adaptive armrest systems and methods for use

专利摘要:
ADAPTIVE ARM SUPPORT SYSTEMS AND METHODS FOR USE. Systems and methods are provided to support a user's arm using a harness configured to be used on a user's body; and an armrest coupled to the harness configured to support a user's arm, the armrest being configured to accommodate movement of the arm while tracking the movement without substantially interfering with the movement of the user's arm. One or more compensating elements can be coupled to the armrest to apply compensatory force to at least partially counterbalance a gravitational force acting on the arm as the user moves and the armrest follows the movement of the user's arm, these being one or more compensating elements provide a force profile that varies the compensating force based on an orientation of the armrest.
公开号:BR112015013722B1
申请号:R112015013722-9
申请日:2013-12-10
公开日:2021-01-26
发明作者:Mark C. Doyle
申请人:Levitate Technologies, Inc.；
IPC主号:

专利说明:

FIELD OF THE INVENTION:
[0001] The present invention relates to systems, devices and methods for supporting a user's arms, for example, adaptive arm support systems that support one or both arms of a user, while allowing movement substantially free, for example, to allow the user to perform one or more tasks for long periods of time with one or both arms extended. FUNDAMENTALS:
[0002] Numerous tasks require people to work with their arms outstretched. Examples include surgery, dentistry, painting, dishwashing and product assembly. People involved in such activities may experience fatigue due to the prolonged muscular efforts required to withstand the pull of gravity on their arms to keep them extended. Weak or disabled people may experience fatigue when performing daily tasks. Static arm rests on chairs and work tables are only effective if the task is performed within a relatively restricted area, for example, in front of a computer keyboard. Tasks that involve a greater range of motion are not aided by static armrests.
[0003] Thus, there is a need for an adaptive armrest or armrest system that can relieve the fatigue experienced by people who perform tasks that involve moderate to large ranges of motion. ABSTRACT:
[0004] The present invention is directed to systems, devices and methods for supporting a user's arms, for example, to adaptive arm support systems or devices that support one or both arms of a user, at the same time allow substantially free movement, for example, to allow the user to perform one or more tasks for long periods of time with one or both arms extended.
[0005] According to one modality, a system is provided to support a user's arm that includes a harness configured to be used on a user's body; an armrest coupled to the harness configured to support a user's arm, the armrest configured to accommodate the movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensating elements coupled to the armrest to apply a compensating force to at least partially compensate for a gravitational force that acts on the arm as the user moves and the armrest follows the movement of the user's arm, the one or more compensation elements providing a force profile that varies the compensatory force based on an orientation of the armrest.
[0006] In an exemplary embodiment, the armrest may include an armrest that includes an armrest at the first end of the armrest, and a second end pivotally coupled to the harness so that the armrest is rotatable around multiple axes in relation to the headgear. The one or more compensating elements can include one or more elements, for example, a resilient element, mounted on the arm support.
[0007] In addition or alternatively, the armrest may include a first armrest segment pivotally coupled to the harness around a first vertical axis so that the first armrest segment is pivoted substantially horizontally around the first vertical axis in relation to the harness; and a second armrest segment pivotally coupled to the first armrest segment, so that the second armrest segment is rotatable about a second axis generally orthogonal to the first vertical axis. Optionally, the second armrest segment can include an armrest configured to support a portion of a user's arm and / or a resilient member mounted on the second armrest segment.
[0008] According to another modality, a system is provided to support a user's arm that includes a harness configured to be used on a user's body; an armrest coupled to the harness configured to support a user's arm, the armrest comprising an armrest including an armrest at a first end thereof, and a second end pivotally coupled to the harness so that the arm support is swiveling around multiple axes to accommodate the movement of the user's arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensating elements mounted on the arm support to at least partially compensate for a gravitational force that acts on the user's arm as the user moves and the arm support follows the movement of the user's arm. Optionally, the armrest can additionally include a hinged support pivotally coupled to the harness around a first vertical axis so that the hinged support is pivoted substantially horizontally around the first vertical axis in relation to the harness, and in that the second end of the arm support is pivotally coupled to the hinged support so that the arm support is rotatable about a second axis generally orthogonal to the first vertical axis.
[0009] According to yet another modality, a system is provided to support a user's arm that includes a harness configured to be used on a user's body, the harness comprising a shoulder harness configured to be used on or in around one or both of the user's shoulders, an abdomen belt configured to be worn around the user's waist or hips, and one or more support members extending between the shoulder harness and the abdomen belt; an armrest coupled to the harness configured to support a user's arm, the armrest configured to accommodate the movement of the arm while following the movement without substantially interfering with the movement of the user's arm; one or more compensating elements mounted on the arm support to at least partially compensate for a gravitational force acting on the user's arm as the user moves and the arm support follows the movement of the user's arm; and a load transfer support coupled to the abdomen belt to engage an external structure to transfer forces from the system to the external structure.
[0010] According to yet another modality, a system is provided to support a user's arm that includes a harness configured to be used on a user's body, the harness comprising a shoulder harness configured to be used on or in around one or both of the user's shoulders, an abdomen belt configured to be worn around the user's waist or hips, and one or more support members extending between the shoulder harness and the abdomen belt; and a head rest, for example, a chin rest and / or a forehead rest on the headgear. Optionally, the system can also include an armrest attached to the harness configured to support a user's arm, the armrest configured to accommodate the movement of the arm while following the movement without substantially interfering with the movement of the arm of the user. user; and one or more compensating elements mounted on the arm support to at least partially compensate for a gravitational force that acts on the user's arm as the user moves and the arm support follows the movement of the user's arm. The one or more compensating elements can be configured to provide a force profile that varies the compensating force based on an orientation of the armrest.
[0011] According to another embodiment, a method is provided to support a user's arm during one or more tasks, which includes placing a harness on the user, the harness comprising a movable armrest in relation to the harness and including a rest arm; support a portion of the user's arm using the armrest, so that the armrest subsequently follows the movement of the user's arm; and perform one or more tasks involving the movement of the user's arm, the armrest comprising one or more compensating elements that apply a compensating force to at least partially compensate for a gravitational force acting on the arm as the user moves without substantially interfere with movement, the one or more compensating elements providing a force profile that varies the compensating force based on an orientation of the armrest.
[0012] In an exemplary embodiment, the armrest may include a first armrest segment pivotally coupled to the harness, and the performance of one or more tasks may include rotating the user's arm substantially horizontally, the first segment of the armrest. armrest rotating freely around a first vertical axis in relation to the harness to follow the movement of the user's arm. The armrest can also additionally include a second armrest segment pivotally coupled to the first armrest segment, and the performance of one or more tasks may include raising and lowering the user's arm, the second armrest segment arm rotating around a second axis usually orthogonal to the first vertical axis to follow the user's arm movement.
[0013] Still according to another modality, a method is provided to support a user's arm during one or more tasks, which includes placing a harness on the user, the harness comprising a movable armrest in relation to the harness and including a arm rest; attach a harness abdomen belt around the user's waist or hips; engaging a load transfer support on the abdomen belt with an external structure; support a portion of the user's arm using the armrest, so that the armrest subsequently follows the movement of the user's arm; and perform one or more tasks involving the movement of the user's arm, the armrest comprising one or more compensating elements that apply a compensating force to at least partially compensate for a gravitational force acting on the arm as the user moves without substantially interfere with movement, the load transfer support transferring forces from the harness to the external structure.
[0014] According to yet another modality, a system is provided to support a user's head that includes a headgear configured to be used on a user's body, the headgear comprising a shoulder harness configured to be used on or in around one or both of the user's shoulders, an abdomen belt configured to be worn around the user's waist or hips; and a head rest comprising a support bracket comprising a first end mounted to the headgear and a second end disposed adjacent to a user's forehead when the headgear is worn by the user, and a rest member coupled to the second end of the support bracket , so that the rest member extends along a user's forehead when the harness is used to support the user's forehead. Optionally, the system can also include a chinrest mounted to the harness in one location so that the chinrest extends along a user's chin when the harness is used to support the user's chin. If desired, the support bracket can be adjustable so that the resting member is movable to a location that extends along a user's chin when the harness is used to support the user's chin and / or can be removable.
[0015] According to yet another modality, a system is provided to support a user's arm, which includes a harness configured to be used on a user's body, the harness comprising a shoulder harness configured to be used on or around one or both shoulders and on the user's back, an abdomen belt configured to be worn around the user's waist or hips, one or more support members extending between the shoulder harness and the abdomen belt and a shoulder support member including a first end substantially attached to the shoulder harness at a location behind the user's back and a second end substantially attached above the user's shoulder; an armrest coupled to the harness configured to support a user's arm, the armrest configured to accommodate the movement of the arm while following the movement without substantially interfering with the movement of the user's arm, the armrest comprising: a first armrest segment pivotally coupled to the second end of the shoulder support member, so that the first armrest segment is pivoted substantially horizontally about a first vertical axis with respect to the shoulder support member ; a second arm support segment pivotally coupled to the first arm support segment, so that the second arm support segment is rotatable about a second axis generally orthogonal to the first vertical axis; and one or more compensating elements to at least partially compensate for a gravitational force that acts on the user's arm as the user moves and the arm support follows the movement of the user's arm.
[0016] In any of the modalities in this document, an armrest can be provided in the armrest, for example, in the second armrest segment, formatted to receive an arm from the user. Optionally, the armrest can be rotatable with respect to the second armrest segment and / or the armrest can be movable along a longitudinal axis of the second armrest segment to adjust an axial position of the armrest . Optionally, a forearm support can be provided, for example, pivotally coupled to the second armrest segment, to support a user's forearm.
[0017] According to another modality, a system is provided to support a user's arm that includes a harness configured to be used on a user's body; an armrest coupled to the harness configured to support a user's arm, the armrest configured to accommodate the movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensating elements coupled to the armrest to apply a compensating force to at least partially compensate a gravitational force that acts on the arm as the user moves the arm and the armrest follows the movement of the user's arm, the one or more compensating elements comprising a resilient element mounted on the harness within a resilient element housing at a location adjacent to the user's back when the harness is worn by the user and a cable coupled between the resilient element and the armrest.
[0018] Still according to another modality, a method is provided to support a user during one or more tasks which includes placing a harness on the user, the harness comprising a headrest that extends in front of the user's head without substantially obstructing the user's view; contacting a portion of the user's head, for example, the user's forehead and / or chin, using a headrest headrest; and perform one or more tasks, the headrest supporting the user's head during the performance of one or more tasks. Optionally, the headgear can also include a movable armrest in relation to the headgear and including an armrest, and the method may additionally include supporting a portion of the user's arm using the armrest, so that the armrest subsequently follow the movement of the user's arm; and performing one or more tasks involving the movement of the user's arm, the armrest comprising one or more compensating elements that apply a compensating force to at least partially compensate for a gravitational force! that acts on the arm as the user moves without substantially interfering with the movement o One or more compensating elements providing a force profile that varies the compensating force based on an orientation of the armrest.
[0019] Other aspects and characteristics of the present invention will become apparent from the consideration of the following description taken in conjunction with the attached figures. BRIEF DESCRIPTION OF THE FIGURES:
[0020] It will be appreciated that the exemplary apparatus shown in the figures are not necessarily drawn to scale, instead, with an emphasis being placed on illustrating the various aspects and characteristics of the illustrated modalities.
[0021] FIG. 1 is a rear perspective view of a user's upper body working with an extended right arm.
[0022] FIG. 2 is a front perspective view of an exemplary embodiment of an adaptive armrest system that can be used by a user, such as the user of FIG. 1.
[0023] FIG. 3A is a rear perspective view of the adaptive armrest system of FIG. 2 worn by a user and supporting the user's extended arm. FIG. A is a detail of the system of FIG. 3A.
[0024] FIGS. 3B and 3C are top views of the adaptive armrest system of FIG. 2 used by a user and supporting the user's extended arm as the user moves the supported arm horizontally.
[0025] FIGS. 3D and 3E are side views of the adaptive armrest system of FIG. 2 used by a user and supporting the user's extended arm as the user moves the supported arm vertically.
[0026] FIG. 4A is a side view of the adaptive armrest system of FIG. two.
[0027] FIGS. 4B and 4C are diagrams of elements of the adaptive armrest system of FIG. 2, showing load vectors as the system is moved vertically.
[0028] FIGS. 5A-5E are a rear perspective view of the adaptive armrest system of FIG. 2 used by a user, showing a sequence of positions of the supported arm of the user used to park the system. FIGS. B-D are details of the system shown in FIGS. 5C-5E, respectively.
[0029] FIGS. 6A and 6B are seen in rear perspective of another exemplary form of an adaptive armrest system used by a user and supporting the user's extended arm as the user moves the supported arm vertically. FIGS. E F are details of the system of FIGS. 6A and 6B, respectively.
[0030] FIGS. 6C and 6D are diagrams of elements of the adaptive armrest system of FIGS. 6A and 6B, showing support vectors as the system is moved vertically.
[0031] FIGS. 7A and 7B are side views of yet another exemplary embodiment of an adaptive armrest system with an armrest of the system moving vertically.
[0032] FIGS. 8A and 8B are side views of yet another exemplary embodiment of an adaptive armrest system with an armrest of the system moving vertically.
[0033] FIGS. 9A and 9B are side views of the adaptive armrest system of FIG. 2 with the system armrest moved vertically upwards.
[0034] FIGS. 10A and 10B are a front perspective view of the adaptive armrest system of FIG. 2 with a pivoting rod of the system rotating about a vertical axis.
[0035] FIGS. 11A and 11B are a front perspective view of the adaptive armrest system of FIG. 2 with a system support post rotating about a horizontal axis.
