Automatic, portable and modular exoskeleton for an upper extremity

Abstract

The invention relates to a portable exoskeleton for an upper limb, with n DOF (degrees of freedom), for patients recovering physically from COVID-19, having n DOF, wherein said exoskeleton comprises rigid plates on the outside of the arm which are rigid parts arranged in the upper part; joints (elbow, shoulder, clavicle) which connect the rigid plates and allow their movement in all directions in the form of flexion, extension, abduction, adduction, internal and external rotation; guides arranged on top of each of the rigid plates from the back to the forearm; bus cables for information, which pass through the guides starting from the end of the forearm up to the back; supports (straps) located on rigid plates of the exoskeleton, which secure the structure to the body; sensors connected to the information bus cables which terminate in the embedded system which are arranged in the rigid plates of the linkage points or rigid plates suitably located along the entire arm.

Description

[0001] AUTOMATIC, PORTABLE AND MODULAR UPPER EXTREMITY EXOSKELETON

[0002] TECHNICAL FIELD

[0003]

[0001] The present invention relates to the technical field of medical engineering, mainly in the area of ​​rehabilitation physiotherapy for patients with muscular weakness of the arms, specifically in the field of upper limb exoskeletons with n degrees of freedom.

[0004] STATE OF THE ART

[0005]

[0002] Exoskeleton-type devices for upper limbs are known in the prior art, such as, for example, patent document CN1 03519966, which discloses a portable hemiplegic upper limb rehabilitation training robot, wherein the robotic unit can be attached to and detached from the upper limbs of a human body by means of a connecting device and has a plurality of joint drive units and an articulation drive unit. Furthermore, the system operates via a servo drive and joint control rods, using a controller and a power supply.

[0006]

[0003] Also known is patent document MX2012011251, which discloses a device consisting of a network of up to twenty magneto-inertial micro-stations, each composed of three gyrometers, a three-axis accelerometer, and a three-axis magnetometer, all using MEMS technology; a digital signal processor with an implemented data fusion algorithm; a wireless data transmitter; and an onboard station positioned on a body part for signal retrieval, data sorting, and transmission of the angular positions of each body segment to a PC.

[0004] For its part, document US2013040783 describes a wearable system designed to replicate the effects of gravity in weightless environments, such as space. The objective is to provide astronauts with greater control of movement, allowing them to perform physical operations with greater speed and precision during the transition to weightlessness.This system uses actuators, such as gyroscopes, attached to the user's limbs to apply downward forces, thus mimicking the force of gravity on Earth. These actuators can be integrated into a spacesuit, rigidly connecting them to the user's limbs. The system uses a variety of wearable sensors to measure the orientation and movement of the actuators, and a processor to determine the amount of resistance to apply based on this data. This allows the downward direction to be adjusted to the user's needs.

[0007]

[0005] Also known is document MX2015014864, which describes a multi-joint, adjustable-resistance exoskeleton consisting of two independent multi-joint modules that work together. The upper module consists of a rigid support that rests on the user's shoulders and has a chain of rigid, articulated segments on each side, running parallel to the user's upper limbs. The lower module consists of a rigid belt that encircles the user's pelvic area and has a chain of rigid, articulated segments anchored to each side, running parallel to each of the user's lower limbs. Both modules are joined at the user's abdominal area by four attachment points, each anchored to a unidirectional movement device.The exoskeleton's joints consist of a friction braking system that generates resistance in both directions of the joint's plane of movement and can be adjusted with a knob. The exoskeleton has 24 degrees of freedom.

[0006] From a scientific literature perspective, the article titled “Literature review of stroke assessment for upper-extremity physical function via EEG, EMG, kinematic, and kinetic measurements and their reliability” by Maura Rene et al., published on February 15, 2023, in the Journal of Neuroengineering and Rehabilitation, presents common methods for analyzing biomechanical and neuromuscular data, describing their validity and reporting their reliability measures based on sensor-based measurements and metrics for the biomechanical and electrophysiological (neurological) assessment of the upper extremities.

