Interface for exoskeleton

Abstract

An interface system includes a support strap, a strap assembly, and a frame system. The frame system includes a first frame member and a second frame member. The first and second frame members each have an upper connecting portion configured to connect auxiliary devices at a first shoulder mounting assembly and a second shoulder mounting assembly, respectively. The first and second frame members are respectively connected to the strap assembly, extending downward, laterally profiled, and connected to the support strap. The first and second frame members are laterally profiled in opposite directions. The first frame member is rearwardly connected to the second frame member via a pair of hinged arms engaged at a pivot connection.

Description

[0001] Cross-reference to related applications

[0002] The contents of the following applications are incorporated herein by reference: U.S. Provisional Application 63 / 091,022, filed October 13, 2020; U.S. Provisional Application 62 / 489,618, filed April 25, 2017; U.S. Provisional Application 62 / 583,140, ​​filed November 8, 2017; U.S. Provisional Application 62 / 590,844, filed November 27, 2017; and U.S. Provisional Application 63 / 069,985, filed August 25, 2020. U.S. Patent 9,572,705, granted on February 21, 2014; U.S. Patent 8,657,769, granted on February 25, 2014; U.S. Patent 8,172,779, granted on May 8, 2012; U.S. Patent Application Publication 2016 / 0250061, published on September 1, 2016; U.S. Patent Application Publication 2018 / 0303699, published on October 25, 2018; and International Application PCT / IB2020 / 053821, filed on April 22, 2020. Technical Field

[0003] This disclosure relates to exoskeletons including actuators and / or interfaces therefor, and exoskeletons designed to assist in performing tasks while minimizing interference with the user's movement. Background Technology

[0004] Wearable industrial exoskeletons (including actuators and their associated body interfaces) are an increasingly important technological field because they can help users perform a variety of activities in a safer, more efficient, and more comfortable way. In some manufacturing environments, workers must perform physically demanding and precise tasks involving heavy and / or hazardous objects and / or awkward or unstable positions; these tasks are often repetitive and can last for hours at a time.

[0005] Without the aid of exoskeletons, workers may become fatigued or uncomfortable, leading to errors, reduced productivity, and even injury. Compared to other methods, exoskeletons can also enable older workers with valuable skills and experience to continue working for longer periods in physically demanding fields. For workers, the proper use of exoskeletons can prevent ergonomically unsuitable working conditions from developing long-term, potentially debilitating health problems after years of work.

[0006] Exoskeletons help supplement the body's natural strength and movement to provide power, support, and comfort. Exoskeleton devices can have independent power sources, or be passive or energy-storing devices, enabling them to "lift heavy objects" for the human user through the function of actuators or other motion-assistive components. For example, an exoskeleton can help a user hold a heavy tool stably, allowing them to focus their attention on using the tool to perform precise and / or repetitive tasks.

[0007] Exoskeletons can be constructed to provide relief or improve posture when human users are working in uncomfortable positions. Exoskeleton devices can benefit surgeons by reducing the effort required to keep their arms in a specific position above the patient throughout surgery, or by helping surgeons to lean their bodies toward the patient for extended periods without fatigue or discomfort, in positions that would otherwise be awkward or uncomfortable.

[0008] Manufacturing technicians will benefit from exoskeleton devices that allow them to raise their arms or maintain their posture while working on machinery, especially when technicians are in an awkward or uncomfortable position, such as standing under the machinery. This could be applicable to automotive manufacturing environments where workers might stand under a car and perform tasks with their arms raised overhead.

[0009] Other beneficial applications include providing additional hand settings, improved balance, enhanced grip, stable or locked motion, shock absorption, muscle memory, etc.

[0010] Exoskeletons can be used in a variety of environments, such as manufacturing workshops, repair shops, or outdoor and / or harsh environments. For example, exoskeletons can be used in construction, agriculture, logging, navigation, maintenance, recreation, or other outdoor activities. Users can utilize passive assistive exoskeletons to facilitate certain construction-related tasks, such as lifting, lowering, and holding heavy objects, and / or performing tasks in awkward positions or for extended periods of time that are uncomfortable.

[0011] Users can utilize passive assistive exoskeletons in agricultural tasks, such as bending or stooping to harvest produce, felling trees more safely and precisely, manipulating heavy loads and equipment on ships, or engaging in sightseeing activities. Users can also wear exoskeletons for aircraft maintenance at airports. Furthermore, users can utilize exoskeletons in warehouses or operations centers, where they must locate, collect, organize, or otherwise manipulate products on shelves, vehicles, and boxes.

[0012] Wearable exoskeleton technology can improve endurance, precision, and safety in many environments, including industrial environments such as automotive manufacturing. These exoskeletons enhance industrial productivity and prevent common workplace injuries by minimizing the overuse of muscles and connective tissue. Exoskeletons can support and enhance operators during strenuous activities, including lifting, bending, stooping, and overhead work, to reduce employee fatigue and workplace injuries.

[0013] Furthermore, exoskeletons are also valuable in repetitive and / or awkward activities. Exoskeletons can be configured to transfer loads to the ground where the operator is standing or kneeling, allowing them to use heavy tools as if they were weightless. With the aid of an exoskeleton, operators can effortlessly grip heavy hand tools, improving productivity and precision by reducing muscle fatigue. Compared to other methods, older workers with valuable experience and intuition are able to work for longer periods in physically demanding or challenging tasks via exoskeleton systems. Summary of the Invention

[0014] An interface system for an exoskeleton is provided. According to one embodiment, the interface system includes a support strap, a strap assembly, and a frame system having a first frame member. The first frame member has an upper connecting portion configured to have a first auxiliary device connected thereto at a shoulder mounting assembly. The first frame member is connected to the strap assembly and extends downward from the user's left or right scapula, forming a laterally contoured profile, and is connected to the support strap.

[0015] According to another embodiment, the interface system includes a support strap, a strap assembly, and a frame system including a first frame member and a second frame member. The first frame member has an upper connecting portion configured to have a first auxiliary device connected thereto at a first shoulder mounting assembly. The second frame member has an upper connecting portion configured to have a second auxiliary device connected thereto at a second shoulder mounting assembly. The first frame member is connected to the strap assembly, extends downward, forms a laterally contoured profile, and is connected to the support strap. The second frame member is connected to the strap assembly, extends downward, forms a laterally contoured profile, and is connected to the support strap. The first and second frame members form laterally contoured profiles in opposite directions. The first frame member is rearwardly connected to the second frame member via a pair of hinged arms engaged at a pivot connection.

[0016] According to another embodiment, an exoskeleton assistive system is provided. The exoskeleton assistive system includes an interface system, a first assistive device connected to the interface system, and a second assistive device connected to the interface system. The interface system includes a support strap, a strap assembly, and a frame system including a first frame member and a second frame member. The first frame member has an upper connection portion where the first assistive device is connected to a first shoulder mounting assembly. The second frame member has an upper connection portion where the second assistive device is connected to a second shoulder mounting assembly. The first frame member is connected to the strap assembly, extends downward, forms a laterally contoured profile, and is connected to the support strap. The second frame member is connected to the strap assembly, extends downward, forms a laterally contoured profile, and is connected to the support strap. The first and second frame members form laterally contoured profiles in opposite directions. The first frame member is rearwardly connected to the second frame member via a pair of hinged arms engaged at a pivot connection. Attached Figure Description

[0017] Figure 1A This is a schematic rear view of an individual wearing an embodiment of the exoskeleton interface system.