[0036] FIGS. 12A and 12B are seen in rear perspective of yet another modality of an adaptive armrest system with an armrest of the system moving vertically. FIGS. G and H are details of the system shown in FIGS. 12A and 12B, respectively.
[0037] FIGS. 13A and 13B are seen in front and rear perspective, respectively, of another modality of an adaptive arm support system being used by a user who supports both arms of the user.
[0038] FIGS. 14A and 14B are seen in front and rear perspective, respectively, of the adaptive armrest system of FIGS. 13A and 13B.
[0039] FIGS. 14C and 14D are side views of the adaptive armrest system of FIGS. 13A and 13B with a cover removed to show internal components of a thrust mechanism for the system.
[0040] FIG. 15 is not used.
[0041] FIG. 16A includes side and end views of an exemplary embodiment of an asymmetric secondary pulley for the thrust mechanism shown in FIGS. 14C and 14D.
[0042] FIG. 16B is a cross-sectional view of the secondary pulley of FIG. 16A.
[0043] FIG. 16C is a graph showing an exemplary moment reached using the secondary pulley of FIG. 16A in the impulse mechanism of FIGS. 14Ce14D.
[0044] FIG. 17A includes side and end views of an exemplary alternative embodiment of an asymmetric secondary pulley for the thrust mechanism shown in FIGS. 14C and 14D.
[0045] FIG. 17B is a cross-sectional view of the secondary pulley of FIG. 17A.
[0046] FIG. 17C is a graph showing an exemplary moment reached using the secondary pulley of FIG. 17A in the impulse mechanism of FIGS. 14C and 14D.
[0047] FIG. 18 is a front perspective view of the system of FIGS. 14A and 14B, showing an exemplary array of forces acting on the system during use.
[0048] FIGS. 19A and 19B are a front perspective view of the system of FIGS. 14A and 14B, showing the rotation of a system armrest rotated about a vertical axis.
[0049] FIGS. 19C and 19D are a rear perspective view of the system of FIGS. 14A and 14B with both armrests removed (one shown separately in FIG. 19C).
[0050] FIG. 19E is a top view of the system of FIGS. 14A and 14B showing a system shoulder support tube rotated to accommodate the rotation of a user's shoulder (not shown).
[0051] FIG. 20A is a front perspective view of the system of FIGS. 14A and 14B used by a user and showing a system load transfer bracket in an open position.
[0052] FIG. 20B is a detail of the open load transfer support of the system shown in FIG. 20A.
[0053] FIG. 20C is a front perspective view of the system shown in FIG. 20A showing the system load transfer bracket in a closed position.
[0054] FIG. 20D is a detail of the closed load transfer support of the system shown in FIG. 20C.
[0055] FIGS. 21A and 21B are perspective and side views, respectively, of the system of FIGS. 13A and 13B used by a user and including a load transfer bracket being, at least partially, supported by a table.
[0056] FIG. 21C is a detail of the system of FIGS. 21A and 21B showing loads being transferred at least partially to the system table via the load transfer bracket.
[0057] FIG. 21D is a side view of the system of FIGS. 13A and 13B used by a user and including an alternative form of a load transfer support being, at least partially, supported by a table.
[0058] FIG. 21E is a detail of the system of FIG. 21D showing loads being transferred at least partially to the table from the system via the load transfer bracket.
[0059] FIG. 22A is a side view of the system of FIGS. 13A and 13B used by a user and including another alternative form of a load transfer support being, at least partially, supported by a cooperative rail on a table.
[0060] FIG. 22B is a detail of the cooperation between the load transfer support of the system of FIG. 22A and the table rail.
[0061] FIG. 22C is a side view of the system of FIGS. 13A and 13B used by a user and including yet another alternative form of a load transfer support being, at least partially, supported by a cooperative rail on a table.
[0062] FIG. 22D is a detail of the cooperation between the load transfer support of the system of FIG. 22C and the table rail.
[0063] FIG. 23A is a side view of the system of FIGS. 13A and 13B used by a user and including another alternative form of a load transfer support being, at least partially, supported by a table while the user is sitting at the table.
[0064] FIG. 23B is a detail of the cooperation between the load transfer support of the system of FIG. 23A and the table.
[0065] FIG. 23C is a side view of the system of FIGS. 13A and 13B used by a user and including yet another alternative form of a load transfer support being, at least partially, supported by a table while the user is sitting at the table.
[0066] FIG. 23D is a detail of the cooperation between the load transfer support of the system of FIG. 23C and the table.
[0067] FIG. 24A is a side view of the system of FIGS. 13A and 13B used by a user and including yet another alternative form of a load transfer support being, at least partially, supported by a table.
[0068] FIG. 24B is a detail of the cooperation between the load transfer support of the system of FIG. 24A and the table.
[0069] FIGS. 25A and 25B are side views of another embodiment of an armrest assembly that can be included in an adaptive armrest system, which includes a swivel armrest.
[0070] FIGS. 26A and 26B are side views of yet another embodiment of an armrest assembly that can be included in an adaptive armrest system, which includes an axially translatable armrest.
[0071] FIG. 27A is a front perspective view of another exemplary form of an adaptive armrest system including forearm supports used by a user.
[0072] FIGS. 27B and 27C are top views of the system of FIG. 27A, showing one of the forearm supports rotating to accommodate the movement of the user's forearm.
[0073] FIG. 28 is a side perspective view of another embodiment of an armrest assembly that can be included in an adaptive armrest system, which includes a sling type armrest.
[0074] FIG. 29A is a rear perspective view of another exemplary embodiment of an adaptive armrest system including mechanisms for storing system armrests.
[0075] FIG. 29B is a detail of components of the system storage mechanism of FIG. 29A with the armrest in an active position.
[0076] FIG. 29C is an exploded view of the components of the storage mechanism of FIGS. 29A and 29B.
[0077] FIG. 29D is a rear perspective view of the system of FIG. 29A with one of the armrests stored in an inactive position.
[0078] FIG. 29E is a detail of the components of the storage mechanism of the system of FIGS. 29A and 29D with the armrest in the inactive position.
[0079] FIGS. 30A and 30B are seen in rear perspective of another exemplary form of an adaptive armrest system used by a user and including an alternative shoulder swivel mechanism.
[0080] FIGS. 31A and 31B are seen in rear perspective of another exemplary form of an adaptive armrest system used by a user and including another alternative shoulder turning mechanism.
[0081] FIG. 32 is a rear perspective view of another exemplary embodiment of an adaptive armrest system including a headrest.
[0082] FIG. 33A is a front perspective view of yet another exemplary embodiment of an adaptive armrest system including a chin rest.
[0083] FIG. 33B is a front perspective view of yet another exemplary embodiment of an adaptive armrest system including a forehead rest.
[0084] FIGS. 34A and 34B are seen in perspective of another exemplary embodiment of an armrest assembly that can be included in an adaptive armrest system including a remote resilient element from the system armrest, showing the raised armrest and lowered. DESCRIPTION OF EXAMPLE MODALITIES
[0085] Turning to the figures, FIG. 1 shows the upper part of the body of a user U working with the right arm Ar extended, which has a weight Wa. In order to keep the Air arm upright, user U must use muscles in the user's B back and S shoulder to neutralize the weight Wa of the arm, resulting in fatigue. The user's S shoulder acts as a spherical joint (not shown), allowing the movement of the Ar arm in several directions, including rotation around the substantially vertical axis Uav and substantially horizontal axis Uah, which intersect approximately at the center of rotation of the S. shoulder
[0086] FIG. 2 shows an exemplary embodiment of an adaptive armrest system 10 that can be used by a user. System 10 generally includes a trunk-mounted headgear, and one or more adaptive armrests (only one shown) attached to the headgear. The adaptive armrest is propelled with a resilient element to transmit a force to a user's arm, for example, to support all or part of the weight of the arm. The force can vary with the position of the arm or be substantially constant throughout its range of motion. The pivot axes Dav and Dah, around which elements of the adaptive armrest can rotate, can intersect. When system 10 is used by user U (for example, as shown in FIGS. 3A-3E), the pivoting axes Dav and Dah can also be located essentially collinear with the shoulder axes of user U Uav and Uah (shown in FIG 1), allowing the elements of the movable armrest to rotate approximately around the center of the user's S shoulder. Optionally, the pivoting axes Dav and Dah can be angled, distorted, or offset, in relation to the axes of the user's shoulder. user U Uav and Uah.
[0087] As shown in FIG. 2, shoulder straps 40 are attached to a backing plate 38 on optional adjustable buckle 42 (not shown). The shoulder support 50 is adjustable to the support plate 38, for example, at point 44. Also joining the support plate 38 is a vertical strut 20, which extends essentially parallel to and generally vertically along the abdomen of the user U when used. The vertical strut 20 can be rigid or flexible, or a combination of both. Chest strap 46 can join vertical strut 20 to adjustable buckle 48 (not shown). The vertical strut 20 ends at the optional pivot rod 22. The pivot rod 22 can rotate within a turning block 24, enabling rotation around the Dap axis. The turning block 24 is attached to an abdomen plate 26, to which a belt 34 is fixedly attached to the optional buckle 36 (not shown). The turning block 24 can itself rotate around the Das axis. A cushion 28 can be attached to the abdomen plate 26. An optional hook 30 can also be attached to the abdomen plate 26. The belt 34 can be worn on or above the H hips of the user U. The vertical strut 20 is shown on the back front of the system 10, but it can also be located at the rear of the system 10 ("backpack" design).
[0088] The shoulder support 50 is attached to the vertical swivel block 54. The vertical swivel block 54 and hinge support 56 cooperate to form the vertical joint 58, which allows the rotation of the hinge support 56 around the axis substantially vertical Dav, as will be explained below.
[0089] The rotation around the vertical joint 58 can be free (that is, with minimal or no resistance to the user's movement), limited (for example, with a predetermined minimum resistance), driven by springs or other energy elements ( not shown) to a standard position, damped (for example, to slow down sudden movement), and / or restricted by a predetermined friction. The turning block 54 can itself rotate around other axes (not shown).
[0090] The hinge support 56 also cooperates with an arm support 62 to form the joint 66, enabling vertical rotation of the arm support 62 about the substantially horizontal axis Dah. Optionally, a damping element (not shown) can be located adjacent to the hinge 66, for example, to limit the rotation speed of the arm support 62. The arm rest 94 is attached to the arm support 62 and provides a frame for the right arm of the user Ar. The armrest 94 can contact the upper arm, elbow, forearm or any combination thereof of the user U and generally applies a force to the arm Ar (or contacted portion of the arm of the Air). The armrest 94 can be one or more of substantially rigid, flexible, padded, can include fluid padding, mesh and / or other suitable construction. An optional strip (not shown) can be provided, for example, to secure the Ar arm in or on the armrest 94.
[0091] The cable anchor 84 is adjustable to the hinged bracket 56 and provides an attachment point 82 for a first end of a cable 70. Cable 70 (and any other cables in this document) may include one or more yarns, chains, cords, ropes, threads, strips, belts, and / or other filaments formed on an elongated flexible member and the term "cable" is used in this document to include any such variations. The cable 70 partially surrounds a pulley 90 and has a second end attached to one end of a resilient element 74 in connector 78. The other end of resilient element 74 is affixed to arm support 62 in assembly 76, which can include one or more features (not shown) to adjust the location of the affixed end of the resilient element 74, for example, to vary the force that the resilient element 74 exerts on the cable 70. The pulley 90 is affixed to the arm support 62 at the point of articulation of the pulley 92, which is displaced from the joint 66 along the length of the arm support 62. In exemplary embodiments, the resilient element 74 can be an extension spring, a gas extension spring, an elastic, linear spring, pressurized cylinder , pneumatic, hydraulic, electric or other extensible device.
[0092] Surfaces are provided to react against the body of the user U. All or a portion of the weight Wa of the right arm Air of the user U is applied to the armrest 94. The force and moment thus applied to the system 10 is neutralized by a combination of one or more of the reaction forces Rs (shoulder), Rb (back), Rw (waist), (hips) and RI (lap). Thus, the weight Wa of the right arm Air of user U can be transferred to various surfaces of the body of user U. User U can adjust shoulder straps 40, chest strap 46, and / or belt 34 to vary the reaction forces . Other surfaces can also react in system 10, including the edge of a table or another surface (Rt), as described elsewhere in this document. This can serve to reduce the load on the back and shoulder muscles normally associated with keeping the arm extended.
[0093] FIG. 3 A shows the system 10 mounted on the upper part of the body of a user U. In this view, user U is holding the right arm Ar extended. As shown in detail A portion of the right arm Ar, for example, the upper arm, rests on the armrest 94, thus providing support for the right arm Ar. The cable 70, attached to the cable anchor 84 at the point display 82 and the resilient element 74 in the connector 78, acts to apply a force to the arm support 62, for example, to raise the arm support 62 upwards, thereby applying a lifting force to the right arm Ar .
[0094] With reference to FIG. 3b (a top view), user U can move the right arm Ar along a substantially horizontal angle A1, causing the swivel bracket 56 and all attached components to rotate around the vertical hinge 58. FIG. 3C depicts user U by moving the right arm Ar along a substantially horizontal angle other than A2 according to the swivel bracket 56 and all attached components rotate around the vertical hinge 58.
[0095] FIG. 3D shows user U raising his right arm Ar upwards, along a substantially vertical angle A3. The armrest 94, pulled up by the cable 70, transmits a lifting force to the right arm Ar. FIG. 3E depicts the Ar arm moving downward along a substantially vertical angle other than A4. The cable 70, attached to the stretched resilient element 74, continues to pull the armrest 94 upwards to apply upward force to the right arm Ar.