[0008]

[0007] Also known is the article entitled “Extracting Human-Exoskeleton Interaction Torque for Cable-Driven Upper-Limb Exoskeleton Equipped With Torque Sensors” by Wang Yasong et al published on December 1, 2022 in Transactions on Mechatronics, which indicates that powered exoskeletons have global trends in wide applications and shows the implementation of joint torque sensors in a custom-made cable-driven exoskeleton, where the torque sensor signal model is set up to extract the torque from the human-exoskeleton interaction (HEI), which can be used to predict the movement intention of the human upper limb and shows the accuracy of the torque sensor model.

[0009]

[0008] Furthermore, the article entitled “Design and Implementation of a Rehabilitation Upper-limb Exoskeleton Robot Controlled by Cognitive and Physical Interfaces” by González Mendoza Arturo et al., published in September 2022 in the Journal of Bionic Engineering, describes an upper-limb exoskeleton that allows for cognitive (through electromyography signals) and physical (through load cell sensors) interaction of the user for passive and active exercises that can activate neuroplasticity in the rehabilitation process of people with neurological injuries.

[0009] In this sense, it is clear that there is still an unmet need to provide an exoskeleton that is easy to attach to and detach from the upper limbs of a human body and that has an ergonomic and biomimetic structure that allows for its portability by the end user.

[0010]

[0010] In this respect, the present invention contributes to the state of the art, as it provides a personalized or ergonomic system that allows the robot's joints to align with the axes of rotation and the joints of the human body, thus enabling proper and efficient rehabilitation by making the device comfortable for the end user. The upper limb exoskeleton of the present invention is a portable device with n DoF (degrees of freedom) suitable for patients with muscle weakness caused by neurological disorders resulting from diseases such as COVID-19.

[0011] BRIEF DESCRIPTION OF THE INVENTION

[0012]

[0011] The robotic device (A) for upper limbs (exoskeleton) of the present invention is considered to have a limited degree of freedom (DoF) since it will depend on the end user and the medical report to define the degrees of freedom required for their recovery. This allows it to be modular and adaptable to different types of cases of muscle weakness. The robotic device of the present invention comprises rigid links or plates (1) external to the arm (forearm, elbow, shoulder, clavicle, and back), which are rigid pieces arranged on both the upper and lateral parts of the arm and forearm; joints (2) (elbow, shoulder, and clavicle) that connect the rigid plates and allow movement in all directions, such as flexion, extension, abduction, adduction, and internal and external rotation; and guides (3) arranged on top of each of the rigid plates (1) from the back to the forearm.Information bus cables (4) run through guides (3) from the end of the forearm to the back; straps (5) attached to the rigid plates (1) of the exoskeleton secure the structure to the body; sensors (6) connected to the information bus cables (4) terminate in the embedded system (7) located on the rigid plates (1) positioned along the entire arm; the embedded system (7), which receives all the information from the sensors (6), is located on the rigid plate (1) at the back; a microcontroller within the embedded system (7) controls the exoskeleton and acquires the information. The exoskeleton also includes rigid plates (1) to provide support and mobility to patients, such as post-COVID-19 patients with muscle weakness.

[0013] SUMMARY

[0014]

[0012] The present invention relates to a wearable upper limb exoskeleton with n DoF for patients in physical recovery from COVID-19, which has n DoF (degrees of freedom), wherein said exoskeleton comprises rigid plates external to the arm, which are rigid pieces arranged on the upper part; joints (elbow, shoulder, and clavicle) that connect the rigid plates and allow movement in all directions such as flexion, extension, abduction, adduction, internal and external rotation; guides arranged above each of the rigid plates from the back to the forearm; information bus cables that pass through the guides from the end of the forearm to the back; and straps placed on rigid plates of the exoskeleton that secure the structure to the body;Sensors connected to information bus cables terminate in the embedded system and are arranged on rigid plates of the links or rigid plates appropriately located throughout the arm. DESCRIPTION OF THE FIGURES;

[0015]

[0013] Figure 1 shows a side view of the portable n DoF upper limb exoskeleton according to the present invention, for patients in physical recovery from COVID-19.

