Exoskeleton and master

Abstract

The invention relates to the improvement of exoskeletons and masters thereof and to their use in teleoperative applications in virtual worlds or the real world. Non-actuated exoskeletons can be used to transfer loads from the user, for example, heavy luggage, tools or also the body weight of the user, to the ground and to relieve the joint and muscle system of the user. This can increase the endurance and also effective strength of the user. Motor-driven, actuated exoskeletons can be used in different fields. They can be worn as a freely moveable robotic suit which comprises a built-in energy supply and electronic control. They can also be used to improve the force and endurance of a user whilst the user moves in an unlimited environment. Another use of the fixed exoskeleton is in the field of interaction with virtual worlds or for controlling real robots. In this instance, an exoskeleton can be used to establish a teleoperative connection between the user and the master (virtual avatar or real robot). The user users the exoskeleton to directly transfer control commands to the master. The elements of the user and the master then practically carry out the same movements synchronously. The aim of the invention is to improve exoskeletons and masters of the mentioned type and the associated control units. This can, in particular, be achieved by a favorable realization of rotational axes which define rotational movements of different elements which to a large extent perform a hip movement.

1 . Device ( 1000 ) including a first member ( 80   a ,  80   b ), a second member ( 82 ), a third member ( 84 ), and a fourth member ( 86 ), wherein
 the first member ( 80   a ,  80   b ) is connected to a first rotary joint ( 81 ) via which the second member ( 82 ) is rotatably supported about a first axis ( 93 ),   the second member ( 82 ) is connected to a second rotary joint ( 83 ) via which the third member ( 84 ) is rotatably supported about a second axis ( 94 ),   the third member ( 84 ) is connected to a third rotary joint ( 85 ) via which the fourth member ( 86 ) is rotatably supported about a third axis ( 95 ),   the axes ( 93 ,  94 ,  95 ) pass substantially through a common point ( 91 ) and   the first axis ( 93 ) with the second axis ( 94 ) forms a first angle (φ 1 ) and the second axis ( 94 ) with the third axis ( 95 ) forms a second angle (φ 2 ).   
     
     
         2 . Device according to  claim 1 , characterized in that the first axis ( 93 ) is substantially perpendicular to the main plane of the first element ( 80   a ,  80   b ). 
     
     
         3 . Device according to  claim 1 , characterized in that the first axis ( 93 ) is rotated about a vertical axis passing through the common point ( 91 ) by a third angle (α) with a value unequal to zero. 
     
     
         4 . Device according to  claim 1 , characterized in that the first axis ( 93 ) is rotated about a horizontal axis passing through the common point ( 91 ) by a fourth angle (β) with a value unequal to zero. 
     
     
         5 . Device according to  claim 1 , characterized in that the first angle (φ 1 ) has a value in the range of 25-45 degrees and preferably 35 degrees. 
     
     
         6 . Device according to  claim 1 , characterized in that the second angle (φ 2 ) has a value in the range of 60-80 degrees and preferably 70 degrees. 
     
     
         7 . Device according to  claim 1 , characterized in that the third angle (α) and/or the fourth angle (β) has a value in the range of 10-30 degrees and preferably 20 degrees. 
     
     
         8 . Device according to  claim 1 , characterized in that the sum of the first angle (φ 1 ) and the second angle (φ 2 ) is in the range of 85-120 degrees and the first angle (φ 1 ) is in the range of 15-45 degrees. 
     
     
         9 . Device according to  claim 1 , characterized in that at least one of the elements ( 82 ,  84 ,  86 ) is subdivided into at least two sub-elements ( 82   a, b, c ) and adjacent ones of these sub-elements ( 82   a, b, c ) are rotatably connected to each other, respectively about an axis ( 94   a ,  94   b ,  94   c ), these axes passing substantially through the common point ( 91 ). 
     
     
         10 . Device also according to  claim 1 , characterized in that a fifth element ( 90 ;  9000 ) is rotatably mounted about a further axis ( 910 ) and has a surface ( 904 ) which runs substantially parallel to the further axis ( 910 ), this surface ( 904 ) having, at least on its side remote from the axis ( 910 ), a profile which corresponds to at least two circular segments with different radii. 
     
     
         11 . Device according to  claim 10 , characterized in that the circles belonging to said circle segments have their centers in the vicinity of the user and/or are parallel to the frontal plane of the user. 
     