[0018] Figure 1B It is based on Figure 1A A schematic perspective view of the rear side of an exoskeleton interface system.

[0019] Figure 1C It is based on Figure 1A A schematic perspective view of the front side of an exoskeleton interface system.

[0020] Figure 1D It is based on Figure 1A A schematic side view of an exoskeleton interface system.

[0021] Figure 2A This is a schematic rear view of another embodiment of the exoskeleton interface system.

[0022] Figure 2B It is based on Figure 2A A rear-view perspective view of the exoskeleton interface system.

[0023] Figure 2C It is based on Figure 2A A frontal perspective view of the exoskeleton interface system.

[0024] Figure 2D It is based on Figure 2A A close-up perspective view of the rear side of the exoskeleton interface system.

[0025] Figure 2E It is based on Figure 2A A close-up perspective view of the front side of the exoskeleton interface system.

[0026] Figure 2FIt is based on Figure 2A A schematic close-up side view of an exoskeleton interface system.

[0027] Figure 2G This demonstrates a simple uniaxial joint that allows for the use of sealed supports.

[0028] Figure 3A A schematic side view of an embodiment of an extended version of the exoskeleton interface system is shown.

[0029] Figure 3B A schematic side view of an embodiment of a shortened version of the exoskeleton interface system is shown.

[0030] Figure 3C A schematic rear view of an embodiment of a shortened version of the exoskeleton interface system is shown.

[0031] Figure 4A This is a schematic rear view of another embodiment of the exoskeleton interface system.

[0032] Figure 4B It is based on Figure 4A A schematic front view of an exoskeleton interface system.

[0033] Figure 4C It is based on Figure 4A A schematic side view of an exoskeleton interface system.

[0034] Figure 4D It is based on Figure 4A A schematic perspective view of the front side of an exoskeleton interface system.

[0035] Figure 5 A close-up rear view of another embodiment of the exoskeleton interface system is shown.

[0036] Figure 6A A rear view of another embodiment of the exoskeleton interface system is shown.

[0037] Figure 6B A rear view of another embodiment of the exoskeleton interface system is shown.

[0038] Figure 7 An exemplary overhead task is shown.

[0039] Figure 8 The force diagram of the exoskeleton interface system worn by the user is shown.

[0040] Figure 9 is a schematic rear view of an individual wearing an interface system and auxiliary equipment based on relevant technologies.

[0041] Figure 10 is a rear perspective view of another interface system of the related technology.

[0042] These figures are not drawn to scale, but are provided to offer a better understanding of the parts and are not intended to limit the scope, but rather to provide illustrative examples. Detailed Implementation

[0043] A. Overview

[0044] Different embodiments of this disclosure can be better understood from the following description and in conjunction with the accompanying drawings, in which the same reference numerals refer to the same elements.

[0045] While this disclosure is readily adaptable to various modifications and alternative constructions, certain illustrative embodiments are shown in the accompanying drawings described below. It should be understood that the invention is not limited to the specific embodiments disclosed, but rather encompasses all modifications, alternative constructions, combinations, and equivalents falling within the spirit and scope of the invention.

[0046] To further facilitate understanding of the disclosed exoskeleton interface system and variant embodiments, some terms need to be described. As used, the term "near" has its usual meaning, referring to a position adjacent to or close to the connection point, starting point, or center point, or located towards the center of the body. Similarly, the term "far" has its usual meaning, referring to a position far from the connection point, starting point, or center point, or located far from the center of the body. The term "back" also has its usual meaning, referring to a position behind or behind another position. Finally, the term "fore" has its usual meaning, referring to a position before or in front of another position.

[0047] These anatomical terms, used by users of exoskeleton interface systems, refer to anatomical positions. Anatomical position is generally defined as the upright position of the body, with the face forward, arms at the sides, and palms facing forward; it serves as a reference for describing the relationships between body parts.

[0048] The terms "rigid," "flexible," "compliant," and "elastic" distinguish the characteristics of certain features within an exoskeleton interface system. The term "rigid" indicates that components of an exoskeleton interface system, such as the frame, typically lack flexibility. When a feature is "rigid," it means that it will not lose its overall shape when subjected to force, and that it may break if bent with sufficient force. The term "flexible" indicates that a feature can be repeatedly bent, allowing it to bend into a retained shape, or that the feature does not retain its overall shape but deforms continuously when force is applied.

[0049] The term "compliant" defines a flexible characteristic that, when placed in contact with another object by any suitable natural force or applied force (such as gravity or an external force, such as that applied by a strapping mechanism), will generally conform to the shape of said other object. The term "elastic" defines a flexible characteristic that essentially returns to its initial general shape without permanent deformation. As for the term "semi-rigid," this term implies a property that provides a supported and independent support or housing; however, such a support or housing can be flexible or elastic.

[0050] The embodiments of this disclosure are applicable to the human body, and their dimensions can be configured to adapt to different types, shapes, and sizes of human body dimensions and contours. For illustrative purposes, the embodiments of the exoskeleton interface systems described correspond to different body parts and are referred to using general anatomical terms for the human body.

[0051] Embodiments of exoskeleton interface systems may correspond to the anterior and posterior portions of the human body defined by anterior-posterior planes. The anatomical terminology described does not deviate from the normal understanding of these terms readily grasped by those skilled in the art of orthopedics, scaffolding, human-machine interfaces, and support systems.

[0052] B. Exoskeleton Interfaces of Related Technologies

[0053] To understand the interface system of this disclosure, reference can be made to the relevant interface system discussed in U.S. Patent Application Publication 2018 / 0303699, which is shown in Figures 9 and 10 for convenience.

[0054] Figure 9 shows a schematic rear view of an individual wearing an interface system 900 and a shoulder support device 917 according to the related art. The interface system 900 includes a T-shaped rear support 902 extending from a shoulder strap assembly 908 to a base support 904. The T-shaped rear support 902 has a centrally aligned vertical member 910 and opposing horizontal support members or lateral members 912, 113 extending from the upper end of the vertical member 910 and arranged vertically and horizontally relative to the direction of the vertical member 910. The lateral members 912, 913 are arranged to extend generally along the user's left and right shoulder blades.

[0055] Figure 9 also shows an assistive device 917 having a support frame 919 connected to, or defined by, the respective free ends 915A, 915B of the transverse members 912, 913 via horizontal slots or connectors. The support frame 919 may include a hinge 920 for the assistive device 917 and a connector 922 for connecting a first segment 916 of the strap assembly 908. The connector 922 may extend vertically along the user's upper back and across the shoulder to the front. The connector 922 may include a rigid or semi-rigid frame. An assistive mechanism 924, supported by the connector 922, provides mechanical assistance for shoulder elevation / flexion and may include an actuator for providing humeral flexion assistance.