[0096] Thus, as shown in FIGS. 3A-3E, system 10 allows a full range of movement of the user's Ar arm, for example, both vertically and horizontally, with the system providing Ar arm support without substantial interference or resistance, particularly when user U moves the arm Substantially horizontally air.
[0097] FIG. 4A shows a side view of the system 10. The weight Wa of the user's Ar arm is applied to the armrest 94, tending to cause the Ar arm and armrest 94 to rotate approximately along the path Pr1. The force Fs of the resilient element 74 is transmitted through the cable 70 to the attachment point 82. FIG. 4B, a schematic of a side view of elements of the system 10 (raised above the horizontal at angle A5), shows several relevant forces. The force Fs1 (the force of the resilient element 74 on the cable 70) acts on the pulley 90, which is pivotally joined to the arm support 62. A length L1 of the cable 70 extends along the distance between the pulley 90 and the attachment point 82. The force Fs1 can be divided into parallel and perpendicular components, Fs1 II and Fsl-1-, respectively. The actuation of Fsl-1- along the center distance x applies a compensating moment M1 on the arm support 62, and consequently on the arm rest 94.
[0098] FIG. 4C depicts the same elements rotated below the horizontal at angle A6. The length of the cable 70, extending along the distance between the pulley 90 and the attachment point 82, increased to L2, causing the resilient element 74 to extend as a consequence. The force Fs2 (the new force on the cable 70 of the resilient element 74) can also be divided into components. The actuation of Fs2 - * - along the center distance x applies a compensating moment M2 to the arm support 62, and consequently to the arm rest 94. The force Fs2 can be greater than the initial force Fs1, for example, due to the additional extension of the resilient element 74, but FS2-1- is now proportionally smaller than it was Fsl-L, thereby reducing the effect of the increased force. This can result in a more uniform force response over the range of motion of the arm support 62. Other forms of force management are described elsewhere in this document.
[0099] FIGS. 5A-5E show a sequence of views from system 10 and user U, demonstrating a feature of system 10, allowing user U to "park" armrest 94, for example, store or secure armrest 94 behind or back. otherwise away from the Ar arm, for example, if the armrest is temporarily not needed and allows free movement of the Ar arm. As shown in FIG. 5A, user U begins to push the armrest 94 back, approximately along the path Pp1. In FIG. 5B, the armrest 94 was pushed further back along the path Pp2, causing rotation around the vertical joint 58 and the horizontal joint 66, and bringing the handle 86 on the arm support 62 closer to a mounted hook 88 on the shoulder support 50. Continuing with FIG. 5C, and especially in detail B, the handle 86 is moved over the hook 88. In FIG. 5D, and especially in detail C, user U moves the arm Ar forward along the path Pp4, which allows the handle 86 to move approximately along the path Pp5, which causes it to interfere with the hook 88 (thereby temporarily attaching it to the shoulder support 50). Finally, FIG. 5E (and especially the detail D), shows user U moving the arm Ar approximately along the path Pp6, leaving the armrest 94 "parked," out of the way, on the shoulder support 50.
[00100] A variant of system 10, employing a different force management apparatus, is shown in FIGS. 6A- 6D. An adaptive armrest system 150 generally includes components similar to system 10 (with similar elements with the same reference number), but employs a double pulley and cable design to manage forces, for example, similar to compound arches used in archery. As shown in FIG. 6A, and especially in detail E, a double path pulley 160 is pivotally joined to the arm support 62 at the joint 162 (in place of the pulley 90 of FIGS. 2-5) at a location offset from the joint 66 along of the arm support 62. The double path pulley 160 may have an integral spring cable pulley 164 and integral flesh cable pulley 168 fixed in relation to each other. The spring cable pulley 164 has a substantially circular shape around the hinge 162, while the meat cable pulley 168 has an asymmetrical shape around the hinge 162, including a lobe 170 that is further from the hinge 162 than the perimeter of the spring cable pulley 164.
[00101] A spring cable 180 has a first end attached to one end of the resilient element 74 at an attachment point 182 (with the other end of the resilient element 74 affixed to the arm support 62, similar to other embodiments in this document), and a second end coupled to the spring cable pulley 164 at the attachment point 184. A meat cable 190 has a first end attached to the meat cable pulley 168 at an attachment point 192, and a second end attached to the anchor of cable 84 at the display point 82.
[00102] In a raised arm position, depicted in FIG. 6A, in which the resilient element 74 is relatively retracted (i.e., in a lower potential energy state), the effective radius of the spring cable pulley 164 and integral flesh cable pulley 168 can be similar, allowing the spring cable 180 (which transmits the force stored in the resilient element 74) has approximately equal influence on the double path pulley 160 as on the meat cable 190. The lobe 170 on the meat cable pulley 168 is not positioned to substantially influence the moments around the joint 162. In FIG. 6B, with the Ar arm in a lowered position (and the resilient element 74 in a state of higher potential energy), the dual path pulley 160 rotated around the joint 162 approximately along the path Pcp1, bringing the lobe 170 into the meat cable pulley 168 in a position that has a greater effective radius and, therefore, a mechanical advantage, for the meat cable 190 to act. The spring cable pulley 164, with a smaller effective radius, does not provide substantially any mechanical advantage for the spring cable 180.
[00103] The forces of FIGS. 6A-6B are shown schematically in FIGS. 6C-6D. In FIG. 6C, associated with FIG. 6A, the force Fc1 1 on the meat cable 190 acts on the double path pulley 160 through the meat cable pulley 168 (with radius R1 1), while the force Fc2 1 on the spring cable 180 acts on the path pulley double 160 through spring cable pulley 164 (with radius R2 1). In the position shown, the two spokes are approximately equal, providing substantially no mechanical advantage for any force. A length L1 of the meat cable 190 extends along the distance between the meat cable pulley 168 and the attachment point 82.
[00104] In FIG. 6D, associated with FIG. 6B, the armrest 62 is rotated downwardly along the angle A8. The length L2 of the meat cable 190 that extends along the distance between the meat cable pulley 168 and the attachment point 82 has increased in relation to the length L1 (FIG. 6C), causing the double path pulley 160 rotate around the joint 162 and bringing the lobe 170 of the meat cable pulley 168 into a position where the effective radius R1 2 is greater than the effective radius R2 2 of the spring cable pulley 164. Although the force Fc2 2 on the spring cable pulley 164 may be greater than the force Fc2 1 (FIG. 6C) due to the deflection (and increase in potential energy) of the resilient element 74, the mechanical advantage of the increased effective radius R1 2 over the radius R2 2 serves to reduce the influence of that greater force and thus manages the force / moment profile applied to the armrest 94.
[00105] The shapes, locations, centers, attachment points and sizes of the meat cable pulley 168 and spring cable pulley 164 can be varied 'to achieve various profiles and strength characteristics. For example, a profile can be created that applies a substantially constant force on the arm, regardless of the vertical position. Another profile can apply greater force to the arm when the arm is in an elevated position, and less force when the arm is in a lower position. A third profile can have one or more positions in which the force is substantially zero.
[00106] Another form of force management is shown in FIGS. 7A-7B, showing another exemplary embodiment of an adaptive armrest system 200. System 200 generally includes components similar to system 10 (with similar elements with the same reference number), but employs a formatted display element 210 affixed to the swivel holder 56 to modify the influence of changes in the strength of resilient element 74. As shown, the shaped display element 210 is substantially fixed relative to swivel holder 56 and has an asymmetrical shape extending upwardly from it . For example, when elevated along a substantially vertical angle A9, cable 216 (attached to the retractable resilient element 74 at connector 218) contacts the formatted display element 210 where the effective radius Rcm1 is relatively large. When the armrest 94 is lowered along a substantially vertical angle A10, the cable 216 contacts the formatted display element 210 where the effective radius Rcm2 is relatively small, giving the increased strength in the cable 216 (due to the extension of the resilient element 74) less mechanical advantage.
[00107] Another form of force management is shown in FIGS. 8A-8B, which show yet another exemplary embodiment of an adaptive armrest system 250. System 250 generally includes components similar to system 10 (with similar elements with the same reference number), but employs a constant force spring 260 to apply force to the user's arm (not shown). The constant force spring 260 is pivotally connected to the arm support 62 at the joint 266 and to the anchor 272 at the attachment point 274 through the spring flap 262 (spring flap 262 is the end of the coil of the constant force spring 260 ). Anchor 272 is adjustable to the hinged support 56. As shown in FIG. 8B, as the armrest 94 is lowered along the angle A12, the spring flap 262 elongates as the constant force spring 260 unfolds. The force applied by the constant force spring 260 is substantially consistent, but, due to geometric conditions, the influence of the force on the armrest 94 varies with the position of the armrest 94.
[00108] Optionally, in any of the modalities in this document, the maximum elevation of the armrest 94 can vary. FIG. 9A shows the system 10 of FIG. 2 with the armrest 94 fully raised. An abrupt stop flap 310 is provided on the cable anchor 84 which contacts a corresponding stop flap 320 on the arm support 62, preventing further counterclockwise (CCW) rotation (or increased vertical angle of the arm support 62) in articulation around 66. The lifting axis Aa1 is separated from the horizontal axis by the inclusive angle A13, defining the maximum angle that the arm support 62 can be raised before the stop flaps 310, 320 come into contact with each other. In FIG. 9B, the location of the stop flap 310 can be changed, and the cable anchor 84 has been rotated CCW additionally, with the elevation axis Aa2 separated from the horizontal axis by the inclusive angle A14, providing the user's Ar armrest at a wider angle inclined than in FIG. 9A.
[00109] FIGS. 10A-10B show the system 10 of FIG. 2 with the function of an optional pivot rod 22 illustrated, for example, allowing an upper portion of the system harness 10 to rotate in relation to a lower portion (for example, attached around or to the user's waist or hips), at the same time time when it transfers vertical forces between the upper and lower portions. The pivot rod 22 can rotate within the turning block 24, enabling rotation around the Dap axis, which is consistent with the user rotating their upper body from the waist. The turning block 24 is affixed to the abdomen plate 26, to which a belt 34 is fixedly attached to the optional buckle 36 (not shown). A cushion 28 can be attached to the abdomen plate 26. An optional hook 30 can also be attached to the abdomen plate 26. As shown in FIG. 10A, the abdomen plate 26 can be rotated about the axis Dap through the angle A15 with respect to a frontal axis Adf (substantially parallel to the support plate 38), approximately along the path Pp1. In addition, the turning block 24 can rotate about the axis Das approximately along the path Ps1. In FIG. 10B, the abdomen plate 26 is rotated about the Dap axis through the angle A16 with respect to a frontal axis Adf (substantially parallel to the support plate 38), approximately along the path Pp2. In addition, the turning block 24 can rotate about the Das axis approximately along the Ps2 path. The system 10 can include more than one joint such arranged in series or in parallel.
[00110] FIGS. 11A-11B show another exemplary modality of an adaptive armrest system 350 including components similar to system 10 (with similar elements with the same reference number), but employing a flexible post 360 to join the vertical strut 20 to the abdomen plate 26. The flexible pole 360 can flex in multiple directions, or it can be pushed to flex in only one direction. As shown in FIG. 11A, the axis Dab1, concentric with the upper portion 364 of the flexible pole 360, is inclined in relation to the axis Dap through the angle AT7 (consistent with the user lowering himself at the height of the waist). As shown in FIG. 11B, the axis Dab2, concentric with the upper portion 364 of the flexible pole 360, is additionally inclined in relation to the axis Dap through the angle A1 (consistent with the user additionally lowering himself at the height of the waist). The flexible post 360 can also rotate within the turning block 24, around the Dap axis, while transferring forces between the upper and lower portions of the headgear.
[00111] A variant of system 10, employing a different force management apparatus, is shown in FIGS. 12A-12B. The adaptive arm support system 400 generally includes components similar to system 10 (with similar elements with the same reference numbers), but employs a gas extension spring 415 in place of the resilient element 74. The gas extension spring 415 , which includes body 420 and rod 425, can be attached to the arm support 62 in assembly 76 and to the cable 180 at the attachment point 182. As shown in FIG. 12B, the gas extension spring 415 extends as the armrest 94 is lowered, with the stem 425 extending in relation to the body 420 as a consequence. The gas extension spring 415 can provide the desired damping forces to limit the rotation speed of the arm support 62.
[00112] Turning now to FIGS. 13A and 13B, another exemplary embodiment of an adaptive armrest system 500 is shown that is used by a U user. Generally, the armrest 500 includes one or two armrest sets 505 (two shown) and a harness set 510, which together serve to support the user's arm (s) in an adaptive manner, similar to other modalities in this document.
[00113] Harness set 510 includes features that create one or more substantially vertical shoulder joints 552, approximately concentric to the user's S shoulder, similar to those described elsewhere in this document and in orders identified elsewhere in this document. The vertical shoulder joints 552 are further defined by the axes Davi and Davr, around which they rotate. The armrest assembly 505, which rotates at the horizontal shoulder joint 584 around the Dahl axis (Dahl also being approximately concentric to the S shoulder and may or may not be perpendicular to the Davi axis), is propelled to provide a lifting force on the left arm A1, thereby neutralizing all or a portion of the weight of the arm. The arm assembly 505 is attached to the headgear assembly 510 and thus transmits the load from the arm A1 to other reaction points on the user's body U, for example, the shoulder S, waist W, hips H and back B (for example, example, as represented by the forces shown in FIG. 18).