     
         12 . Device also according to  claim 1 , characterized in that fastening means are provided which are designed and arranged in such a way that a user can preferably be firmly connected with his hip, his torso and/or his thighs to at least one of the elements ( 80   a ,  80   b ;  82 ;  84 ;  86 ;  90 ) and/or to parts of a back plate. 
     
     
         13 . Device according to  claim 12 , characterized in that the fastening means comprise straps, shells and/or harness. 
     
     
         14 . Device according to  claim 12 , characterized in that the fastening means are designed and arranged such that the user is connected to the first element ( 80   a ,  80   b ). 
     
     
         15 . Device according to  claim 12 , characterized in that the position of the fastening means can be changed by adjustment means. 
     
     
         16 . Device according to  claim 12 , characterized in that the force carried by the fastening means can be varied by adjustment means. 
     
     
         17 . Device according to  claim 16 , characterized in that the force carried by the fastening means can be measured and influenced by means of the adjustment means and a control loop. 
     
     
         18 . Device according to  claim 1 , characterized in that means are provided suitable to move the foot surface ( 904 ) relative to the user. 
     
     
         19 . Device according to  claim 1 , characterized in that the fastening means are designed and controllable in such a way that they can be relaxed or moved and thus the degree of relief can be changed. 
     
     
         20 .- 25 . (canceled) 
     
     
         26 . Device also according to  claim 1 , characterized in that a rotation unit ( 211 ) is provided with
 a first rotational member ( 200 ) rotatably mounted about a first rotational axis ( 205 ),   a second rotational member ( 201 ) rotatably mounted to said first rotational member ( 200 ) about a second rotational axis ( 206 ),   a third rotational member ( 202 ) rotatably mounted to said second rotational member ( 201 ) about a third rotational axis ( 207 ),   an exoskeleton ( 203 ) rotatably mounted to the third rotation element ( 202 ) about a fourth rotation axis ( 208 ).   
     
     
         27 . Device according to  claim 26 , characterized in that the mount between the exoskeleton ( 203 ) and the third rotational element ( 202 ) is arranged in neutral position above the connection between the third rotational element ( 202 ) and the second rotational element ( 201 ). 
     
     
         28 . Device according to  claim 26 , characterized in that in-between the exoskeleton ( 203 ) and the third rotary element ( 202 ) a back mount ( 204 ) is arranged. 
     
     
         29 . Device according to  claim 26 , characterized in that the exoskeleton ( 203 ) and/or its working space and/or its back mount ( 204 ) and/or a user fixed to the exoskeleton ( 203 ) collides with other parts of the device during a complete 360 degree rotation about the fourth axis of rotation ( 208 ). 
     
     
         30 . Device according to  claim 29 , characterized in that mechanical and/or electrical means are provided, such as mechanical or electronic limiters and/or suitably designed components such as axles, gears, bearings and/or motors, which limit the range of rotation of the exoskeleton ( 203 ) about the fourth axis of rotation ( 208 ) in such a way that a collision of the exoskeleton ( 203 ) and/or its working space and/or its back mount ( 204 ) and/or a user fastened to the exoskeleton ( 203 ) with other parts of the system is avoided. 
     
     
         31 . A device according to  claim 1 , characterized in that at least one further rotational element is rotatably mounted between the third rotational element ( 202 ) and the exoskeleton ( 203 ) and/or back mount ( 204 ) at both ends, which cannot be rotated 360 degrees about the further axes of rotation without colliding with the exoskeleton ( 203 ). 
     
     
         32 . Device also according to  claim 1 , characterized in that at least two actuators ( 304   a - 304   f ) are provided which are connected with a first side to a solid base ( 303 ) and are connected with a second side to a working platform ( 302 ), whereby an exoskeleton ( 300 ) is mounted to the working platform ( 302 ) by means of a mounting element ( 301 ). 
     
     
         33 . Device according to  claim 32 , characterized in that between the second side of at least one of the actuators ( 304   a - 304   f ) and the working platform a support ( 305   a - 305   c ) is arranged. 
     
     
         34 . Device also according to  claim 32 , characterized in that the distance between the attachment points of the supports to the ground is greater than the minimum length of the actuators. 
     
     
         35 . Device also according to  claim 32 , characterized in that the exoskeleton is connected to the platform by at least one movable element ( 301 ), such as a gimbal suspension or a robot arm.