[0056] Figure 10 illustrates another interface system 1000 of the related art, which has a centrally aligned, integral T-shaped rear strut 1002 ergonomically conforming to the lumbar spine anatomy of the thoracic cavity. Similar to the previous embodiments, a base support 1004 is attached to the rear strut 1002 and has a strap segment 1006. A shoulder strap assembly 1008 similarly secures the interface system 1000 and is attached to the rear strut 1002 from transverse members 1012, 1013. At least the rear strut 1002 is lined with padding 1033 and may be covered with fabric, coating, or other materials.

[0057] C. Implementation Examples of Interface Systems

[0058] The system described in this article is an exoskeleton interface system, particularly a shoulder exoskeleton or the interface used therein, designed for overhead tasks (e.g., with minimal interference to the user's movement). Figure 7 The task shown provides buckling assistance. In one embodiment, for example, as... Figure 3B As shown, the structure is short enough to allow the lumbar spine to move freely throughout its full range of motion. Although this discussion pertains to exoskeletons, the principles and embodiments described herein can be extended to the general field of orthotic braces and supports or prosthetic applications.

[0059] Optimizing the functionality of exoskeletons involves many factors, including optimizing the exoskeleton's weight, the assistance it provides, and its stability. Design parameters must be configured so that users do not perceive the device as an obstacle, leading to rejection, non-adoption, or unwillingness to use it. To encourage use, factors such as volume, skin pressure, heat transfer, comfort, and undesirable movement restrictions must be considered.

[0060] User perception of comfort is user-specific and multifactorial, making it a particular challenge in functional optimization and design. User comfort includes interface pressure, the location of pressure points, and the ability to effectively dissipate heat. Regarding heat dissipation, a significant problem with existing exoskeletons, as identified by the inventors, is that physical labor requires intensive use of muscle tissue, which contributes to heat generation. The body dissipates heat using sweat, but exoskeletons can block sweating. Therefore, even if the exoskeleton reduces the work required for the target muscle tissue to zero, the user may still feel uncomfortable due to heat. This is the case with the interface system of the related art shown in Figures 9 and 10, which includes T-shaped struts configured to provide contact between the user's torso from the upper part of the transverse members 912, 913 to the base support 904.

[0061] Body temperature becomes particularly important in automotive manufacturing environments, where work is intense, repetitive, and takes place in buildings with little or no air conditioning. Existing methods for achieving heat transfer include incorporating air channels in high 3D areas, perforating the frame, or using spaced textiles. While effective within their own limits, these methods have inherent limitations because the user's clothing is confined to the skin. Regardless of the textile used, any contact with the exoskeleton frame reduces the potential for evaporative cooling.

[0062] However, because the requirement is to avoid skin pressure that could cause discomfort or injury, it is difficult to minimize the exoskeleton's coverage of the user's surface areas. Furthermore, some surface areas of the body are more resilient to pressure than others. Similarly, the body's deeper structures are also extremely vulnerable to such pressure.

[0063] Another problem identified by the inventors with existing exoskeletons is providing the necessary assistive forces, such as at the user's arms when performing overhead tasks, without impeding the user's ability to move when necessary. For example, some existing devices (such as the interfaces shown in Figures 9 and 10) may hinder the user's ability to bend freely at the waist, which can interfere with the user's ability to perform tasks within the necessary full range when wearing and using the exoskeleton.

[0064] Existing exoskeletons (such as the interfaces shown in Figures 9 and 10) offer various adjustment options, configured to position actuators and frame components based on the user's unique physique. For example, existing devices may provide sliding tracks and other mechanisms to position actuators near the user's muscle tissue (e.g., the user's shoulder), but such mechanisms may increase weight and bulk, thus reducing user comfort when using the exoskeleton. Furthermore, existing exoskeletons (such as the interfaces shown in Figures 9 and 10) may not be adaptable to the different physiques of all users, making it difficult for certain users to use the exoskeleton. The aforementioned adjustment methods may also be difficult to use.

[0065] Similarly, an unresolved issue is how to secure the exoskeleton to the user in a convenient and physique-specific manner. Many exoskeletons have straps that extend circumferentially around the user's torso, but adjusting these straps to comfortably and effectively fit the user's physique remains difficult because the exoskeleton's frame often slips or shifts relative to the straps. This forces the user to frequently readjust the straps and / or the frame.

[0066] Another problem with existing exoskeleton devices (such as the interfaces shown in Figures 9 and 10) that the inventors recognize is that they are positioned on both sides of the user's body, for example, to assist the left or right shoulder or left or right leg. Thus, exoskeletons that assist both shoulders may not provide good service to users with injuries on one side of the body (such as the right shoulder) because such devices may have an unnecessarily large size, unnecessarily restricting the movement of the user's uninjured limb or one side of the body, and are therefore not suitable for wearing in daily activities.

[0067] Another problem with existing exoskeletons, which the inventors of this application have recognized, is that existing devices can only assist in a single type or dimension of movement. Human joints are extremely complex, involving movement in multiple planes. For example, the shoulder can move through flexion / extension, abduction / adduction, internal rotation, external rotation, and circumduction. Existing exoskeletons for the shoulder are designed to assist in extension.

[0068] Similarly, existing exoskeletons position actuators near the muscle tissue from which the exoskeleton will provide assistive force. For example, actuators might be positioned near the user's shoulder, such as in the upper arm, to provide assistive force for extending the user's arm above their head. Positioning actuators in the upper arm increases the size and weight of the exoskeleton, reducing comfort and ease of use.

[0069] In light of the foregoing discussion, there is a need for an improved exoskeleton that enhances user comfort, compliance, and the effectiveness of the assistance provided, while minimizing the drawbacks of existing exoskeletons, including problems such as exoskeletons hindering user movement, difficulty in adapting to a user's unique physique, and exoskeletons assisting only a single range of motion, requiring assistance on both sides of the user's body, and requiring actuators to be positioned close to the muscles to be assisted.

[0070] The embodiments of the exoskeleton disclosed herein advantageously address the shortcomings and problems of existing exoskeletons recognized by the inventors, and provide an exoskeleton comprising a frame system and actuators that help the user reduce interference with the user's normal movement. Embodiments of the exoskeleton including actuators and a frame advantageously reduce heat buildup, allow movement in the user's waist and lower back, provide unilateral assistance and support, provide an improved torso strap construction for remote assistance to the user's muscle tissue, and provide assistance for multidimensional movement.

[0071] According to one embodiment, the exoskeleton reduces the contact area with the exoskeleton, allowing the user's clothing to move freely and allowing sweat to evaporate through air movement beneath the clothing. The frame of the exoskeleton embodiment facilitates airflow to maximize heat transfer from the body.

[0072] For example, embodiments of the exoskeleton advantageously provide the necessary assistance at one or more joints, while more advantageously distributing the required pressure generated by the assistive device, thereby providing stability with up to 6 Nm of torque assistance on each side, for a total combined torque assistance of 12 Nm, which is due to the user using both arms simultaneously, 6 Nm per arm. In embodiments of the exoskeleton for the shoulder, the exoskeleton includes an interface that is wearable and stabilized on the torso, generating a stable reaction force while enabling the exoskeleton to generate an assistive force and transmit that assistive force through soft tissue to the skeletal structure.