[00114] The joints 552 and 584 provide a way to transmit loads and / or moments from each arm assembly 505 to the harness assembly 510 through movable (adaptive) joints, which allow the arm assembly 505 to follow the movement of the user's U arm (for example, with minimal resistance to such movement), while supporting all or a portion of the arm's weight. The joints 552 and 584 are located approximately above and next to the user's shoulder, keeping free the space normally associated with working with the arms open, raised, extended and / or forward (that is, the chest, waist, neck area , inside and under the arms).
[00115] Optional covers (not shown) can protect the adaptive armrest system 500 and / or user U. For example, covers can protect components of the adaptive armrest system 500 and / or user U from weather conditions , contamination, electricity, heat, pinch points and the like.
[00116] Turning now to FIGS. 14A and 14B, the adaptive armrest system 500 is shown without the user U to facilitate the identification of the components of the system 500. For example, the shoulder pad 520, which can be placed on the user's shoulders (not shown) , is affixed to the rear cushion 524, and vertical straps 528 can attach the shoulder cushion 520 to the chest buckle 530 and the hip or waist belt 538 to the optionally adjustable buckle 534, for example, by one or more stitching, gluing with adhesive and the like. The shoulder pad 520 and back pad 524 can be substantially rigid or flexible, as desired, can be padded to increase comfort, can include mesh or other material, for example, to allow the pads to breathe and / or reduce overheating, and the like.
[00117] The chest strap 526 joins the shoulder pad 520 and includes a chest strap closure 532 that reversibly attaches the ends of the chest strap 526, while the belt buckle 540 reversibly attaches the ends of the belt 538. The closures 532, 540 may include any closing mechanisms that allow strip 526 and belt 538 to be opened, for example, to allow the system 500 to be used or removed by the user, and closed to substantially secure the system 500 to the user, such as such as buckles, brackets, latches, velcro, click fasteners, and the like.
[00118] The 538 belt can be flexible, rigid, rigid on one axis only, rigid on more than one axis, rigid in torsion, articulated, with joint, adjustable, spring loaded, padded and / or ventilated. The 538 belt can also be formed from a variety of materials, such as metal, polymer, elastomer, belt, stitched fabric, foam, mesh, or a combination thereof.
[00119] Optionally, other configurations for the harness set 510 can be provided to contact the user using the 510 system, which may include one or more of a lap pad, lap plate, thigh straps, support belt of the lumbar spine, slings under the arms, head rest, chin rest, forehead rest and the like (not shown), for example, as described elsewhere in this document.
[00120] Tools or other accessories (not shown) can be attached to points on the adaptive armrest system 500, as desired for a particular application. For example, hand tools, supplies, tool holders, bags, hooks, lamps, hydration devices, communication devices, tweezers, a folding stand, a folding table and / or other devices (not shown) can be affixed to desired locations of the adaptive arm support system 500, such as on the belt 538, on the shoulder, thoracic or vertical straps 520, 526, 528, and / or elsewhere on the harness assembly 510.
[00121] As best seen in FIG. 14A, a pair of abdomen tubes 542 is affixed to the belt 538 in the belt tube clamp 544, for example, at the front of the belt 538 and extends to the rear of the headgear assembly 510. At the back of the assembly of harness 510, each abdomen tube 542 can be attached to a lower tube socket 626, which can act as a vertical axis joint, as best seen in FIG. 14B. The lower pipe fitting 626, in turn, can be attached to a transverse clamp 620 that extends between the opposite lower pipe inserts 626. A pair of frame strips 624 are affixed at their lower ends to the transverse clamp 620 and in their upper ends to the shoulder support tubes 546, which, in turn, are affixed to the upper tube fittings 628, each of which can also act as a vertical axis joint.
[00122] Each of the abdomen tubes 542, shoulder support tubes 546, and / or frame strips 624 can be substantially rigid, semi-rigid, flexible or selectively rigid, as desired, and can be formed from material solid rod or hollow tubing, for example, having a substantially uniform or variable outer shape, such as a circular, square, U-shaped, I-shaped, T-shaped or other non-circular cross-section. Abdomen tubes 542, shoulder support tubes 546, and / or frame strips 624 can be formed from a variety of materials, such as metal, polymer, elastomer or a combination of them, for example, so that the components together are sufficiently rigid to provide support and / or translation of force and / or momentum through the harness assembly 510 during use of the 500 system, as described elsewhere in this document.
[00123] With continued reference to FIG. 14B, the rear ends of the shoulder pads 520 are affixed to the rear cushion 524, and the rear ends of the chest straps 526 are affixed to the rear cushion 524, next to the cross brace 620. Each shoulder support tube 546 is coupled to and supports one shoulder joint assembly 548, which in turn is coupled to and supports a shoulder joint lock 550. Each shoulder joint lock 550 cooperates with a support bar 554 to form a vertical shoulder joint 552, a which revolves around, and is further defined by, the axis Davr (for the right armrest assembly 505) and David (for the left armrest assembly 505).
[00124] Each set of shoulder support tube 546, upper tube fitting 628, frame strip 624, transverse clamp 620, lower tube fitting 626 and abdomen tube 542 together provide a selectively rigid frame. For example, the resulting harness 510 can be substantially rigid in a vertical direction, for example, to transmit forces, while providing flexibility in other directions, for example, to allow horizontal rotation if user U turns at waist level , to allow the user to bend forward at the waist, and / or to accommodate another movement of the user U with minimal resistance. Optional vertical joints (in the upper pipe fitting 628 and lower pipe fitting 626) can serve to transmit loads (forces and moments) from the respective armrest assembly 505, through the harness assembly 510, to various reaction points on the user's body (for example, as further described with reference to FIG. 18), or on other structures (for example, as further described with reference to FIGS. 20-24).
[00125] With reference to the right armrest assembly 505 (with the recognition that the left armrest assembly 505 operates similarly, if provided), the support bar 554 is free to rotate about an axis Davr (due to the vertical shoulder joint 552) and is fixedly mounted on the right armrest assembly 505. Thus, the support bar 554 allows the armrest assembly 505 to rotate freely around a Davr axis in response to movement from side to side of the user's arm. Optionally, the armrest assembly 505 can be removable from the support bar 554, instead of being permanently attached to the support bar 554. For example, the support bar 554 and / or armrest assembly 505 can include a or more connectors (not shown) to securely and reversibly attach the armrest assembly 505 to the support bar 554.
[00126] Turning now to FIGS. 14C and 14D, details of an exemplary embodiment of an armrest assembly 505 for the adaptive armrest system 500 of FIGS. 14A and 14B can be seen, with the armrest assembly 505 substantially raised (consistent with the user's arm raised). As shown, a chassis 580 of the armrest assembly 505 can rotate around the horizontal shoulder joint 584 (defined by the Dahr axis, not shown, see FIG. 14B) in response to movements of raising and lowering the user's arm. The cable anchor 558 is substantially fixed in relation to the support bar 554 and provides a cable anchor point 562, to which the anchor cable 560 is attached. The cable anchor 558 can be rotationally adjustable in relation to the support bar 554 to allow the user to change the range of use of the arm support assembly 505. The cable anchor 558 can also be releasable from the support bar 554, for example. example, to allow the armrest assembly 505 to rotate freely around the horizontal shoulder joint 584, for example, to take the armrest assembly out of service. The anchor cable 560 wraps a primary pulley 564 in one cable groove (not shown) and is attached to primary pulley 564 at attachment point 561. Primary pulley 564 rotates around pulley joint 572 on chassis 580. A secondary pulley 570 is rigidly attached to primary pulley 564, so that the secondary pulley 570 rotates in conjunction with the primary pulley 564 around the pulley joint 572.
[00127] A resilient element cable 634 is attached to the secondary pulley 570 at the attachment point 573, is located within a portion of the cable groove 652 (not shown, see, for example, FIG. 16A), surrounds a pulley option 630, and is affixed to a first end of a resilient element 636 by means of a cable display 640. The inverted pulley 630 rotates around the inverted pulley hinge 632 on the chassis 580. The resilient element hook 638 on the chassis 580 is coupled to a second end of the resilient element 636, substantially thereby securing the second end in relation to the chassis 580. The chassis 580 provides a stable mounting platform for the pulleys and resilient element, as well as the armrest 600 The armrest 600 provides a frame for the user's arm. In exemplary embodiments, the resilient element 636 can be a spring, for example, an extension spring, band, strip, gas spring and the like, and can be formed from a variety of materials, such as metal, elastomer and the like .
[00128] As shown in FIG. 14C, with the armrest assembly 505 in an elevated position (above the horizontal), the anchor cable 560 extends around a substantial portion of the cable groove of the primary pulley 564 (for example, greater than half of the circumference of the primary pulley 564) and the cable of the resilient member 634 extends around a relatively small portion of the cable groove 652 of the secondary pulley 570 (for example, less than half the circumference of the secondary pulley 570). In that position, the resilient element 636 may be in a substantially retracted position, for example, a lower potential energy state, in which it will exert low to moderate force on the cable of the resilient element 634 and thus on the secondary pulley 570.
[00129] Secondary pulley 570 may have several radii around its circumference, thereby defining a non-circular cable groove 652 (as best seen in FIG. 16B) in order to provide selective mechanical advantage / disadvantage to the resilient element 636 during use, as desired for lifting force management and described elsewhere in this document. In exemplary embodiments, instead of the format shown in FIG. 16B, secondary pulley 570 can be substantially circular with an eccentric bore (see, for example, FIGS. 17A-17B), it can be elliptical, it can have curved sections, it can have straight sections, it can have concave sections, it can be symmetrical , can be asymmetric, and similar (not shown), for example, customized to a user's needs based on the user's expected range of movement and / or activities, as described elsewhere in this document.
[00130] Turning to FIG. 14D, the system 500 of FIG. 14C is shown with the armrest assembly 505 substantially lowered (consistent with the user's arm lowered). As shown, the armrest assembly 505 was rotated around the horizontal shoulder joint 584, approximately along the path Pr10 in response to the movement of the user's arm. During this movement, the secondary pulley 570 and primary pulley 564 rotated together around the pulley joint 572, approximately along the path Pr11. Consequently, the anchor cable 560 is largely unwound from the primary pulley 564 (so that the anchor cable 560 extends around less than the cable groove of the primary pulley 564, for example, less than half the circumference of the primary pulley 564 ) and the resilient element cable 634 in is now largely wrapped around the secondary pulley 570 (so that the resilient element cable 6344 extends around more of the cable groove 652 of the secondary pulley 570, for example, more than half the circumference of the secondary pulley 570). In response, the resilient element 636 is shown in a substantially extended or tensioned position (for example, a higher potential energy state).
[00131] Although the resilient element 636 is extended, and is therefore exerting more force on the resilient element cable 634, its influence (its ability to apply increasing lifting force to the user's arm) is moderated by the shape of the pulley secondary 570, which has different radii over which the resilient element cable 634 can apply moments (as discussed further below).
[00132] For example, as shown in FIGS. 16A and 16B, the secondary pulley 570 may have a cable groove 652 in which the resilient element cable 634 (not shown) is restricted. The resilient element cable 634 can be attached to the secondary pulley 570 at the cable fixing point 573. The pulley rotation hole 654 provides an articulation for the secondary pulley 570, that is, which is rotatably coupled to the pulley joint 572 with primary pulley 564.
[00133] As best seen in the cross section of FIG. 16B, the distance from the rotation hole of the pulley 654 to the cable groove 652 varies as necessary to manage the lifting forces on the user's arm as the spring force applied by the resilient element 636 increases (or decreases) through displacement. For example, the radius R25 differs from the radius R20. A tangential force (provided, for example, by a resilient element cable, not shown), acting on any given radius, will have more (or less) influence based on the length of the radius. Influence zones can be created to achieve a desired result.
[00134] For example, in the exemplary mode shown, the zone of influence Z10 can include a radius (for example, R21 at one end of the zone equal to R20 at the other end of the zone), while the zone of influence Z11 can include rays constantly variables (for example, with R23 at one end of the zone smaller than R22 at the other end of the zone). In the zone of influence Z12, the radii are varied to create an essentially straight section of cable groove 652. Other relations are contemplated, which can be customized to provide desired moments and / or resulting supporting forces.
[00135] The length and angular ratio of the spokes can be varied to produce a desired lifting force on the user's arm. For example, secondary pulley 570 can be configured to provide a short zone Z11 and a longer zone Z12, consistent with tasks that require maximum elevation at a specific elevation of the user's arm, but little elevation at other elevations (for example, pointing a camera). For tasks that require a longer maximum lift area (for example, product assembly), Z11 can be larger.
[00136] Turning to FIG. 16C, an exemplary plot of arm weight moment, lifting moment and resulting moment for secondary pulley 570 is shown. The moments can act around the horizontal shoulder joint 584 (for example, additionally defined by the Dahl or Dahr axis) of the armrest assembly 505 including the secondary pulley 570. The weight of the Wa arm of the user's arm provides a negative moment AWM around hinge 584, acting to rotate armrest assembly 505 downward. The AWM negative moment depends on the theta entry angle, the relative angle of the main axis of the armrest assembly 505 with respect to a horizontal axis. The armrest assembly 505, which acts via the system of springs, cables and pulleys described above, provides a positive moment (lift) AASM around the horizontal shoulder joint 584, which acts to rotate the armrest assembly 505 up. The AASM positive moment depends on the theta entry angle, the relative angle of the main axis of the armrest assembly 505 to the horizontal. The resulting RM moment is the sum of AWM and AASM.
[00137] As discussed with reference to FIG. 16B, zones of variable or consistent influence can be created by varying the length and angular relationship of the radii of the secondary pulley 570. As shown, the zone of influence Z11 can provide a relatively consistent lifting force (as shown by the relatively straight part of the RM labeled "Z11" in FIG. 16C). The zone of influence Z12 can be associated with variable lifting force, as shown by the relatively curved shape of the RM labeled "Z12" in FIG. 16C. Thus, the lifting force on the user's arm can be shaped as needed or desired.