[0016]

[0014] Figure 2 shows an isometric view of the wearable n DoF upper limb exoskeleton for patients in physical recovery from COVID-19.

[0017] DETAILED DESCRIPTION OF THE INVENTION

[0018]

[0015] Considering the problems observed in conventional upper limb exoskeleton devices in a human patient, related to the complexity of connecting the terminals, the lack of ergonomics and biomimicry, and the weight of the structure, the present invention refers to a portable n DoF upper limb exoskeleton (A) for patients recovering from neurological and muscular diseases, caused, for example, by COVID-19, where the robotic device is considered to have an n DoF since it will depend on the end user and the medical report to define the degrees of freedom required for their recovery, allowing it to be modular and adaptable to different types of cases of muscular weakness.

[0019]

[0016] The exoskeleton device (A) according to the present invention, and as shown in Figures 1 and 2, comprises rigid plates (1), joints (2), guides (3), information cables (4), fasteners (5), inertial sensors (6), and an embedded system (7).

[0020]

[0017] The present invention consists of a wearable n DoF upper limb exoskeleton (A) for patients in physical recovery from COVID-19 comprising rigid plates (1) arranged externally on the upper arm and back in the form of links; joints (2) connecting the rigid plates (1) and allowing movement in all directions; guides (3) arranged above each of the rigid plates (1); information cables (4) connecting the inertial sensors (6) and passing through the guides (3) starting from the end of the forearm to terminate in the embedded system (7) located in the rigid plate (1) on the back; the guide (3) located above the rigid plate (1) goes over the arm.There are also information cables (4) that connect the inertial sensors (6) distributed throughout the rigid plate (1) of the arm to the embedded system (7) located in the rigid plate (1) of the back; the inertial sensors (6) are controlled by a microcontroller located within the embedded system (7).

[0021]

[0018] Regarding the exoskeleton materials (A), for example, the rigid plate material (1) can be acrylic, cardboard, MDF (Medium Density Fiberboard), metal, plastic, etc.

[0022]

[0019] The rigid plates (1) external to the arm (forearm, elbow, shoulder, clavicle and back) are rigid pieces arranged on the upper part; and the joints (2) (elbow, shoulder and clavicle) connect the rigid plates (1) and allow movement in all directions such as flexion, extension, abduction, adduction, internal and external rotation; the guides (3) are arranged on top of each of the rigid plates (1) from the back to the forearm and the information bus cables (4) pass through the guides (3) starting from the end of the forearm to the back; and the fasteners (5) (straps) are placed on the rigid plates (1) of the exoskeleton and attach the structure to the body; and the inertial sensors (6) connected to the information bus cables (4) terminate in the embedded system (7) which are arranged on the rigid plates (1) suitably located throughout the arm;The embedded system (7) is located in the rigid back plate and receives all the information from the inertial sensors (6); it also comprises a microcontroller located within the embedded system (7) that allows control of the exoskeleton (A) and the acquisition of information.

[0023]

[0020] The rigid plates (1) of the passive upper limb exoskeleton provide support and mobility to post-COVID-19 patients with muscle weakness. The robotic exoskeleton device (A) is an external structure of rigid plates (1) made of materials such as acrylic, cardboard, MDF (Medium Density Fiberboard), metal, or manufactured by 3D printing with different materials such as PLA, ABS, PET, and carbon fiber.

[0024]

[0021] The exoskeleton design (A) is customizable, meaning that regardless of the user's body size (child or adult), the system can be used without regard to body dimensions. A 3D scan will be performed to obtain the user's exact measurements and generate a custom-fit prototype, ensuring ergonomics. The design is proprietary and is structured to facilitate natural arm movements and biomimicry. The exoskeleton (A) can be passive and / or active, depending on the desired movements.