[0073] The actuators in the exoskeleton embodiments can utilize independent actuation of shoulder flexion, achieved, for example, by a spring mechanism mounted in the sagittal plane and having an abduction / adduction hinge around the posterior side of the shoulder. These embodiments can strategically apply the required force to the correct location on the body for stability and can also easily withstand the resulting stress. These areas may include the scapula, shoulder girdle, and waist, which are load-bearing regions.

[0074] Exoskeletons can be constructed with minimal device weight and minimize additional movement at the assisted joints or other parts of the body. While existing exoskeletons may utilize a monolithic strut with linear support to facilitate bilateral mounting of the spring-assisted mechanism while transferring the torque and weight of the entire assembly to the user through the frame, embodiments of exoskeletons may include frames with minimal body coverage to facilitate heat transfer through air exchange and achieve cooling through perspiration.

[0075] While the exoskeleton embodiment provides minimal coverage of the body, it ensures that the contact pressure does not exceed the skin's limits. In other words, the frame embodiment ensures that the exoskeleton does not apply sufficient pressure to cause capillary closure, loss of circulation, or discomfort. The frame design can be configured to transfer most of the load and weight to the torso or waist at a predetermined distance from the torque-generating actuator, thereby generating minimal reaction force and pressure. Because the exoskeleton provides assisted flexion torque at the target joint (e.g., the shoulder), the force is transmitted from the actuator to the humerus via the soft arm straps and frame interface, aided by the reaction force against the user's body.

[0076] like Figure 8 As shown, the force diagram illustrates the problems with existing exoskeleton systems. For example... Figure 8 As shown at point "A", the flexion torque at the shoulder is transmitted to the humerus, with the arm girdle pressing against the posterior part of the humerus / triceps. The intermediate fulcrum is located above the scapular region, as shown at point "B". Reaction forces are generated at point "C" in the anterior thoracic region of the short frame of the exoskeleton system or in the anterior lumbar region of the long frame of the exoskeleton system. (Reference) Figure 8 The exoskeleton system provides torque assistance at the shoulder during forward flexion (as indicated by the curved arrow). This arrangement generates torque "A" in the arm. The fulcrum in the system is at the scapula (B), and the reaction force is at the anterior lumbar belt (C).

[0077] As described above, the relevant exoskeleton interface system relies on a monolithic T-shaped rear support with a horizontal member (the upper part of the "T") located above the scapula and extending outward from the central portion of the "T". The central portion of the T-shaped support extends downward to the panel and waist belt, which secures the system to the waist. Shoulder straps help distribute weight between the shoulders and the support near the scapula and shoulder. The system provides good shoulder flexion assistance, as well as spinal posture and thoracolumbar support. The inventors have found that such a system can feel restrictive to spinal movement by the user. The inventors have also found that the rigid monolithic "T"-shaped connection between the shoulder actuator and the waist panel makes it difficult to allow individual shoulder elevation or depression.

[0078] Therefore, unlike the T-shaped monolithic support (which is centered on the spine and fixed at the lumbar region, with the flexion actuator located on the upper horizontal part of the T-shape), such as Figure 1A-1D The first embodiment of this disclosure shown includes a frame 102 for interface 100, the frame 102 having separate left frame members 112 and right frame members 114, which are independently connected to corresponding left shoulder mounting assemblies 140 and right shoulder mounting assemblies 141, respectively, with corresponding left actuators 104 and right actuators 105 mounted on the left shoulder mounting assemblies 140 and right shoulder mounting assemblies 141. Each of the right frame members 114 and left frame members 112 extends downward from the connection point of the shoulder mounting assemblies and forms a profile around the side of the user's torso, respectively. The first (e.g., left) frame member 112 and the second (e.g., right) frame member 114 form profiles laterally in opposite directions. According to this embodiment, the first (e.g., left) frame member 112 and the second (e.g., right) frame member 114 extend downward, form profiles laterally, and are connected to the support strap 110 in a manner substantially symmetrical about the user's sagittal plane.

[0079] Each right and left frame member begins proximally at its respective right and left scapulae at a proximal portion 142, then transitions downwards and laterally to one side of the torso via the body portion 107 of the frame member, where the distal end of each right and left frame member connects to a support strap 110. This arrangement simulates the basic contact points used to stabilize the frames and transmit auxiliary torque to the shoulders, while completely minimizing the contact area / coverage of the body. Figure 8 As shown, such an interface provides contact at the scapular fulcrum (B) and reaction force (C), which is required by the aforementioned minimum interface stability scheme, while minimizing unnecessary contact with the user, thereby improving heat dissipation efficiency.

[0080] like Figure 1A As further shown in the embodiment, the left frame member 112 is connected at the rear to the right frame member 114 via a pair of hinge arms through a single connection point at hinge 120. Figure 1A In one embodiment, the hinge arm includes a left hinge plate 116 and a right hinge plate 118. The left hinge plate 116 is connected to the left frame member 112 at a lateral pivot point 122, while the right hinge plate 118 is connected to the right frame member 114 at a lateral pivot point 123. Figure 1B As shown, the left hinge plate 116 may be provided with a contoured bend 117 to accommodate the overlapping portion of the hinge arm at the center or hinge 120. The hinge arm is connected to the hinge 120 at the center to form a three-point linkage. The wider hinge arms of the left hinge plate 116 and the right hinge plate 118 can prevent torsion between the left frame member 112 and the right frame member 114, while allowing the left frame member 112 and the right frame member 114 to move closer or further away from each other in the coronal plane.

[0081] Hinge 120 allows the width of the left and right frame members to be adjusted and moved with the user. This arrangement accommodates the protrusion and retraction of the scapula. Due to the independent movement of the left and right frame members, the design can accommodate a certain degree of shoulder elevation or depression. Hinge 120 can also accommodate the user's shoulder / waist width. Figure 1A The interface of the embodiment also includes an adjustable strap 130, which may include an elastic or spring mechanism connecting the upper portion of the left frame member 112 to the upper portion of the right frame member 114, such that the adjustable strap, elastic mechanism, or spring mechanism prevents the upper portion of the first frame member from laterally separating from the upper portion of the second frame member in the coronal plane beyond a predetermined distance. The adjustable strap 130 is connected to each of the respective left frame member 112 and right frame member 114 via a respective strap connection mechanism 138 (which is preferably pivotable). A release mechanism 132 is also provided to easily release the adjustable strap 130 and to provide additional and rapid movement of the left frame member 112 away from the right frame member 114, for example, when wearing or removing the interface exoskeleton. This articulation facilitates proximal widening or narrowing between the left and right frame members in the coronal plane and eliminates the need for linear supports (and their respective maintenance, cost, and weight).

[0082] Once put on, the lower strap (support strap 110) secures the distal (lower) ends of the left and right frame pieces to the corresponding lateral areas of the user's torso, such as... Figure 1A , 1B As shown in 1C.