[00138] Turning now to FIGS. 17A and 17B, an alternative embodiment of a secondary pulley 660 is shown which includes a substantially symmetrical (e.g. circular) shape including a cable groove 662 in which a resilient element cable 634 (not shown, see, for example, FIGS 14C-14D) can be received. The resilient member cable 634 can be attached to the secondary pulley 660 at the cable attachment point 666, similarly to the previous embodiment. The rotation hole of the pulley 664 provides an articulation for the secondary pulley 660, i.e., that can be swiveled coupled to the pulley joint 572 with the primary pulley 564 of FIGS. 14C-14D (so that the circular pulleys are displaced radially from each other).
[00139] As can be seen in FIG. 17B, the distance from the rotation hole of the pulley 664 to the cable groove 662 may vary as desired to manage the lifting force on an arm (supported by an armrest assembly including the secondary pulley 660), even when the spring force of a resilient member of the armrest assembly increases through displacement. For example, radius R28 differs from radius R29. A tangential force (provided, for example, by a resilient element cable, not shown), acting on any given radius, will have more (or less) influence based on the length of the radius. The length and angular ratio of the spokes can be varied to produce a desired lifting force on the user's arm.
[00140] Turning to FIG. 17C, an exemplary plot of arm weight moment, lifting moment and resultant moment for secondary pulley 660 is shown. The moments can act around the horizontal shoulder joint 584 (further defined by the Dahl or Dahr axis, as shown in FIGS. 14A and 14B) of the armrest assembly 505 including the secondary pulley 660. The weight of the arm Wa provides a negative moment AWM around the horizontal shoulder joint 584, acting to rotate the armrest assembly 505 downwards. The AWM negative moment depends on the theta entry angle, the relative angle of the main axis of the armrest assembly 505 to the horizontal. The armrest assembly 505rque ~ acts through the spring system; cables and pulleys described above, provides an AASM positive moment (lift) around the horizontal shoulder joint 584, which acts to rotate the armrest assembly 505 upwards. The AASM positive moment depends on the theta entry angle, the relative angle of the main axis of the armrest assembly 505 to the horizontal. The resulting RM moment is the sum of AWM and AASM. As discussed with reference to FIG, 17B, different radii (for example, R28 and R29) at secondary pulley 660 can provide different amounts of lifting force at different entry angles, creating a lifting force profile that differs from that of the secondary pulley 570 (discussed with reference to FIGS. 17A-C). Thus, the lifting force on the user's arm can be shaped as desired. It will be appreciated that countless other shapes and / or sizes of pulley are contemplated. Optionally, any primary pulley and / or secondary pulley can be swiveled in relation to one another, as desired by the user, for example, to change the characteristics of the lifting force profile provided by the armrest assembly 505.
[00141] Turning to FIG. 18, an exemplary arrangement of forces acting on the adaptive armrest system 500 of FIGS. 14A and 14B is shown. The arm weight Wa acting on the armrest 600, which transmits forces and moments to the adaptive armrest system 500 that must be resisted by portions of the user's body U to maintain static balance. For example, the user's H hip can provide a Rh hip reaction force, which acts to resist the weight Wa. Similarly, other portions of the body may provide such reaction forces, such as the reaction force of the shoulder Rs, the reaction force of the back Rb, the reaction force of the waist Rw, and / or the reaction force of the neck RI. Thus, the weight of the Wa arm can be distributed by the adaptive arm support system 500 to other parts of the body, relieving the user's back and shoulder muscles, which are normally employed to keep the arms extended or raised. In addition, the weight of the arm Wa can be transmitted through the adaptive armrest system 500 to an external structure, such as a table or rail (not shown), which can provide one or more reaction forces of the table Rt, as described elsewhere in this document.
[00142] Turning now to FIGS. 19A and 19B exemplary views of the adaptive armrest system 500 of FIGS. 14A and 14B are shown. As shown, one of the armrest assemblies 505 (for a user's left arm, not shown) can be rotated around the Davi axis, as shown by the arc Pr12 and approximately along the rotation path Pr13. Taking into account the support of the armrest assembly 505 and the minimum resistance to rotation provided by the shoulder support closure 550, such rotation can be accommodated without the need for additional energy from the user.
[00143] Turning now to FIGS. 19C-19E, additional views of the adaptive armrest system 500 of FIGS. 14A and 14B are shown, in which both armrest assemblies 505 have been separated from headgear assembly 510 (with only one armrest assembly 505 still shown in FIG. 19Ç to facilitate observation of other components of system 500) . The headgear assembly 510 may include one or more substantially vertical joints in addition to the vertical shoulder joint (s) 552. These additional vertical joints serve to increase comfort and flexibility, as well as the breadth of the headgear assembly 510. For example, the tubing shoulder support tube (s) 546 can (s) rotate around the shoulder tube joint (s) 629 in the upper tube fitting (s) (s) 628 around the FPasl shoulder tube axis and FPasr shoulder tube axis. Similarly, the abdomen tube (s) 542 can rotate around the abdomen tube joint 627 in lower tube fitting (s) 626 around the FPaal abdomen tube axis and FPaar abdomen tube axis. These additional joints can serve to increase the flexibility of the headgear assembly 510, while still translating the desired forces, as further described below.
[00144] For example, the abdomen tube joint 627 can facilitate the placement and / or removal of the adaptive armrest system 500. As shown in FIG. 19D, belt 538 can be opened at belt buckle 540, approximately along the belt opening path Pbol. To allow the belt 538 to fully open, the abdomen tube (s) 542, which can be substantially rigid, and / or attached to the belt 538 by the clamp (s) ( s) of belt tube 544, can (m) rotate about the abdomen tube axis FPaal and abdomen tube axis FPaar, approximately along the abdomen tube articulation path Pp11 and abdomen tube articulation path Pp12, respectively. This action can allow the belt 538 to open sufficiently for the user to put on the adaptive armrest system 500, for example, opening the system 500 in a similar way to a jacket, sliding his arms through the spaces below the seat cushions. shoulder 520 and then over the user's head and shoulders (not shown).
[00145] Furthermore, as shown in FIG. 19E, a shoulder support tube 546 (in this case, the right shoulder support tube 546) can be rotated back around the FPasr shoulder tube axis (not shown, see, for example, FIG. 19D), at shoulder tube articulation 629 in the upper tube fitting 628, approximately along the shoulder tube articulation path Pp14, thus providing the harness set 510 with greater flexibility in the shoulder, which can increase the comfort and mobility of the user.
[00146] Turning now to FIGS. 20A-20D, it may be advantageous to use the adaptive armrest system 500 to transfer all or a portion of the weight of the user's arms and / or upper body to another structure (for example, to a table, not shown) for reduce reaction loads on the user's body (for example, as discussed with reference to FIG. 18). For example, system 500 may include a load transfer bracket 702, for example, affixed to various points on the harness assembly 510, which can be adapted to mount various load transfer accessories in system 500, as further described below .
[00147] As shown in FIGS. 20A and 20C, the load transfer bracket 702 can be coupled to one or more of the belt 538, abdomen tube 542, belt clip and tube 544, and / or another portion of the harness assembly 510 suitable for transmitting load. The load transfer bracket 702 can include a load transfer bracket 704, around which the load transfer bracket 702 can rotate, for example, between an open position (shown in FIGS. 20A and 20B) and a closed position (shown in FIGS. 20C and 20D). The load transfer bracket 702 may include a load transfer tab 706 to allow the attachment of various load transfer accessories, such as those described further below. The load transfer strip 712, which includes the load transfer strip hinge 714 (around which it can rotate), can be attached to another portion of the headgear assembly 510, for example, generally opposite the load support. load transfer 702.
[00148] As best seen in FIG. 20B, the load transfer bracket 702 and load transfer strip 712 are separated, that is, in the open position, to allow the adaptive armrest system 500 to be placed or removed, as described elsewhere in this document. A load transfer support closure 710 allows the load transfer support 702 and the load transfer strip 712 to be substantially rigidly joined, for example, as best seen in FIG. 20D. For example, after placing the system 500, the load transfer bracket 702 can be rotated around the load transfer bracket 704, and then the load transfer strip 712 can be rotated around the strip hinge load transfer bracket 714. The load transfer bracket 710 can then be engaged to join the load transfer bracket 702 and load the transfer strip 712 together.
[00149] Once joined, the load transfer bracket 702 and the load transfer strip 712 can provide a substantially rigid structure coupled to the harness assembly 510, to which various load transfer accessories can be attached. In exemplary embodiments, the load transfer support clasp 710 can be a buckle, latch, velcro, clasp, rigid, flexible, padded and the like (not shown). The load transfer support lock 710 can be flexible, rigid, rigid on one axis only, rigid on more than one axis, rigid in torsion, articulated, with joint, adjustable, spring loaded, padded, ventilated and the like. The load transfer support closure 710 can be formed from a variety of materials, such as metal, polymer, elastomer, other materials, or a combination thereof.
[00150] Turning now to FIGS. 21A-21C, the adaptive armrest system 500 is shown with loads being transferred from the system 500 to a table T1 through a display, that is, a table hook 720 attached to the load transfer holder 702, for example, in order to reduce (or eliminate) reaction loads on the user's body (for example, the reaction loads described elsewhere in this document with reference to FIG. 18).
[00151] As shown, user U can transfer part or all of the weight of the adaptive armrest system 500, from user U's arms and / or any tools or other objects held by the user to an appropriate external structure, such as the T1 table. The user can approach and lean against the T1 table to transfer loads of weight (s). Table hook 720, attached to the harness assembly 510 via load transfer bracket 702, can be directed by user U to engage an appropriate edge of table T1, for example, to allow the transfer of forces from the load support system adaptive arm 500 for table T1.
[00152] As best seen in FIGS. 21B and 21C, the table hook 720, attached to the load transfer tab 706 of the load transfer bracket 702, engages on the edge of the table T1, allowing user U to rest the adaptive armrest system 500 on the edge from the T1 table, thereby relieving the reaction loads on the user's body (again described elsewhere in this document with reference to FIG. 18). In the embodiment best seen in FIG. 21C, the table hook includes a table hook tab 724, an optional table hook guide 726 and a table hook tail 728. The table hook tab 724 can provide a structure that can transmit a vertical force ( downward) (the weight of the adaptive arm support system 500, the user's U arms, and / or any tools or other objects held by the U user) transferred from the harness set 510 to the T1 table, which is balanced by ( for example) a vertical table reaction force Rtvl, as shown in FIG. 21C.
[00153] The optional table hook guide 726 can be tapered or otherwise shaped to facilitate engagement with table T1, for example, to slide along the edge of table T1 until table hook tab 724 touch the T1 table. The table hook tail 728 can provide a structure that can transmit a horizontal force (from side to side) transferred from the headgear assembly 510 to the table T1, which can be balanced by a horizontal reaction force from the table Rth, also shown in FIG. 21C. Optionally, table hook 720 can be adjustable with respect to load transfer tab 706 of load transfer bracket 702, for example, using an adjustment lever of 730 to adjust a length of table hook 720 (i.e., adjust the distance between the load transfer tab 706 and the table hook tab 724) to optimize the engagement of table hook 720 with table T1 for a given user U. Additionally or alternatively, other adjustment mechanisms can be provided , such as clips, racks, velcro, screws and the like (not shown).
[00154] Table hook 720 can be substantially rigid to transfer all forces from the harness assembly 510 to table T1, it can be semi-rigid, flexible, and / or it can be articulated, spring loaded, - cushioned, compressible, foldable, flexible only on one axis, or flexible on two or more axes, and the like. Table hook 720 can also be formed from a variety of materials, such as metal, polymer, elastomer, or a combination thereof. Optionally, table hook 720 may include additional features for contacting table T1 in addition to or instead of table hook flap 724, such as one or more pads, chocks, rollers, wheels, balls, pins, clamps, velcro, magnets, vacuum elements, and the like (not shown).
[00155] Turning now to FIGS. 21D and 21E, another example of a display accessory, called table clamp 734, is shown that can be coupled to the adaptive armrest system 500 (or any other modality in this document) to transfer loads to a T1 table or other structure . As shown, table clamp 734 is attached to the load transfer tab 706 of the load transfer bracket 702, for example, with the adjustment lever 730. Table clamp 734 can engage with the edge of table T1, allowing that user U rests the adaptive armrest system 500 on the edge of the T1 table. Table clamp 734 can also allow user U to lean forward (not shown), applying a moment to table T1 until a reaction moment on table clamp 734, transmitted by table T1, resists movement. Thus, the weight of the user's upper body can be supported in static balance as user U leans over the table T1.
[00156] Turning to FIG. 21E, exemplary forces are shown that can be transferred between the adaptive armrest system 500 and the table T1 by table clamp 734. As shown, table clamp 734 includes an upper tab of table clamp 736 that engages with the top of table T1. The table top clamp flap 736 provides a structure that transmits a vertical (downward) force transferred from the headgear assembly 510 to the table T1, which is balanced by (for example) a vertical reaction force from the table Rtvl. Table clamp 734 also includes a lower table clamp flap 742 that engages the bottom of table T1 and provides a structure that can transmit a vertical (upward) force transferred from headgear assembly 510 to table T1, a which can be balanced by a vertical reaction force from the Rtv2 table. Table clamp 734 also includes a table clamp rear 740 that provides a structure, which can transmit a horizontal force (from side to side) transferred from the headgear assembly 510 to table T1, and which can be balanced by a horizontal reaction force from the Rth table.
