to allow the user's arm to remain free when the load is not being carried, and to limit the freedom of movement of the arm in a practical manner when the load is to be carried again.

[0004] Prior Art

[0005] Exoskeletons are exoskeleton structures developed to provide physical support to the user. These exoskeletons are used in many sectors such as industrial applications, health sector (rehabilitation) and military fields, and increase physical endurance and increase work efficiency by reducing the load on the musculoskeletal system of the users.

[0006] Exoskeletons in the state of the art utilise different motion technologies to provide mechanical support to moving limbs such as arms and legs. These technologies can be broadly categorised into the following three categories: non-energy consuming systems that balance the load using mechanical springs, elastic bands and cable systems; systems that support movement using servo motors or actuators; and hydraulic and pneumatic systems. Exoskeletons using hydraulic and pneumatic systems are generally preferred in heavy industry and military applications due to their high force capacity and durability. These hydraulic systems provide high torque and lifting force by using liquid pressure, while pneumatic systems provide lighter and faster mobility by using compressed air. However, since the existing hydraulic and pneumatic systems do not have a mechanism that allows the user to move freely, exoskeletons can limit user movements and cause unnecessary energy consumption. Especially when the user is not carrying a load, the resistance of the motion transfer element in the exoskeleton worn by the user restricts the arm movement of the user and reduces the natural mobility.

[0007] In the known state of the art, parts are added to the exoskeleton that enable the user to move freely when the user is not carrying a load. Examples of these parts are proportional control valves, servo valves, smart sensors and actuators. The addition of these parts to the exoskeleton increases the production cost and causes the exoskeleton to become heavier.

[0008] As a result, due to the above-mentioned negativities and the inadequacy of the existing solutions on the subject, it is necessary to make a development in the relevant technical field.

[0009] Objective of the Invention

[0010] The main object of the invention is to develop an arm movement mechanism which is suitable for use in exoskeletons and which is configured in such a way as to allow the user's arm to remain free when the load is not carried and to limit the freedom of movement of the arm in a practical way when the load is to be carried again.

[0011] Another object of the invention is to develop an arm movement mechanism which prevents the user from feeling unnecessary resistance and does not impose an extra load on the user.

[0012] Another object of the invention is to develop an arm movement mechanism that provides freedom of arm movement without the cost of additional parts.

[0013] The structural and characteristic features and all advantages of the invention will be more clearly understood by the figure given below and the detailed description written with reference to this figure, and therefore, the evaluation should be made by considering this figure and detailed description.

[0014] Figures to Help Understanding the Invention

[0015] Figure 1 is a side view of a position of the arm movement mechanism, which is the subject of the invention, during the load-carrying process.

[0016] Figure 2 is a side view of the situation where the connection end rests on the stopper part and the upward force acts on the motion-transmitting element when the user pushes his arm back in the arm movement mechanism, which is the subject of the invention. Figure 3 is a side view of the situation where the motion-transmitting element is ineffective and the arms can move freely in the arm movement mechanism, which is the subject of the invention.

[0017] Explanation of Part References

[0018] A. Body

[0019] B. Arm Movement mechanism

[0020] 1 . Motion transmission element

[0021] 2. First carrier arm

[0022] 3. Second carrier arm

[0023] 3.1. Connection end

[0024] 4. Third carrier arm

[0025] 5. First connecting part

[0026] 6. Second connecting part

[0027] 7. Stopper part

[0028] X. X direction

[0029] Y. Y direction

[0030] Z. Z direction

[0031] Detailed Description of the Invention

[0032] In this detailed description, the preferred embodiments of the arm movement mechanism which is the subject of the invention are described only for a better understanding of the subject matter.

[0033] The object of the invention is to fulfil the objects described in the section;

[0034] An arm movement mechanism (B) suitable for use in an exoskeleton including at least one body (A) worn by the user, the exemplary views of which are given in figures 1-3, and which is suitable for use in an exoskeleton including at least one body (A) worn by the user, and which distributes the weight of the load evenly by keeping the arms of the user stationary during load carrying, and which enables the arms of the user to be released in a practical way when the load is not carried, and which is located in the exoskeleton separately for each arm of the user, feature;

[0035] — at least one motion transmission element (1), preferably an actuator, piston or spring, connected from one side to a corner of the body (A) on the shoulder side of the user;

[0036] — at least one first carrier arm (2) positioned parallel to the forearm of the user;

[0037] — at least one second carrier arm (3) movably connected from one side to said first carrier arm (2) at any point on said first carrier arm (2);