[0083] exist Figure 1A-1D In one embodiment, the interface system further includes a strap assembly comprising a respective left shoulder strap 134 and a right shoulder strap 134, each shoulder strap having a shoulder pad 136. Rigid shoulder pads or scapular pads 126, 127 are provided at each of the upper proximal portions of the first and second frame members, preferably at the user's left and right scapulae. Below each of the shoulder pads or scapular pads 126, 127, a softer support material 125 is provided for more comfortable contact with the user.

[0084] Furthermore, a left shoulder mounting assembly 140 and a right shoulder mounting assembly 141 are provided at or near the upper proximal portion 142 of each of the first frame member 112 and the second frame member 114 for connecting the left actuator 104 and the right actuator 105 to the upper proximal portion of each of the first frame member 112 and the second frame member 114. The shoulder mounting assemblies 140 and 141 each include a corresponding shoulder support plate 144 having a guide pin 147 and an abduction rail 146, and a shoulder abduction plate 154 connected to the shoulder support plate 144 via a pivot connector 152.

[0085] therefore, Figure 1A-1DThe embodiments provide up to three dimensions of motion. Horizontal shoulder abduction and adduction are permitted via a vertically oriented rotary hinge 148 oriented along direction A1. Flexion and extension of the humerus are permitted via a horizontally oriented rotary hinge 150 oriented along direction A2. Furthermore, actuators 104, 105 provide humeral flexion assistance and have an arm cuff 108 connected to the user's humerus. The arm cuff 108 is adjustable to accommodate a considerable range of arm sizes and can be adjusted relative to variations in circumference suitable for potential users and changes in the user's arm during contraction. For example… Figure 1B The pivoting about direction A3, as shown, provides a third dimension of motion, wherein the shoulder abduction plate 154 is pivotally connected to the shoulder support plate 144 via pivot connector 152. Alternatively, movement about axis A3 can be intentionally restricted by preventing movement of guide pins or fasteners 147 within guide rails 146. (As in...) Figure 5 and 6A As described in the -6B embodiment, extension assistance can also be provided via additional actuator components.

[0086] Each right and left frame member begins proximally at its respective right and left scapulae from the upper proximal portion 142 and extends laterally downward through the main body portion 107 of the frame member to one side of the torso, where the distal end 160 of each right and left frame member is connected to the support band 110. Figure 1D The distal end 160 of the left frame member 112 is shown connected to the support strap 110 via fastener 166. At each connection point between the left and right frame members and the support strap 110, a lateral torso pad 170 comprising a rigid outer material and a softer inner material is provided.

[0087] Figure 1A-1D The interface of the embodiment also includes a strap assembly comprising two shoulder straps 134 extending over the user's shoulders, and connecting segments 131 that connect the lower front portion of each shoulder strap 134 to the lower portion of the left and right frame members, respectively. Shoulder strap pads 136 are provided at the shoulder portions of the shoulder straps 134. A front chest strap 135 is provided to connect the front portion of the shoulder straps 134; this chest strap 135 is adjustable to accommodate different user chest sizes. A chest strap buckle 133 is provided to unfasten the chest strap to facilitate putting on and removing the interface 100. The length of the connecting segment 131 can be adjusted via a length adjusting fastener 137 to provide more or less strap length 139, allowing the shoulder straps 134 to fit properly and comfortably against the user's body and to be adjusted according to the user's shoulder size.

[0088] like Figure 3A and 3B As shown, the length of the frame can be changed to extend downwards to the lower thoracic vertebrae, such as... Figure 3BAs shown, this allows the lumbar / lower back to not make contact and to move freely in all planes. This length can also extend downwards to the iliac crest, as... Figure 3A As shown, this also helps to distribute the weight of the equipment while still keeping the back of the torso open with minimal contact and providing relatively free flexion / extension. In either case, support straps (such as thin straps) are wrapped around the front to generate reaction forces F3A or F3B with minimal coverage of the body, thus effectively dissipating heat from the user.

[0089] At the proximal (upper) end of the frame member, the actuator mount connects via a single rotation point above the scapula, allowing abduction via support at a single pivot point. This is also Figure 8 The fulcrum "B" of the three-point load system. Padding is used to protect the scapula from these loads, reducing stress to an acceptable level.

[0090] For functional / contextual purposes, the linkage to the actuator is described here, as it terminates at... Figure 8 The torque / auxiliary force point "A" of the three-point force system at the posterior arm. The mounting section surrounds the shoulder, passes through a vertical hinge behind the glenohumeral joint, facilitates internal / external rotation of the humerus and forearm, and then terminates at the actuator, providing the necessary passive torque to the shoulder to aid flexion. This arrangement completes... Figure 8 The third necessary torque transmission point in the minimum three-point force system.

[0091] Figure 2A-2G Another embodiment of the lumbar / iliac crest length interface is shown. As described above, this interface has first and second frame members extending to the user's lumbar region. This embodiment includes anatomically formed hip pads with internal reinforcements to maintain their shape. These are designed to sit in the lumbar space between the lower ribs and above the iliac crests. The weight of the frame is thus transferred to the pelvis. Although lateral flexion is impaired, the perceived weight of the frame (i.e., the weight perceived by the user) is reduced, while flexion / extension movements of the lumbar spine remain effectively unimpeded. The load generated by the shoulders on the frame is transferred to the anterior anatomy further away from the shoulders, thus reducing the perceived weight, load, and pressure on the user's skin.

[0092] Similar to Figure 1A-1D This embodiment differs from the T-shaped monolithic support (which is centered on the spine and fixed at the lumbar region, and has a flexion actuator on the horizontal member of the T-shape), Figure 2A-2GAn embodiment includes a frame 202 for interface 200, the frame 202 having separate left frame members 212 and right frame members 214, which are independently connected to corresponding left shoulder mounting assemblies 240 and 241, and corresponding left actuators 204 and 205 can be mounted to the left shoulder mounting assemblies 240 and 241. At the upper proximal end of each of the left and right frame members, laterally extending transverse portions 262, 264 extend outward to the corresponding left and right shoulder mounting assemblies. From the upper transverse portions 262, 264, each of the right frame member 214 and the left frame member 212 extends downward and forms a profile around the side of the user's torso, respectively. The first (e.g., left) frame member 212 and the second (e.g., right) frame member 214 form profiles laterally in opposite directions. According to this embodiment, a first (e.g., left) frame member 212 and a second (e.g., right) frame member 214 extend downward and laterally form a profile, connecting to the support strap 210 in a manner substantially symmetrical about the user's sagittal plane. Each right and left frame member begins proximally at lateral portions 262, 264 at their respective right and left scapulae, then transitions laterally downward through the body portion 207 of the frame member to one side of the torso, where the distal end of each right and left frame member connects to the support strap 210. Therefore, this embodiment simulates the basic contact points for stabilizing the frame and transmitting auxiliary torque to the shoulder, while completely minimizing the contact area / coverage of the body. Figure 8 As shown, such an interface provides contact at the scapular fulcrum (B) and reaction force (C), which is required by the aforementioned minimum interface stability scheme, while minimizing unnecessary contact with the user, thereby improving heat dissipation efficiency.