[00157] Optionally, table clamp 736 may include an upper table clamp guide 738 and / or a lower table clamp guide 744, which can facilitate engagement of table clamp 734 with table T1. Together, the vertical reaction force of the Rtvl table and the vertical reaction force of the Rtv2 table can provide a reactive moment on the harness assembly 510, resisting the moment transmitted to the T1 table, for example, caused by the user U leaning forward .
[00158] The table clamp 734 can be adjustable in relation to the load transfer tab 706 of the load transfer bracket 702, for example, using an adjustment lever 730, to optimize the engagement of the table clamp 734 with the T1 table for a given U user, similar to other modalities in this document. In addition or alternatively, other adjustment mechanisms can be provided, for example clips, racks, velcro, screws and the like (not shown).
[00159] Table clamp 734 can be substantially rigid, flexible, articulated, spring loaded, cushioned, compressible, foldable, flexible only on one axis, and / or flexible on two or more axes, similar to other modalities in this document. Table clamp 734 may be formed from a variety of materials, such as metal, • polymer, elastomer, or a combination thereof, and / or may include additional features to contact table T1, such as one or more cushions, chocks, rollers, wheels, balls, pins, clamps, velcro, magnets, vacuum, etc. (not shown), also similar to other_modalities_.in this document.
[00160] Turning now to FIGS. 22A and 22B, another exemplary modality of a display accessory, called a table clamp 754, is shown that can be coupled to the adaptive arm support system 500 (or any other modality in this document) to transfer loads to a specialized table T2 . As shown, the specialized table T2 can have a track 748, for example, extending along one edge of the table T2 over a predetermined distance, for example, along the entire edge or along a corresponding length to a workstation (not shown). Rail 748 can be mounted to table T2 by one or more rail assembly (s) 749 (shown in FIG. 22B). Additionally or alternatively, rail 748 can be attached to table T2 directly, or through a cloth or cover (not shown).
[00161] To accommodate the attachment of the load clamp 754, a load clamp 750 is affixed to the load transfer flap 706 of the load transfer bracket 702. The load clamp 754 can be attached in an adjustable manner to the load clamp 750 using one or more conventional connectors, such as a slide, dovetail assembly, and the like. The load clamp 754 can be adjusted up or down in relation to the load clamp 750 to optimize the engagement of the load clamp 754 with the table T2 for a given user U. As best seen in FIG. 22, the load clamp 754 includes a front flap of load clamp 756, the rear flap of load clamp 758, and the top clamp of load clamp 749, which are configured to at least partially wrap or engage. to track 748 otherwise to provide structure to withstand vertical forces, horizontal forces and / or moments (similar to the display mechanisms described elsewhere in this document, for example, with reference to FIGS. 21D-E).
[00162] In certain applications, the user U and / or the adaptive armrest 500 may be contained in protective clothing, such as a sterile surgical gown or other G clothing, as shown partially in FIGS. 22B and 22D. In one embodiment, a portion of the display accessory (for example, the loading clip 754 shown in FIG. 22) may be outside the protective clothing, for example, within the sterile or other protected field, and another portion (for example, For example, the load clamp 750 to which the load clamp 754 is attached, as shown in FIG. 22) can be under the protective suit, and the attachment accessory can connect to it through the protective suit. In another embodiment, the display accessory may be under the protective clothing, for example, outside the sterile field or another protected field (for example, the rail hook 746 shown in FIG. 22D and further described below).
[00163] Protective clothing may include special features, for example, to protect clothing from abrasion on the 748 rail (for example, a protective adhesive, not shown), and / or to facilitate the connection of the load clamp 754 to the clamp. load 750 through the protective clothing (for example, a molded clip, also not shown).
[00164] As shown in FIG. 22B, the garment G can be clamped between the load clamp 750 and the load clamp 754. In this way, forces can be transmitted from the headgear assembly 510 through the garment G to the rail 748. An advantage of the load clamp 754 being out of garment G is that the load clamp 754 can include features to interface with rail 748 that are incompatible to be covered by a garment (such as rollers, clips, latches, shims, and the like (not shown) ).
[00165] Optionally, the garment G can have a molded, extruded, or otherwise formed interface (not shown), which can facilitate and / or optimize the attachment of the load clamp 754. In an alternative modality, the clamp of load 754 can be pre-affixed to or otherwise incorporated into garment G.
[00166] Turning now to FIGS. 22C and 22D, yet another exemplary form of a display accessory, called a 746 rail hook, is shown that can be coupled to the adaptive armrest system 500 (or any other modality in this document) to transfer loads to a specialized table T2. Similar to table hook 720 shown in FIG. 21C, the rail hook 746 provides a structure that can transmit a vertical (downward) force (the weight of the adaptive armrest system 500, the user's U arms, and / or any tools or other objects held by the user U ) transferred from the harness assembly 510 through a rail hook flap 766 to the table T2, and / or transmit a horizontal force (side by side) transferred from the harness assembly 510 through a rail hook tail 769 to the T2 table. Optionally, as best seen in FIG. 22D, the rail hook 746 can include a rail tab guide 747 on the rail hook tab 766, which can facilitate hooking the rail hook 746 to the rail 748. Additionally or alternatively, the rail hook 746 can be adjustable in relation to the load transfer tab 706 of the load transfer bracket 702, for example, using a 730 adjustment lever or other mechanism (not shown), to optimize the engagement of the rail hook 746 with the table T2 for a given user U, similar to other modalities in this document. In addition or alternatively, other adjustment mechanisms may be provided, for example, clips, racks, velcro, screws, and the like (not shown).
[00167] The rail hook 746 can be substantially rigid, flexible, articulated, spring loaded, cushioned, compressible, foldable, flexible only on one axis or flexible on two or more axes, and / or can be formed from one variety of materials, such as metal, polymer, elastomer or a combination thereof. Additionally or alternatively, the rail hook 746 may have additional features to contact rail 748, such as pads, chocks, rollers, wheels, balls, pins, clamps, velcro, magnets, vacuum, and the like (not shown), all similar to other modalities in this document.
[00168] With reference in particular to FIG. 22D, user U and / or the adaptive armrest system 500 may be contained in protective clothing, such as clothing G (partially shown in FIG. 22D), such as a sterile surgical gown, overalls, shirt , a lab coat, a sheet or a sticker affixed to existing clothing. Garment G may be formed from a variety of materials, such as fabric, polymer film, a membrane, and / or may be substantially liquid-impermeable, airtight, abrasion-resistant, heat-resistant, chemical-resistant, radiation resistant, and the like.
[00169] In one embodiment, the rail hook 746 can be under the garment G, as shown in FIG. 22D, so that the garment material comes in direct contact with the rail 748, and the rail hook 746 engages only indirectly with the rail 748 through garment G. Optionally, garment G may include special features, for example, an abrasion resistant adhesive (not shown), to protect clothing G from abrasion due to contact with the 748 rail and / or other structures. Other special features may include molded, extruded, or otherwise formed components (not shown) joined to garment G, for example, to facilitate hooking rail hook 746 to rail 748 through the garment, G. For example, a shield or molded clip (not shown), affixed to garment G (and possibly interfacing with the 746 rail hook) can provide features that assist in affixing, retention, friction management, adjustment, filling, damping, resilience, and the like.
[00170] Turning now to FIGS. 23A and 23B, another exemplary form of a display accessory, called a table hook 760, is shown that can be coupled to the adaptive armrest system 500 (or any other modality in this document) to transfer loads to a T3 table before for a user to sit down;
[00171] Similar to table hook 720 shown in FIGS. 21A-C, table hook 760 can be adapted to a sitting position in which user U is seated in a chair C1 at table T3, that is, to transfer loads from adaptive armrest system 500 to table T3. Load can also be supported by the user's lap U, for example, as defined by the lap reaction force R1 (shown in FIG. 18). Optionally, as with other modalities in this document, the transfer of loads from the adaptive armrest system 500 to the T3 table can be achieved through an apron, cloth, cover or other protective barrier (not shown). As best seen in FIG. 23B, table hook 760 includes a table hook flap 762, which performs a function similar to that of table hook flap 724 of table hook 720 of FIGS. 21A-C.
[00172] Turning now to FIGS. 23C and 23D, another exemplary modality of a display accessory, called a table clamp 760, is shown that can be coupled to the adaptive armrest system 500 (or any other modality in this document) to transfer loads to a T3 table before for a user to sit down. Similar to table clamp 720 shown in FIGS. 21D-E, table clamp 766 includes an upper flap II of clamp 768, lower flap II of clamp 770, and rear part II of clamp 772, which perform functions similar to those of the upper flap of table clamp 736, lower flap table clamp 742, and table clamp rear 740, respectively, of table clamp 734, but adapted for a user U sitting in chair C1 at table T3 to transfer loads from the adaptive armrest system 500 to the table T3.
[00173] Turning now to FIGS. 24A and 24B, yet another modality of a display accessory, called a load transfer pad 768, is shown that can be coupled to the adaptive armrest system 500 (or any other modality in this document) to transfer loads to a table T1 or another structure (for example, a car frame or other structure) before which a user is standing. Similar to other display accessories in this document, the load transfer pad 768 is attached to the load transfer bracket 702 of the system 500, and wraps around the edge of table T1 at the transfer contact point 770. The load transfer pad it can be resilient and / or it can deviate at the transfer contact point 770, for example, allowing the edge of the table T1 to partially incorporate on the face of the load transfer pad 768. The load transfer pad 768 can have a surface contact material of substantially flat, domed, concave, convex, curved or other shape, and / or can be formed from relatively soft, hard, and / or sticky materials, for example, formed from metal, polymer, elastomer or a combination of them.
[00174] Turning now to FIGS. 25A and 25B, an alternative embodiment of an armrest assembly 505 is shown that includes a swivel armrest 600. Armrest 600 can be configured to rotate around armrest joint 780 located on the pivot flap. arm rest 782 of the 580 chassis, for example, to accommodate the user's arm angle (not shown). As shown in FIG. 25A, the upper surface of the armrest 784 is tilted upward at angle A20, while in FIG. 25B, the upper surface of the armrest 784 is angled downward at angle A21.
[00175] Additionally or alternatively, an armrest assembly 505 may be that includes a translatable armrest 600. Armrest 600 may include an armrest slide base 796 fixedly attached to chassis 580. One armrest slide 798 is slidably attached to the armrest slide base 796 and attached to armrest 600 in order to accommodate the position of the user's arm. As shown in FIG. 26A, the armrest slide 798 is moved away from the armrest slide base 796 by distance X5, while in FIG. 26B, the armrest slide 798 is moved away from the armrest slide base 796 by the distance X6 (greater than the distance X5), indicating the translation of the armrest 600 along the longitudinal axis of the chassis 580 It will be appreciated that the armrest slide 798 can be fixed in a plurality of locations along the armrest slide base 796, for example, depending on the number of positions available, and / or may be able to move freely. Optionally, the armrest 600 can be either rotatable or translatable.
[00176] Turning to FIGS. 27A-27B, another modality of an adaptive armrest 500 is shown that includes an armrest 800 including a forearm rest 814, which can be desired by users who prefer to have some support for their FAr forearm, as well as for the upper arm. As best seen in FIG. 27A, the armrest 800 includes an upper armrest strip 802 and a swivel support pad 804. The upper armrest strip 802 can serve to ensure that the user's Ar arm U remains engaged with the armrest. arm 800, for example, even if user U raises arm Ar in relation to armrest assembly 505.
[00177] As best seen in FIG. 27A, the swivel support pad 804 provides a mounting location for a swivel support 806, which is substantially fixed or otherwise joined to the swivel support pad 804, for example, at the attachment point of the swivel support 808. The swivel bracket 806 includes a swivel bracket 810, and the forearm rest 814 includes a pivot forearm rest rod 816 and forearm rest contact surface 818. The pivot rod of the forearm rest 816 and swivel support bracket 810 cooperate to form joint 812, around which the forearm rest 814 can rotate, for example, as defined by the FRar forearm swivel axis, which can coincide with user E's elbow. The FAr forearm can generally contact the forearm rest 814 on the forearm rest contact surface 818.
[00178] In FIGS. 27B and 27C, the forearm rest 814 is shown adjacent to the user's arm U to facilitate identification of the forearm rest 814. As shown in FIG. 27B, the forearm rest 814 is shown with the forearm FAr substantially straight, for example, defining the angle A24 with respect to the midline of the armrest 800. In FIG. 27C, the forearm rest 824 is shown with the forearm FAr folded inward, for example, so that the forearm rest 814 describes the angle A25 with respect to the midline of the armrest 800.
[00179] Turning to FIG. 28, yet another embodiment of an armrest assembly 505 is shown that includes a sling type armrest, for example, for users who desire a "sling" or "net" type armrest. The armrest assembly 505 includes a sling type 824 arm rest, for example, affixed to the frame 580 on the arm rest pivot flap 782, and a sling type arm rest 826 attached to the bracket sling armrest 824 in the sling armrest 828. The sling armrest 828 can be substantially rigid, flexible or swivel. A sling 830 is affixed to the sling armrest of sling type 826 at both ends, creating the sling of sling 832. Sling 830 can be flexible, semi-flexible and / or can be padded, formed of mesh, elastic, and / or other material, as desired. Additionally or alternatively, the armrest 800 (or any of the other armrests disclosed in this document) may include one or more straps or other fastening members (not shown), which can be wrapped or otherwise wrapped around of the user's arm to secure the user's arm in the armrest.