[0038] — at least one third carrier arm (4) movably connected from one side to one end (i.e. the end close to the elbow of the user) of said first carrier arm (2) and positioned parallel to the upper arm of the user;

[0039] — at least one first connecting part (3.1) connecting said second carrier arm (3) and said third carrier arm (4), one end of which is connected to a connecting end (3.1) of said second carrier arm (3) and the other end of which is connected to any point on said third carrier arm (4), and which ensures that the movement in the first carrier arm (2) and the second carrier arm (3) is transferred to the third carrier arm (4) at different points and the load is distributed;

[0040] — comprises at least one second connecting part (6) connecting the motion transmission element (1) and the third carrier arm (4) so as to transfer the movement and force received from the said motion transmission element (1) to the third carrier arm (4) and vice versa, and further comprising,

[0041] — in the case where no load is carried; when said first carrier arm (2) is moved backwards (i.e. from the X direction (X) to the Y direction (Y)) by the user in order to release the user's arm, said first connecting part (5) and the connecting end (3.1) connecting the second carrier arm (3) prevents movement in the Y direction (Y) so that the movement of said first carrier arm (2) is transferred to the third carrier arm (4) and from there to the second connecting part (6) in the Z direction (Z) (i.e. upward movement) and the movement transmission element (1) moves in the Z direction (Z) and becomes idle; and

[0042] — includes at least one stopper part (7) located on the said body (A) so as to ensure that the third carrier arm (4) and the first carrier arm (2) remain stationary with the movement of the movement transmission element (1 ) in the direction opposite to the Z direction (Z) and the force applied by the movement of the user's forearm in the direction opposite to the Z direction (Z) and in the X direction (X) by preventing the movement of the first carrier arm (2) in the Z direction (Z), in which the connection end (3.1) will be attached when the load needs to be carried again.

[0043] The invention relates to an arm movement mechanism (B) which is connected to the exoskeleton body and is separately provided for each arm of the user. Said arm movement mechanism (B) keeps the user's arms stationary during load carrying and distributes the weight of the load evenly, and also allows the user's arms to be released in a practical way when the load is not being carried. Said arm movement mechanism (B) comprises a movement transmission element (1) connected to the body (A); a first carrier arm (2); a second carrier arm (3) movably connected to said first carrier arm (2) at any point on said first carrier arm (2); a third carrier arm (4) movably connected to an end of said first carrier arm (2); a first connecting part (5) connecting said second carrier arm (3) and said third carrier arm (4); and a second connecting part (6) connecting said motion transmission element (1) and said third carrier arm (4), further comprising a second connecting part (6) connecting said connecting end (3. 1) comprises a stopper part (7) on said body (A) so as to prevent movement of the connecting end (3.) in the Y direction (Y). When the user is not carrying a load, it is sufficient for the user to move his / her arms backwards, i.e. in the Y direction (Y), in order for his / her arms to be free. In the arm movement mechanism (B) developed with the movement of the user's arms in the Y direction (Y),

[0044] • the first carrier arm (2) moves in the Y direction;

[0045] • it is said that the second carrier arm (3) and the third carrier arm (4) move in both the Y direction (Y) and the Z direction (Z);

[0046] • during the movement of said second carrier arm (3) in the Y direction (Y), its movement is terminated by inserting the connecting end (3.1) into the stopper part (7);

[0047] • an increase in the force acting on the third carrier arm (4) for movement in the Z direction (Z) at the end of the movement of the second carrier arm (3) and, consequently, an increase in the force acting on said second connecting part (6) to which the third carrier arm (4) is connected in the Z direction (Z);

[0048] • the movement of said second connecting part (6) in the Z direction (Z) overcomes the force in the direction opposite to the Z direction (Z) applied by the motion transmission element (1) to the second connecting part (6) and moves the motion transmission element (1) in the Z direction (Z); • the aforementioned motion transmission element (1) has no force to apply to the third carrier arm (4) in the direction opposite to the Z direction (Z) and releases the carrier arms by taking a position parallel to the body (A).

[0049] The process steps are realised. By means of the said stopper part (7), the movement of the second carrier arm (3) in the Y direction (Y) is prevented and the force of the movement in the Z direction (Z) is transferred to the third carrier arm (4) via the first connecting part (5) and from there to the second connecting part (6). With the movement of said second connecting part (6) in the Z direction (Z), the motion transmission element (1) is forced to move in the Z direction (Z), whereby the force in the Z direction (Z) of the second connecting part (6) exceeds the force in the opposite direction (Z) of the motion transmission element (1) and disables the motion transmission element (1). When the motion transmission element (1) mentioned here is parallel to the body (A) or at some point in the movement in the Z direction (Z), the connection end (3.1) mentioned here is released from the stopper part (7) and the carrier arms are completely released. In this way, the user's arm remains free and can move freely until the time when the user will carry the load again. When the user will carry the load again, it is enough for the user to move the arm movement mechanism (B) in the X direction (X) and release the connection end (3.1) from the stopper part (7) in order for the motion transmission element (1) to be activated again.