[0093] like Figure 2A As further shown in the embodiment, the left frame member 212 is connected at the rear to the right frame member 214 via a pair of hinge arms through a single connection point at hinge 220. Figure 2AIn this embodiment, the hinge arm includes a left hinge plate 216 and a right hinge plate 218. The left hinge plate 216 is connected to the left frame member 212 at a lateral pivot point 222, while the right hinge plate 218 is connected to the right frame member 214 at a lateral pivot point 223. The hinge arm is centrally connected to the hinge 220, forming a three-point linkage. The wider hinge arms of the left hinge plate 216 and the right hinge plate 218 prevent torsion between the left frame member 212 and the right frame member 214, while allowing the left frame member 212 and the right frame member 214 to move closer or further away from each other in the coronal plane. The hinge 220 allows the width of the left and right frame members to be adjusted and to move with the user. This arrangement accommodates the protraction and retraction of the scapula. Due to the independent movement of the left and right frame members, this design can accommodate a certain degree of shoulder elevation or depression. The hinge 220 can also accommodate the user's shoulder / waist width.

[0094] Figure 2A The interface of the embodiment also includes an adjustable strap 230, which may include an elastic or spring mechanism connecting the upper portion of the left hinge plate 216 to the upper portion of the right hinge plate 218 between lateral pivot points 222 and 223, such that the adjustable strap, elastic mechanism, or spring mechanism prevents the upper portion of the first frame member from laterally separating from the upper portion of the second frame member in the coronal plane beyond a predetermined distance. A release mechanism 232 is also provided to easily release the adjustable strap 230 and to provide additional and rapid movement of the left frame member 212 away from the right frame member 214, for example, when putting on or removing the interface or exoskeleton. This hinge facilitates proximal widening or narrowing between the left and right frame members in the coronal plane and eliminates the need for linear supports (and their respective maintenance, cost, and weight).

[0095] Once put on, the lower strap (support strap 210) secures the distal (lower) ends of the left and right frame pieces to the corresponding lateral areas of the user's torso, such as... Figure 1A , 1B As shown in 1C.

[0096] exist Figure 2A-2G In one embodiment, the interface system also includes a strap assembly, including a corresponding left shoulder strap 234 and a right shoulder strap 234, each shoulder strap having a shoulder pad 236.

[0097] A left shoulder mounting assembly 240 and a right shoulder mounting assembly 241 are disposed at or near the laterally extending transverse portions 262, 264 on the upper part of each of the first frame member 112 and the second frame member 114 for connecting the left actuator 204 and the right actuator 205 to the upper proximal portion of each of the first frame member 112 and the second frame member 114. Each shoulder mounting assembly 240, 241 includes a corresponding shoulder support plate 244 having a guide pin 247 and an outward extension rail 246, and a shoulder outward extension plate 254 connected to the shoulder support plate 244 via a pivot connector 252.

[0098] therefore, Figure 2A-2C The embodiments provide up to three dimensions of motion. Horizontal shoulder abduction and adduction are permitted via a vertically oriented rotary hinge 248 oriented along direction A1. Flexion and extension of the humerus are permitted via a horizontally oriented rotary hinge 250 oriented along direction A2. Actuators 204, 205 provide humeral flexion assistance and have a humeral clamp 208 connected to the user's humerus. The humeral clamp 208 is adjustable to accommodate a considerable range of arm sizes and can be adjusted relative to variations in circumference suitable for potential users and changes in the user's arm during contraction. For example… Figure 2B The pivoting around direction A3 provided by the figure provides a third dimension of motion, wherein the shoulder abduction plate 254 is pivotally connected to the shoulder support plate 244 via pivot connector 253.

[0099] Alternatively, movement about axis A3 can be intentionally restricted by preventing the guide pin or fastener 247 from moving within guide rail 246. (As in...) Figure 5 and 6A As described in the -6B embodiment, extension assistance can also be provided via additional actuator components.

[0100] Each right and left frame member begins proximally at a laterally extending transverse portion 262, 264 at its respective right and left scapulae, and extends laterally downward through the main body portion 207 of the frame member to one side of the torso, where the distal end 260 of each right and left frame member is connected to a support band 210. Figure 2DThe distal end 260 of the left frame member 212 is shown connecting to the support strap 110. At each connection point between the left and right frame members and the support strap 210, lateral trunk pads 270 comprising a rigid outer material and a softer inner material are provided. These are designed to sit in the lumbar space between the lower ribs and above the iliac wings. The weight of the frame is thus transferred to the pelvis. Although lateral flexion is impaired, the perceived weight of the frame (i.e., the weight perceived by the user) is reduced, while flexion / extension movements of the lumbar spine remain effectively unimpeded. The load generated by the shoulders on the frame is transferred to the anterior anatomy further away from the shoulders, thus reducing the perceived weight, load, and pressure on the user's skin.

[0101] Figure 2A-2G The interface of the embodiment also includes a strap assembly comprising two shoulder straps 234 extending over the user's shoulders, and connecting segments 231 that connect the lower front portion of each shoulder strap 234 to the lower portion of the left and right frame members, respectively. Shoulder strap pads 236 are provided at the shoulder portions of the shoulder straps 234. A front chest strap 235 is provided to connect the front portion of the shoulder straps 234; this chest strap 235 is adjustable to accommodate different user chest sizes. A chest strap buckle 233 is provided to unfasten the chest strap to facilitate putting on and removing the interface 200. The length of the connecting segment 231 can be adjusted via a length adjusting fastener 237 to provide more or less strap length 239, allowing the shoulder straps 234 to fit properly and comfortably against the user's body and to be adjusted according to the user's shoulder size.

[0102] exist Figure 2A-2G In one embodiment, an interface frame including a first frame member 212 and a second frame member 214 wraps downwards from the scapula in the coronal plane to the distal end 260 of each frame member on the trunk in the sagittal plane. As... Figure 2G As shown, a torso pad 278 is provided at the lower distal end of each frame member, which is a contact point with a contact surface 270 on the user. The pad is connected to the frame by a hinge 280 oriented axially in the sagittal plane, which provides pivoting movement R2 about axis A4.

[0103] Hinged connections allow the pad to pivot / hinged rotate to accommodate different lateral profiles of the user. Although primarily plate-like, the frame can be tubular for excellent rigidity and weight reduction, while flat areas can be formed at its various connection points to facilitate hinges and stability between components. The frame may also include injection-molded parts with suitable flat areas for hinges and stability. Injection-molded frames facilitate easy integration of co-molded edges or surfaces to improve user comfort and reduce the likelihood of damaging other surfaces in the work environment.

[0104] Figure 2A-2GThe support strap 210 of this embodiment includes a front buckle 211 for quick and easy connection and disconnection when putting on and taking off the interface. Lateral snaps 274 may be provided on both sides to ensure and optimize a proper fit around the user's waist for individual comfort.