[00180] Turning to FIGS. 29A-29E another embodiment of an adaptive armrest system 500 is shown which includes armrest assemblies 505 capable of rearward-facing storage. For example, in some applications, an additional pivot shaft may be provided in the headgear assembly 510, for example, to allow the armrest assembly 505 to be raised as desired during use, and / or to be turned backwards over user U's shoulder and secured in place when not in use.
[00181] In the modality shown, a FBal backward axis (left) and a FBar backward axis (right) are provided to allow each armrest assembly 505 to be selectively rotated back over the shoulder of the user U for storage. For example, as best seen in FIGS. 29B and 29C, the rear turning clamp I 854 and the rear turning clamp II 856 can, together, create a rear turning hinge 858, which is further defined by - the rear turning axis FBar (right), around which the II 856 rear-turning collet and armrest assembly 505 can rotate. A resilient element, such as a torsion spring (not shown), can propel the rear turning caliper II 856 and the armrest assembly 505 to rotate in a preferred direction, for example, upwards (for example, for assist in overhead tasks by increasing the breadth of the armrest assembly 505, at least by lifting the weight of the armrest assembly 505 by itself). The I 854 rear-facing collet can be fixedly attached to the rear-facing mounting tube 850 (and thus to the headgear assembly 510).
[00182] Shoulder joint assembly 548 is attached to the II 856 rear turning clamp. When the II 856 rear turning clamp rotates in relation to the I 854 rear turning clamp around the hinge 858, the set of armrest 505 (not shown, see, for example, FIGS. 29B-29E), which is attached to the rear turning clamp II 856 via shoulder joint assembly 548, shoulder joint closure 550, and support bar 554, rotates too.
[00183] As best seen in FIG. 29C, the rear turning clamp I 854 is fixedly mounted to the rear turning assembly tube 850. The rear turning clamp II 856, which rotates in relation to the rear turning clamp I 854 around the articulation 858 and backward turning axis (right) FBar, must be limited in its rotation in order to support the weight of the user's arm (not shown). The back-turning stop pin 864 is pressed into the stop-pin hole 868 or otherwise affixed to the back-turning clamp II 856. The free end of the stop-pin 866 of the back-turning stop pin 864 is aligned with the clamp groove I 860 and does not interfere with that groove until it makes contact with the end of the clamp groove I 862, thereby limiting the rotation of the turning clamp backward II 856, and keeping it in position of "use" shown in FIGS. 29A-C. -
[00184] In FIG. 29D, the right-hand armrest assembly 505 is shown to be rotated to the storage position around the FBar axis, approximately along the FBpl backward turning path, leaving User U's arm free of the support assembly arm 505. In FIG. 29E, the rear turning clamp II 856 is shown to be rotated relative to the rear turning clamp I 854 around the hinge 858 in the storage position. In the storage position, the weight of the armrest assembly 505 may be sufficient to keep the armrest assembly 505 in the storage position, for example, until user U reactivates the armrest assembly 505. Alternatively, one or more reversible locking mechanisms (not shown) can be provided which can be selectively engaged and / or disengaged to secure the armrest assembly 505 in the storage position when not in use.
[00185] Turning to FIGS. 30A and 30B, another exemplary embodiment of an 870 adaptive armrest system is shown that includes many components similar to other embodiments in this document, but includes an alternative shoulder joint design. In this embodiment, the vertical joint 552 shown in FIGS. 14A and 14B (which allows rotation about the substantially vertical axis Uav associated with the user's shoulder) has been replaced by a series of connections 880, located on the back of user U, which revolve around substantially vertical axes. As shown in FIG. 30B, as user U moves his Ar arm horizontally outward, connections 880 fold out away from user U's back, thereby leaving the area around user U's shoulder free of mechanical elements.
[00186] In this embodiment, the connecting shoulder harness 875 includes two or more connecting elements 880 (two shown), which can rotate around one or more connecting joints 890. The connecting elements 880 and connecting joints 890 can transmit loads and / or moments from the armrest assembly 505 to the connecting shoulder harness 875. A connecting end element 894 joins the series of connecting elements 880 to an armrest assembly 505 to which the connecting end member 894 is fixedly mounted. As shown in FIG. 30A, the linkage joints 890 join the linkage elements 880 to define the double link axis I DLa1, double link axis II DLa2 and double link axis III DLa3, all of which can be substantially parallel.
[00187] As shown in FIG. 30B, the 870 adaptive armrest system is shown with the armrest assembly 505 (and Ar arm) rotated about the substantially vertical axis Uav (associated with the user's shoulder, as previously described), approximately along of the DLp1 double bond path. During this action, the connecting elements 880 rotated in response around the double link axis I DLa1, double link axis II DLa2 and double link axis III DLa3. When the arm Ar and the armrest assembly 505 are moved back in the opposite direction, the connecting elements 880 can return to the configuration shown in FIG. 30A to accommodate movement, while transmitting loads and / or moments from the armrest assembly 505 to the connecting shoulder harness 875.
[00188] Turning to FIGS. 31A and 31B, yet another exemplary embodiment of an adaptive armrest system 900 is shown that includes several components similar to other embodiments in this document, but includes an alternative shoulder joint design. Unlike other embodiments, system 900 includes a curved rail harness 910, which features a curved rail system, for example, in place of the vertical hinge 552 of the system of FIGS. 14A and 14B, which allows for rotation about the substantially vertical axis Uav (associated with the user's shoulder U, as previously described). -
[00189] The curved rail support bar 916 is mounted on the curved rail support tube 912 at the junction of the support tube 918. The curved rail 920 is attached to the curved rail support bar 916 at the curved rail junction 922. Curved rail rollers 926 are mounted on rail car 928 and can travel freely along curved rail 920, for example, in response to the movement of the user's Ar arm, around the vertical Uav axis. The curved rail rollers 926 can transmit loads and / or moments from the armrest assembly 505 to the curved rail harness 910. The curved rail support 930 is mounted on the rail carriage 928 at the rail support junction II 934 , and, in turn, provides the assembly for an armrest assembly 505, which joins the curved rail support 930 at the rail support junction I 932.
[00190] Turning to FIG. 31B, the adaptive armrest system 900 is shown with the armrest assembly 505 (and arm Ar) rotated about the substantially vertical axis Uav (associated with the user's shoulder U, as previously described), approximately along of the curved rail rotation path CTrpl. During this action, curved rail rollers 926 traveled along curved rail 920 in response to movement of the user's Ar arm around the vertical Uav axis. Thus, the cooperation between the curved rail rollers 926 and the curved rail 920 accommodates the horizontal movement of the arm Ar and armrest assembly 505, while transmitting loads and / or moments from the armrest assembly 505 to the 910 curved rail harness.
[00191] Turning to FIG. 32, another exemplary embodiment of an adaptive armrest system 500 is shown which is generally similar to the system 500 shown in FIGS. 14A and 14B, except that the 500 system includes a 940 headrest. When working with the arms extended above the head, a user U may have to work with his head tilted upwards, which can be tiring. An optional 940 headrest, attached to the 510 headgear assembly, can be used to relieve this fatigue. The back of the user's Hb head U is shown supported by the headrest contact surface 942 of the headrest 940. The headrest 940 can be connected to the headrest support 946, for example, fixedly , or optionally on the headrest joint 944, which can allow the headrest 940 to rotate in response to user needs U. The headrest support 946 can be attached to the cross support 620 at the support junction 950 or elsewhere on the headgear assembly 510, thereby allowing all or a portion of the user's head weight to be supported by the headgear assembly 510.
[00192] Turning to FIG. 33A, yet another exemplary embodiment of an adaptive armrest system 500 is shown which is generally similar to the system 500 shown in FIGS. 14A and 14B, except that the 500 system includes a chin rest 956. When working with the arms extended downwards, a U user may have to work with his head tilted down, which can be tiring. An optional 956 chin rest, attached to the 510 harness assembly, can be used to relieve this fatigue. The U chin of user U is shown supported by chin rest 956. Chin rest 956 can be affixed to one or more chin rest brackets 952 in one or more chin rest joints 958. The bracket ( chin rest 952 can be attached to the headgear assembly 510, for example, on the shoulder joint assembly (s) 548 on either side of the user's head U.
[00193] Turning to FIG. 33B, yet another exemplary embodiment of an adaptive armrest system 500 is shown which is generally similar to the system 500 shown in FIGS. 14A and 14B, except that the system 500 includes a forehead rest 964. The forehead Hf of user U is shown supported by the forehead rest 964. The forehead support 964 is affixed or otherwise coupled to one or more forehead supports 960 at one or more support joints 966. The forehead support (s) 960 can be removably or substantially attached to the headgear assembly 510, for example, in the assembly (s) shoulder joint (s) 548 on either side of the user's head U. Optionally, the 960 support (s) can be adjustable, for example, to allow the forehead rest 964 is adjusted, for example, moved between a forehead support position and a chin support position (not shown).
[00194] In an alternative embodiment, a chin rest 956 (such as that shown in FIG. 33A) and a forehead rest 964 (such as that shown in FIG. 33B) can be included together in either harness and / or apparatus described in this document or in applications identified elsewhere in this document, for example, to support a user's chin and forehead simultaneously. Used together, chin rest 956 and forehead rest 964 can be adjustable relative to each other as desired by the user, for example, to accommodate the desired angle or position of the user's head. Additionally or alternatively, chin rest 956 and forehead rest 964 can be mounted together in a frame or frame (not shown) that can be mounted, and / or can be movable, swivel, and / or adjustable with respect to (s) ) support (s) 960, for example, on a front panel, mask, or other features (not shown) mounted between the 960 supports. For example, the 960 supports can be substantially rigid and / or stationary in relation to the 510 harness, while the features that carry the forehead rest 964 and chin rest 956 between them can be movable, for example, within an orbital path to support the user's head while providing varying degrees of freedom of movement.
[00195] Alternatively, chin rest 956 and forehead rest 964 can simply be slings, pads, or other features mounted between supports 960 with forehead rest 964 located on the upper ends of the supports above chin rest 956. Optionally , chin rest 956 and forehead rest 964 can be mounted together in a frame or structure (not shown) instead of supports 960, which can be movable, for example, can rotate, rotate, and / or adjust accordingly. otherwise with respect to harness 510 and / or between supports 960, or which can be moved along an orbital path, or any combination thereof. Chin rest 956 and forehead rest 964 can be formed together from one piece or several pieces affixed together. In yet another alternative, a headgear assembly (such as the 510 assembly) can be provided that includes a chin rest 956 and / or a forehead rest 964 without an armrest assembly, for example, to provide headrest for a user when performing tasks that require the user to lean forward or bend forward, and the like.
[00196] Chin rest 956 and / or forehead rest 964 can be substantially rigid or flexible, elastic or inelastic, or any combination thereof. Optionally, the 956, 964 pillows can be padded, segmented, and / or articulated. Additionally or alternatively, one or both of the rests 956, 964 can be detachable from the harness, for example, using one or more connectors (not shown), to allow the user to select which rest to use for a specific application or to remove one or both of service. Thus, all or a portion of the user's head weight can be supported by the 510 headgear assembly.
[00197] Turning to FIGS. 34A and 34B, an alternative embodiment of an armrest assembly 970 is shown that can be included in an adaptive armrest system (not shown), similar to other embodiments in this document, for example, instead of the support assembly arm 505 shown in FIGS. 14A and 14B. Unlike other armrest assemblies in this document, the armrest assembly 970 includes a spring bundle 980 remote from the armrest assembly 975 itself. For example, the armrest assembly 975 may include an armrest 984 and an armrest 600 affixed to the armrest 984, which, optionally, can rotate and / or move, similar to other embodiments in this document.—
[00198] The spring bundle 980 includes resilient element components to provide supporting forces moved from the chassis of the armrest assembly 975 to the harness assembly 510 (not shown), such as for the shoulder support tube 546, shoulder joint assembly 548, shoulder joint closure 550, and / or support bar 554. In an exemplary embodiment, the spring bundle 980 may be located some distance from the armrest assembly 975, for example, in the frame strip 624 of headgear assembly 510 (not shown). The anchor plate 988, affixed to the support bar 554, provides mounting points for the cable housing terminal I 990 and pulley 994, which revolves around the pulley joint 996. The cable housing terminal II 1000 is attached to the spring beam housing 1004. The anchor plate 988 can be rotatable relative to the support bar 554, for example, to allow the user to change the range of use of the armrest assembly 975. Additional or alternatively, the anchor plate 988 can also be releasable from the support bar 554, for example, to allow the armrest assembly 975 to rotate freely around the horizontal shoulder joint 986, for example, to remove the support assembly service arm.
[00199] Cable housing 992 terminates at cable housing terminal I 990 and cable housing terminal II 1000, and provides a conduit for primary cable 1026, which transmits force from the spring bundle 980 to the arm rest assembly 975. Primary cable 1026 is attached to arm support 984 at primary cable junction 1028, and is wrapped around pulley 994 before entering cable housing 992. Primary cable 1026 exits the cable housing cable 992 in the spring bundle housing 1004 and surrounds primary pulley 1008. Primary cable 1026 is affixed to primary pulley 1008 at an attachment point (not shown), in a configuration similar to that described elsewhere in this document, for example , with reference to FIGS. 14A and 14B.
[00200] The primary pulley 1008 is rigidly affixed to the secondary pulley 1012, and both rotate together around the pulley joint 1006, similar to other modalities in this document. Secondary cable 1020 is wrapped around secondary pulley 1012 and is attached to secondary pulley 1012 at the attachment point (not shown), for example, in a manner similar to the embodiment shown in FIGS. 14A and 14B. Secondary cable 1020 joins a first end of the resilient element 1016 to the secondary cable junction 1022. A second end of the resilient element 1016 is joined to the spring bundle housing 1004, for example, by the resilient element anchor 1024.