[0050] In the case where the user is to carry the load again, in the present invention, the user firstly moves his forearm in the direction opposite to the Z direction (Z) and in the X direction (X) and ensures that the connection end (3.1) is attached to the stopper part (7). By inserting the aforementioned connection end (3. 1) is attached to the stopper part (7), the movement of the first carrier arm (2) in the Z direction (Z) is prevented and the movement of the motion transmission element (1) in the opposite direction (Z) and the force applied by it causes the third carrier arm (4) and the first carrier arm (2) to move in the X direction (X) and the motion transmission element (1) to move at the end of the path in which it can move (in other words, When the second connecting part (6) reaches the last point of movement on the body (A), the motion transmission element (1) is locked and the third carrier arm (4) and the first carrier arm (2) remain stationary. In this way, the carrier arms of the exoskeleton are fixed for load carrying and the user is able to carry heavy loads in an ergonomic way.

[0051] In a preferred embodiment of the invention, the length of said second carrier arm (3) is shorter than the length of the first carrier arm (2) and the third carrier arm (4). In this way, the movement of said first carrier arm (2) and the weight of the load reflected on the first carrier arm (2) are distributed over the second carrier arm (3) and transferred to the third carrier arm (4) from a different point. Thanks to the present invention, the arm of a user wearing an exoskeleton is kept free when the user is not carrying a load and unnecessary resistance is prevented. Thanks to the developed arm movement mechanism (B), the exoskeleton does not become heavier and the user is not overloaded. This provides an easy to use and comfortable exoskeleton.

Claims

CLAIMS1. An arm movement mechanism (B) located in the exoskeleton, suitable for use in an exoskeleton comprising at least one body (A) worn by the user, which keeps the user's arms fixed during load carrying and distributes the weight of the load evenly and allows the user's arms to be free in a practical way when the load is not carried, and is provided separately for each arm of the user, and is characterized by;— at least one movement transmission element (1) connected to a corner of the body (A) on the shoulder side of the user on one side;— at least one first carrier arm (2) positioned parallel to the user's forearm;— at least one second carrier arm (3) movably connected to said first carrier arm (2) from any point on the first carrier arm (2);— at least one third carrier arm (4) movably connected to one end of said first carrier arm (2) on one side and positioned parallel to the user's upper arm;— at least one first connection part (5) connecting the said second carrier arm (3) and the third carrier arm (4), one end of which is connected to a connection end (3.1) of the said second carrier arm (3) and the other end of which is connected to any point on the third carrier arm (4) and which enables the movement in the first carrier arm (2) and the second carrier arm (3) to be transferred to the third carrier arm (4) from different points and the load to be distributed;— at least one second connection part (6) connecting the motion transmission element (1) and the third carrier arm (4) in a way that it will transfer the movement and force it receives from the said motion transmission element (1) to the third carrier arm (4) and vice versa, and also,• in case the load is not carried, when the said first carrier arm (2) is moved backwards by the user in order to release the user's arm, the connection end (3.1) to which the said first connection part (5) and the second carrier arm (3) are connected to each other will prevent its movement in the Y direction (Y) and the movement of the said first carrier arm (2) will be transferred in the Z direction (Z) to the third carrier arm (4) and from there to the second connection part (6) and the motion transmission element (1) will be released by moving in the Z direction (Z) and• in case the load needs to be carried again, the connection end (3.1) will be attached by the user moving his forearm in the opposite direction of the Zdirection (Z) and in the X direction (X) and the movement will be prevented by the first carrier arm (2) from moving in the Z direction (Z) It comprises at least one stopper part (7) located on the said body (A) in a way that will ensure that the third carrier arm (4) and the first carrier arm (2) remain fixed with the movement of the transmission element (1) in the opposite direction to the Z direction (Z) and the force it applies.

2. An arm movement mechanism (B) according to claim 1, characterised in that the length of said second carrier arm (3) is shorter than the length of said first carrier arm (2) and said third carrier arm (4).

3. An arm movement mechanism (B) according to claim 1, characterised in that said motion transmission element (1) is a piston.

4. An arm movement mechanism (B) according to claim 1 , characterised in that said motion transmission element (1) is a spring.