{
  "patent_number": "US 10702441",
  "country": "US",
  "title": "How Exoskeletons Use Screws and Cables to Move Joints",
  "original_title": "Ball screw and tensile member exoskeleton joint actuation device",
  "summary": "This patent describes a mechanical system for exoskeletons that uses a rotating screw to push a nut, which then pulls cables to make a joint bend or straighten.",
  "what_it_does": "The patent describes an exoskeleton joint actuator that connects a first support (like a torso brace) to a second support (like an upper leg support) via a joint (such as a hip joint, claim 10). The actuator includes a \"ball screw\" and a \"ball nut assembly\" that moves along the screw (claim 1). This ball nut assembly is connected to \"at least two tensile members,\" which are like strong cables. When the ball nut assembly moves in one direction along the screw, it pulls on these tensile members. This pulling action causes the second support to rotate in a specific direction relative to the first support around the joint. Moving the ball nut assembly in the opposite direction makes the joint rotate the other way, allowing for controlled bending and straightening of the exoskeleton's limb.",
  "what_it_does_not_cover": [
    "Exoskeletons that use hydraulic or pneumatic cylinders for joint movement instead of a ball screw and tensile members.",
    "Joint actuation systems that use rigid linkages or gears directly to move the supports, rather than flexible tensile members.",
    "Actuators that rely on only a single tensile member to create bidirectional joint rotation.",
    "Systems where the tensile members are not routed with portions extending in opposite directions from the ball nut assembly, or not on opposite sides of the ball screw (claim 1).",
    "Exoskeletons where the joint does not include a joint pulley connected to the tensile members (claim 2)."
  ],
  "filed": "2017-04-27",
  "granted": "2020-07-07",
  "expires": "2037-04-27",
  "status": "active",
  "holder": "Ekso Bionics",
  "holder_url": "https://patentbrief.org/company/ekso-bionics",
  "inventors": [
    {
      "name": "Mike Hughes",
      "url": "https://patentbrief.org/inventor/mike-hughes"
    },
    {
      "name": "Aaron JULIN",
      "url": "https://patentbrief.org/inventor/aaron-julin"
    }
  ],
  "times_cited": 6,
  "tags": [
    "mechanical",
    "consumer_electronics",
    "healthcare"
  ],
  "abstract": "An exoskeleton includes first and second supports coupled to an exoskeleton wearer, a joint connecting the first support to the second support and an actuator. The actuator includes a ball screw, a ball nut assembly coupled to the ball screw and first and second tensile members. The ball nut assembly has first and second cord reactors. The first tensile member is routed through the first cord reactor, and the second tensile member is routed through the second cord reactor. Movement of the ball nut assembly along the ball screw in a first direction causes the second support to move relative to the first support in a first rotational direction about the joint. Movement of the ball nut assembly along the ball screw in a second direction causes the second support to move relative to the first support in a second rotational direction about the joint.",
  "url": "https://patentbrief.org/patent/us/10702441/ball-screw-and-tensile-member-exoskeleton-joint-actuation-device",
  "markdown_url": "https://patentbrief.org/patent/us/10702441/ball-screw-and-tensile-member-exoskeleton-joint-actuation-device/md",
  "google_patents_url": "https://patents.google.com/patent/US10702441",
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}