[00201] Primary pulley 1008 and secondary pulley 1012 perform functions similar to those of primary pulley 564 and secondary pulley 570 shown in FIGS. 14A and 14B and described elsewhere in this document, for example, to provide selective mechanical advantage / disadvantage to the resilient element 1016 during use, as desired for lifting force management.
[00202] Turning to FIG. 34B, the armrest assembly 970 is shown with the armrest 600 lowered. The end of the primary cable 1026, which is attached to the armrest assembly 975, is shown extended out of the cable housing 992 in response to the rotation of the armrest assembly 975 about hinge 986, approximately along the remote spring rotation path RSrpl.
[00203] During this movement, the primary cable 1026 partially disengaged from the primary pulley 1008, which rotated in response around the pulley joint 1006, approximately along the pulley path RSpp1. As the primary pulley 1008 rotated around the pulley joint 1006, the secondary pulley 1012 rotates simultaneously, causing the secondary cable 1020 to wrap around the secondary pulley 1012. The secondary cable 1020, in turn, extends the resilient element 1016.
[00204] It will be appreciated that the systems described above can be used in a variety of fields and applications. For example, the systems can be used by doctors, for example, surgeons, dentists and the like, to facilitate the extension of the doctor's arm (s) during a surgical, medical or dental procedure. The systems can be used by construction workers, for example, painters, carpenters, and the like, manufacturing workers, for example, involved in product assembly and the like, disabled individuals and / or other users who perform tasks for an extended period time when one or both arms may be extended out of the user's body.
[00205] Generally, the devices and systems in this document can be used or otherwise placed on the user's body, for example, by attaching a harness to the user's abdomen, for example, their waist, hips, shoulders, back, chest and the like. An armrest from devices or systems, for example, attached to or otherwise carried by the harness, can be used to support the user's arm so that the armrest subsequently follows the movement of the user's arm. The user can then perform one or more tasks that involve the movement of the user's arm, the armrest at least partially compensating for a gravitational force acting on the user's arm and / or at least partially transferring the gravitational force to the abdomen of the user. (or other structures) during the movement, without substantially interfering with the movement. Thus, the devices and systems in this document can facilitate the performance of the task (s) by the user for longer periods of time and / or with reduced fatigue and / or injuries. In addition or alternatively, other benefits can be realized, including reduced tension on the back and spine and / or improved manual stability by the user. In addition, any of the headgear sets disclosed in this document can provide a structure that can be used to support the back and spine, for example, without an armrest set, if desired.
[00206] It will be appreciated that elements or components shown with any modality in this document are merely exemplary for the specific modality and can be used on or in combination with other modalities disclosed in this document.
[00207] Although the invention is susceptible to several modifications and alternative forms, specific examples of it have been shown by way of example in the figures and are described in detail in this document. It should be understood, however, that the invention should not be limited to the forms or methods disclosed in particular, but on the contrary, the invention should cover all modifications, equivalents and alternatives that are within the scope of the appended claims.

权利要求:
Claims (22)
[0001]
1. System (10, 150, 200, 250, 350, 400, 500, 510, 870, 900) to support the arm (Air) of a user (U), comprising: a harness configured to be used on the body of a user; an armrest (505) coupled to the harness, configured to support a user's arm, the armrest being configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensating elements coupled to the armrest to apply compensating force in order to at least partially counterbalance a gravitational force acting on the arm while the user moves and the armrest follows the movement of the user's arm, in that the armrest comprises: a first armrest segment (56) pivotally coupled to the harness around a first vertical axis (Dav) so that the first armrest segment is pivoted substantially horizontally around the first axis relative to the harness; and a second armrest segment (62) pivotally coupled to the first armrest segment so that a second armrest segment is rotatable about a second axis (Dah) generally orthogonal to the first vertical axis, wherein the one or more compensation elements comprises a resilient element (74, 415, 636) mounted on the second armrest segment, characterized by the fact that: the one or more compensation elements provide a force profile that varies compensatory force based on an orientation of the armrest, and where the force profile applies greater force to the arm when the arm is in an elevated position, and less force when the arm is in a lower position.
[0002]
2. System according to claim 1, characterized in that the second armrest segment comprises an armrest configured to support a portion of a user's arm.
[0003]
3. A system to support a user's arm comprising: a harness (875) configured for use on a user's body; an armrest (505, 975) coupled to the harness, configured to support a user's arm, the armrest configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensating elements coupled to the armrest to apply a compensating force to at least partially compensate a gravitational force acting on the arm while the user moves and the armrest follows the movement of the user's arm, in which the armrest comprises an armrest (505, 576, 984) including an armrest (600) on a first end thereof, and a second end pivotally coupled to the harness so that the armrest is rotatable in multi-axis rotation in relation to the headgear, characterized by the fact that: the one or more compensation elements comprise a resilient element (74, 415, 636) mounted on the arm support (505, 576) or a spring (980) remotely mounted to the arm support (984) providing a force profile that varies the compensatory force based on an orientation of the arm support.
[0004]
4. A system to support a user's arm comprising: a harness (875) configured to be used on a user's body; an armrest (505, 975) coupled to the harness, configured to support a user's arm, the armrest configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm; and one or more compensating elements coupled to the armrest to apply a compensating force to at least partially compensate a gravitational force acting on the arm while the user moves and the armrest follows the movement of the user's arm, in which the armrest comprises an armrest (505, 576, 984) including an armrest (600) on a first end thereof, and a second end pivotally coupled to the harness so that the armrest is rotatable in multi-axis rotation in relation to the harness, characterized by the fact that: the one or more compensation elements comprise a spring (74, 415, 636, 980, 1016) mounted on the arm support (505, 576) or remote mounted to the arm support (984) and a cable (70, 180, 634, 1020) extending between the spring and the arm support to transmit the compensatory force of the spring to the arm support, the geometric conditions for the cable in relation to the support of b arm as the armrest moves configured to provide a force profile that varies the compensatory force based on an orientation of the armrest.
[0005]
5. System (10, 150, 200, 250, 350, 400, 500, 510, 870, 900) for supporting an arm (Air) of a user (U) comprising: a harness (875) configured to be used on the body of a user; an armrest (505, 975) coupled to the harness, configured to support a user's arm, the armrest comprising an armrest (505, 576, 984) including an armrest (600) on a first end of the even to support a user upper arm portion, and a second end pivotally coupled to the harness so that the arm support is swiveling around multiple axes to accommodate arm movement while following the movement without substantially interfering in the movement of the user's arm; and one or more compensating elements comprising a resilient member (74, 415, 636) mounted on the arm support in order to at least partially counterbalance a gravitational force acting on the arm as the user moves and the support arm arm follows the movement of the user's arm, and is characterized by the fact that: a set of one or more pulleys (90, 164, 168, 570, 564, 630) and cables (70, 180, 190, 560, 634) coupled to the resilient element and the armrest, such that at least a portion of a force from the resilient element is applied to the armrest to generate the compensatory force.
[0006]
6. System according to any one of claims 3 to 5, characterized by the fact that the armrest comprises: a first armrest segment (554, 880) pivotally coupled to the harness around a first vertical axis (Davr, Davl, DLa1) so that the first armrest segment is pivoted substantially horizontally around the first vertical axis in relation to the harness; and a second armrest segment (505) comprising the armrest pivotally coupled to the first armrest segment, so that the second armrest segment is rotatable about a second axis (Dahr) generally orthogonal to the first vertical axis.
[0007]
7. System (10, 150, 200, 250, 350, 400, 500, 510, 870, 900) to support the arm (Air) of a user (U) comprising: a harness (875) configured to be used on the body of a user; an armrest attached to the harness, configured to support a user's arm, the arm support configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm; the arm support comprising: a first armrest segment (554, 880) pivotally coupled to the harness around a first vertical axis (Dabr, Davl, DLa1) so that the first armrest segment is rotatable substantially horizontally around the first axis relative to the headgear; a second armrest segment (505) comprising a first end pivotally coupled to the first armrest segment, so that the second armrest segment is rotatable about a second axis (Dahr) orthogonal to the first vertical axis, a second free end; and an armrest (600) supported on the second armrest segment to support a user's upper arm portion; and one or more compensating elements coupled to the armrest to apply a compensatory force to at least partially counterbalance a gravitational force acting on the arm while the user moves and the armrest follows the movement of the user's arm, characterized by the fact that: o one or more compensating elements varying the compensating force applied to the second armrest segment as the second armrest segment rotates around the second axis when the user raises or lowers the arm, and in that the one or more compensating elements comprise a spring mounted on the second armrest segment or remote mounted to the armrest and a cable extending between the spring and the second armrest segment to transmit a compensatory spring force for the second armrest segment, configured to provide a force profile that varies the compensatory force based on an orientation of the armrest.
[0008]
8. System according to claim 6 or 7, characterized by the fact that the first armrest segment comprises a series of connections (880) located in a location behind the user's back, which rotate around the axes vertical (DLa1, DLa2, DLa3).
[0009]
9. System according to claim 8, characterized by the fact that the series of connections is configured to bend outward, away from the user's back as the user moves the arm horizontally outward.
[0010]
10. System according to claim 8 or 9, characterized by the fact that the series of connections is configured to accommodate the movement of the user's arm while transmitting loads and / or moments from the second armrest segment (505) to the harness (875).
[0011]
System according to any one of claims 8 to 10, characterized in that the series of connections includes one or more connecting elements (880), which rotate around one or more connecting joints (890 ).
[0012]
12. System according to claim 6 or 7, characterized in that the first armrest segment comprises a support bar (554) that forms a vertical shoulder joint (552), which rotates around the vertical axis (Davr).
[0013]
13. System according to claim 4, characterized by the fact that the one or more compensation elements comprise a spring bundle (980) over a frame strip (624) of the headgear (510) and a primary cable (1026 ), which transmits force from the spring beam (980) to the arm support (984).
[0014]
14. System according to any one of claims 6 to 12, characterized by the fact that the one or more compensation elements comprise: a first set of pulleys mounted on the second armrest segment; a spring comprising a first end attached to the second armrest segment; and a first cable comprising a first end coupled to a second end of the spring and extending at least partially around the first pulley assembly in order to apply the compensating force.
[0015]
15. System according to claim 14, characterized by the fact that a second end of the first cable is attached to the first armrest segment.
[0016]
16. System according to any one of claims 6 to 12, characterized in that the one or more compensating elements comprise a spring supported on the second armrest segment, such that the compensating force applied by the spring it is disadvantaged as the second armrest segment is lowered in order to reduce a compensating force applied to the arm.
[0017]
17. System, according to any of claims 6 to 12, characterized by the fact that the one or more compensation elements additionally comprise a pulley (90, 630) mounted on the second armrest segment and a cable ( 70, 634) partially surrounds the pulley and includes a first end coupled to the resilient element (74, 636) and a second end coupled to the first armrest segment, so that at least a portion of a force of the resilient element is applied to the second armrest segment to generate the compensatory force.
[0018]
18. System according to any one of claims 6 to 12, characterized in that the one or more compensating elements additionally comprise first and second pulleys (164, 168, 570, 564) coupled together and mounted on the second armrest segment, a first cable (180, 634) coupled between the resilient element (415, 636) and the first pulley and a second cable (190, 560) coupled between the second pulley and the first armrest segment , so that at least a portion of a force of the resilient element is applied to the second armrest segment to generate the compensatory force.
[0019]
19. System according to claim 18, characterized by the fact that at least one of the first and second pulleys has an asymmetrical shape to modify the portion of the resilient element force applied to the second armrest segment based on a location of the second armrest segment around the second axis.
[0020]
20. System according to any one of the preceding claims, characterized in that it additionally comprises: a head rest comprising a support bracket comprising a first end mounted to the headgear and a second end disposed adjacent to a forehead of a user when the harness is worn by the user, and a rest member coupled to the second end of the support bracket, such that the rest member extends along a user's forehead when the harness is used to support the user's forehead user.
[0021]
21. System according to any one of the preceding claims, characterized by the fact that it additionally comprises: a second armrest coupled to the harness, configured to support a second user arm, the second armrest configured to accommodate movement of the user second arm while following the movement without substantially interfering with the movement of the user's second arm; and one or more compensating elements coupled to the second armrest to apply a compensating force to at least partially counterbalance a gravitational force acting on the second arm while the user moves and the second armrest follows the movement of the second arm, the one or more compensating elements provide a force profile that varies the compensating force based on an orientation of the second armrest.
[0022]
22. Method for supporting a user's arm during one or more tasks, characterized by the fact that it comprises: placing a harness on the user, the harness comprising an armrest, according to any of the previous claims, movable in relation to the harness and including an armrest; support a portion of the user's arm when using the arm support in such a way that the arm support subsequently follows the movement of a user's arm; and perform one or more tasks involving movement of the user's arm, the armrest comprising one or more compensating elements that apply a compensating force to at least partially counterbalance a gravitational force acting on the arm while the user moves without substantially interfering with the movement, the one or more compensating elements providing a force profile that varies the compensating force based on an orientation of the armrest.

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法律状态:
2018-03-27| B15K| Others concerning applications: alteration of classification|Ipc: B25J 3/00 (2006.01) |

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2018-11-21| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|

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2020-03-17| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2020-12-01| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2021-01-26| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 10/12/2013, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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US201261735894P| true| 2012-12-11|2012-12-11|

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US61/735,894|2012-12-11|

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US201361879088P| true| 2013-09-17|2013-09-17|

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US61/879,088|2013-09-17|

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PCT/US2013/074220|WO2014093408A2|2012-12-11|2013-12-10|Adaptive arm support systems and methods for use|

---