[0105] like Figure 3C As shown, once put on, the lower straps secure the distal portions of the left and right frame pieces to the corresponding lateral portions of the user's left and right sides of the torso. Elastic bands or spring mechanisms located on the hinges or between the frame pieces facilitate the upper part of the frame's proximity to the user's shoulder side. The proximal widening-narrowing hinges between the frame pieces in the coronal plane eliminate the need for linear supports (each with its own maintenance, cost, and weight). The simple uniaxial hinges also allow for sealed supports, enabling more waterproof or water-resistant designs.

[0106] In another embodiment, an interface for an asymmetrical unilateral exoskeleton is provided, such as Figures 4A-4D As shown. The inventors of this invention have discovered and solved the additional problem that not all activities require both hands for overhead work. Some jobs only require raising one hand, such as painting. Considering the potential medical conditions of such work, rotator cuff tears or shoulder impingement often occur only on one side. Therefore, in such cases, the use of bilateral exoskeletons is unnecessary. A unilateral exoskeleton like this helps reduce muscle strength in one shoulder. The design described by the inventors in the above embodiments can be easily modified to a unilateral design. With simple modifications to the straps and belt, the right or left frame piece can be independently set for unilateral use.

[0107] Similarly, here, instead of providing a single T-shaped strut centered on the spine and fixed to the lumbar region, an interface is provided for the asymmetrical unilateral exoskeleton, with flexion actuators mounted on the upper horizontal part of the T-shape. Figures 4A-4D One embodiment includes a frame 402 for an exoskeleton 400, the frame 402 having a single left frame member 412 independently connected to a corresponding left shoulder mounting assembly 440 on which a left actuator 404 can be mounted. Although a single left frame member is shown in this embodiment, another embodiment may include... Figures 4A-4D The illustrated embodiment is a mirror image, i.e., with a single right frame component.

[0108] The left frame member 412 extends downward from the connection point of the shoulder mounting assembly 440 and forms a contour around the side of the user's torso. According to this embodiment, the first (e.g., left) frame member 412 extends downward, laterally forming a contour, and connects to the support strap 110. The left frame member begins proximally at the upper proximal portion 442 at the user's left scapula and then transitions laterally downward through the body portion 407 of the frame member 412 to one side of the torso, where the distal end 460 of the left frame member connects to the support strap 410. This arrangement simulates the basic contact points for stabilizing the frame and transmitting auxiliary torque to the shoulder, while completely minimizing the contact area / coverage of the body. Figure 8 As shown, such an interface provides contact at the scapular fulcrum (B) and reaction force (C), which is required by the aforementioned minimum interface stability scheme, while minimizing unnecessary contact with the user, thereby improving heat dissipation efficiency.

[0109] Once put on, the lower strap (support strap 410) secures the distal (lower) end 460 of the left frame piece to the corresponding lateral area on the left side of the user's torso, such as... Figure 4A , 4B As shown in 4C.

[0110] exist Figures 4A-4D In one embodiment, the interface system further includes a strap assembly comprising a left shoulder strap 134 having a shoulder pad 436. A rigid shoulder pad or scapular pad 426 is provided at the upper proximal portion 442 of the left frame member, preferably located at the user's left scapula. Below the shoulder pad or scapular pad 426, a softer support material 425 is provided for more comfortable contact with the user.

[0111] Furthermore, a shoulder mounting assembly 440 is provided at or near the upper proximal portion 442 of the left frame member 412 for connecting the left actuator 404 to the upper proximal portion of the left frame member 412. The shoulder mounting assembly 440 includes a corresponding shoulder support plate 444 having a guide pin 447 and an outward extension rail 446, and a shoulder outward extension plate 454 connected to the shoulder support plate 444 via a pivot connector 452.

[0112] therefore, Figures 4A-4DThe embodiments provide up to three dimensions of motion. Horizontal shoulder abduction and adduction are permitted via a vertically oriented rotary hinge 448 oriented along direction A5. Flexion and extension of the humerus are permitted via a horizontally oriented rotary hinge 150 oriented along direction A4. Furthermore, the actuator 404 provides humeral flexion assistance and has a humeral clamp 408 connected to the user's humerus. The clamp 408 is adjustable to accommodate a considerable range of user arm sizes and can be adjusted relative to variations in circumference suitable for potential users and changes in the user's arm during contraction. For example… Figure 4C The pivoting about direction A6, as shown, provides a third dimension of motion, wherein the shoulder abduction plate 454 is pivotally connected to the shoulder support plate 444 via a pivot connector 452. Alternatively, movement about axis A6 can be intentionally restricted by preventing movement of guide pins or fasteners 447 within guide rails 446. (As in...) Figure 5 and 6A As described in the -6B embodiment, extension assistance can also be provided via additional actuator components.

[0113] The frame member begins proximally at the upper proximal portion 442 at the user's left scapula and extends laterally downward through the main body portion 407 of the frame member 412 to one side of the torso, where the distal end 460 connects to the support strap 410. Figure 4D The distal end 460 of the left frame member 412 is shown to be connected to the support belt 410 via fastener 466. At the connection point between the left frame member and the support belt 410, a transverse torso pad 470 comprising a rigid outer material and a softer inner material is provided.

[0114] Figures 4A-4D The interface of this embodiment also includes a strap assembly comprising a shoulder strap 434 extending over the user's left shoulder and a connecting segment 431 connecting the lower front portion of the shoulder strap 434 to the lower part of the left frame member. A shoulder strap pad 236 is provided below the shoulder section of the shoulder strap 434. Here, the left shoulder strap is effectively converted into a figure-9 shaped shoulder strap with an additional shoulder strap 414 that connects to the previous chest strap at the chest, but now wraps around the torso and connects to the frame at approximately the same height as the connector 413. The waist belt 410 is simply a continuous strap with the right half of the exoskeleton removed. The chest strap 414 is configured to connect the front portion of the shoulder strap 434 and is adjustable to accommodate various chest sizes desired by the user. A chest buckle 433 is provided to unfasten the chest strap, thereby facilitating the putting on and taking off of the interface 400.

[0115] according to Figures 4A-4DIn the embodiment shown, the same three-point force system is used only to assist the single left shoulder: (1) a forward flexion force in the middle of the humerus; (2) a fulcrum to stabilize the scapula; and (3) a reaction force that pulls the shoulder girdle backward from the frame 400.

[0116] about Figure 5 In the embodiments shown, it should be noted that abduction is a secondary movement in most overhead operations. The actuators and linkages shown in the above embodiments are designed to provide direct and measurable assistance specifically in humeral flexion. Due to potential medical conditions in workers, the inventors have found it helpful to provide specific abduction assistance, which is a critical movement limited by impingement or rotator cuff tears or repairs, taking into account the physical pathways of the muscle tissue.