[0025]

[0022] The joints (2) of the exoskeleton (A) allow rotation of the rigid linkages. Each joint (2) of the robotic device or exoskeleton (A) is positioned at a joint in the human body so that the axes of rotation coincide, enabling natural movement. A mechanical device, such as bearings, is used to generate this movement. The joints (2) can be toothed, planetary, helical, etc., allowing for interchangeability depending on the user's rehabilitation needs.

[0023] The fasteners (5) form an adhesive strap system that provides user comfort while wearing the exoskeleton (A) and reduces the device's weight. This material is also flexible and comfortable. The fasteners (5) are attached to the rigid plates (1).

[0026]

[0024] The guides (3) are made of a flexible plastic material that allows the information cables (4) to be placed inside. These guides are distributed throughout the arm, starting at the forearm and ending at the embedded system (7) located on the rigid plate (1) of the back.

[0027]

[0025] The information cables (4) have the ability to send and receive data using internet protocols, allowing for remote tracking by the inertial sensors (6). Furthermore, the position data and the processing system together can provide isolated signals for each joint of the system, enabling internal control loops that individually activate feedback to the user (monitors, lights, motors, speakers, etc.).

[0028]

[0026] The sensors (6) located on the rigid plates (1) allow tracking of the position and rotation of the exoskeleton (A). The sensor system (6) allows the transmission of analog or digital information to a processing unit located in the embedded system (7), which determines and transmits the position of the device in real time or through periodic reports, locally or externally. In turn, the sensors (6) allow comparison of the position with respect to predefined trajectories for use as a mobility training system in the rehabilitation area.

[0029]

[0027] The embedded system (7) provides power to the inertial sensors (6). All instrumentation for the inertial sensors (6) is connected directly to the embedded system (7). This embedded system (7) is an electronic design to which all the instrumented inertial sensors (6) are connected. It is mounted on the back of the rigid plate (1), as shown in Figure 2. The system also includes classifiers that allow for the discretization of postures for use as control signals. It can be implemented via wired or wireless connections (for entertainment and teleoperation). This will make the system automatic and / or intelligent, enabling it to adapt to the specific muscle weakness or impairment of each user.

[0030]

[0028] The microcontroller located within the embedded system (7) is an electronic device capable of sending and receiving data via internet protocols through a network cable or wireless connection, allowing for remote tracking using external devices, which is done wirelessly. For the operation of the device or exoskeleton (A), the microcontroller is programmed, enabling the operator to obtain arm movements in flexion, extension, abduction, adduction, and internal and external rotation through therapy routines. It also allows for adjusting the torque of the movement and the timing of joint movements within a predetermined time.

[0031]

[0029] A person versed in the subject will understand that there are modifications in the configuration and materials of the upper limb exoskeleton that do not depart from the spirit of the present invention.

Claims

CLAIMS 1. An automatic, portable, and modular upper limb exoskeleton characterized in that it comprises rigid plates (1), joints (2), guides (3), information cables (4), fasteners (5), inertial sensors (6), and an embedded system (7).

2. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the rigid plates (1) are arranged externally on the upper part of the arm in the form of links.

3. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the joints (2) connect with the rigid plates (1) and allow their movement in all directions.

4. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the guides (3) are arranged on top of each of the rigid plates (1).

5. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the information cables (4) connect the inertial sensors (6) and pass through the guides (3) starting from the end of the forearm until ending in the embedded system (7) located in the back.

6. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the joints (2) allow flexion, extension, abduction, adduction, internal and external rotation.

7. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the rigid plates (1) and joints (2) are structures manufactured from high-strength, lightweight parts.

8. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the exoskeleton is customized, biomimetic, and ergonomic.

9. The automatic, portable, and modular upper limb exoskeleton according to claim 1, characterized in that the material of the rigid plates (1) is acrylic, cardboard, MDF (Medium Density Fiberboard), metal, or manufactured by 3D printing with PLA, ABS, PET, and carbon fiber.

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