[0117] For the frame of the above embodiment with a separate frame member, abduction assistance can be easily provided if the spring mechanism 550 or other force-applying mechanism is connected to the cantilevered hinge extension 464 already present on the abduction mechanism. The spring mechanism 550 is connected to the frame member 512 at the lower fastener 564. That is, a shoulder mounting assembly 540 is provided at or near the upper proximal portion 542 of the left frame member 512, which connects the left actuator 504 and actuator housing 506 to the upper proximal portion of the left frame member 512. The shoulder mounting assembly 540 includes a corresponding shoulder support plate 544 with a guide pin 547 and an abduction rail 546, and a shoulder abduction plate 554 connected to the shoulder support plate 544 via a pivot connection 552. Such an arrangement facilitates abduction movement of the user's shoulder. Although this embodiment of shoulder abduction assistance is in Figure 5 The enlarged view shows it on the left shoulder; however, a mirror image of this arrangement can also be included on the right frame piece above the right shoulder.

[0118] Shoulder abduction assistance can be adjusted by replacing or tightening the spring. The spring mechanism 550 may include an adjustable tension clock spring, a selectable constant force spring structure, or an adjustable cam / spring mechanism that can adjust the amount of assistance provided during abduction and / or adjust the angle that can provide peak torque assistance.

[0119] like Figure 6A and 6BAs shown, another embodiment provides a remote actuation system including features implementable in the above embodiments. The interface 600 of this embodiment includes a frame 602 having a left frame member 612, a right frame member 614, and a left hinge plate 616 and a right hinge plate 618. Straps 630 connect the upper portions of the left and right frame members and prevent the upper portions of the left and right frame members from laterally separating in the coronal plane beyond a predetermined distance. A left actuator assembly 606 and a right actuator assembly 607 are provided, connected to the respective left and right frame members 612 and 614. The actuators can be removed from the shoulder and connected at the center of the torso. A Bowden cable system (e.g., those used in bicycle brakes) including an actuator cable 660 located within a housing 662 can be guided to the shoulder to provide torque to a rotating mechanism connected at the shoulder and to remotely drive flexion actuation. Such a remote actuator can also remotely provide shoulder abduction actuation. The actuator pulls the actuator cable 660 connected to the shoulder.

[0120] The shoulder flexion drive can be operated by any (or the same) drive mechanism, but auxiliary torque will be remotely transmitted to the shoulder via a cable. The cable is connected to a rotating connector on the side of the shoulder. Unlike the actuator rotatably connected to the arm cuff as shown in the above embodiment, the actuator pulls a cable connected to a fixed spool with a similar force, generating torque on a rotating rod on the arm cuff. Figure 6B The large disc connector is shown. Figure 6A An embodiment of a connection mechanism with minimal dimensions is shown. Considering the required minimal cable bending and variable torque assistance at the shoulder, this connection mechanism will preferably have a small diameter and a low profile.

[0121] By providing an interface system for exoskeleton systems as described herein, the problems of ineffective heat dissipation from the user, restricted movement perceived by the user, and inability to provide necessary assistive forces in related exoskeleton devices are overcome. This is achieved by providing an improved interface system with support straps, strap assemblies, and at least one or two separate frame components as described herein.

[0122] It should be understood that not all objectives or advantages can be achieved under any of the embodiments of this disclosure. These embodiments may be embodied or performed to achieve or optimize one or more of the taught advantages without achieving other objectives or advantages taught or suggested.

[0123] The various features described herein should be understood as interchangeable. In addition to the variations described, those skilled in the art can mix and match other known equivalents of each feature to construct an interface system based on the principles of this disclosure.

[0124] Although the shoulder support mechanism has been briefly described, it is not limited to the illustrated embodiment, and the interface system can be adapted to accommodate different shoulder support mechanisms.

Claims

1. An interface system for an exoskeleton, the interface system comprising: Support belt; Strap assembly; and The frame system including the first frame component, The first frame member has an upper connecting portion configured to have a first auxiliary device connected thereto at a shoulder mounting assembly. The first frame member is connected to the strap assembly and extends downward from the user's left or right scapula, laterally forming a contour and connecting to the support strap. The frame system includes a second frame member connected to the strap assembly and extending downward, laterally contoured, and connected to the support strap. The first frame member is rearwardly connected to the second frame member via a pair of hinged arms engaged at a pivot connection. The first hinge arm of the pair of hinge arms has a first end connected to the first frame member at a first lateral pivot point, and the second hinge arm has a first end connected to the second frame member at a second lateral pivot point. The first hinge arm has a second end connected to the second end of the second hinge arm at the center between the first frame member and the second frame member, thereby forming a single connection point at the pivot connection member that defines the three-point linkage to prevent torsion between the first frame member and the second frame member.

2. The interface system according to claim 1, characterized in that, The first frame member and the second frame member are laterally formed in opposite directions.

3. The interface system according to claim 1, characterized in that, The pivot connection is a hinge, with both the first and second hinge arms extending downward to form the hinge at their second ends.

4. The interface system according to claim 1, characterized in that, The interface system has an upper connection portion configured to have a second auxiliary device connected thereto at a second shoulder mounting assembly.

5. The interface system according to claim 1, characterized in that, The support strap includes strap segments configured to be attached to the front side of the user.

6. The interface system according to claim 1, characterized in that, Both the first frame member and the second frame member have their own lengths to extend to the support band positioned at the user's lower thoracic vertebrae.

7. The interface system according to claim 1, characterized in that, Both the first and second frame members have their own lengths to extend to the support band located at the user's iliac crest.

8. The interface system according to claim 1, characterized in that, The shoulder mounting assembly of the first frame member includes a first scapular pad disposed on the user's left or right scapula, and the first frame member extends downward from the first scapular pad, laterally forms a profile, and connects to the contact portion of the support strap, and the first frame member does not contact the user between the contact portion of the first scapular pad and the support strap.

9. The interface system according to claim 1, characterized in that, The support belt includes a first hip pad located at the connection between the first frame member and the support belt, and a second hip pad located at the connection between the second frame member and the support belt.

10. The interface system according to claim 1, characterized in that, The interface system further includes an adjustable strap or elastic mechanism for connecting the upper part of the first frame member to the upper part of the second frame member, such that the adjustable strap or elastic mechanism prevents the upper part of the first frame member from laterally separating from the upper part of the second frame member by a predetermined distance.

11. An exoskeleton assistive system, comprising: Interface system; and A first auxiliary device connected to the interface system; and A second auxiliary device connected to the interface system. The interface system includes: Support belt; Strap components; and The frame system includes a first frame component and a second frame component. The first frame member has an upper connecting portion configured to have a first auxiliary device connected thereto at a shoulder mounting assembly. The second frame member has an upper connecting portion configured to have a second auxiliary device connected thereto at the shoulder mounting assembly. The first frame member is connected to the strap assembly, extends downward, laterally forms a profile, and connects to the support strap. The second frame member is connected to the strap assembly, extends downward, laterally forms a profile, and connects to the support strap. The first frame member and the second frame member laterally form contours in opposite directions, and The first frame member is connected to the second frame member at the rear via a pair of hinged arms engaged at a pivot connection. The first hinge arm of the pair of hinge arms has a first end connected to the first frame member at a first lateral pivot point, and the second hinge arm has a first end connected to the second frame member at a second lateral pivot point. The first hinge arm has a second end connected to the second end of the second hinge arm at the center between the first frame member and the second frame member, thereby forming a single connection point at the pivot connection member that defines the three-point linkage to prevent torsion between the first frame member and the second frame member.

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