How a Robotic Exoskeleton Helps Your Shoulder Move
This patent describes a robotic shoulder exoskeleton using multiple straight-moving actuators arranged in a "spherical parallel manipulator" to assist or rehabilitate arm movements while preventing joint misalignment.
Original patent title: “Spherical parallel manipulator architecture for shoulder robotic exoskeleton”
This patent describes a robotic shoulder exoskeleton using multiple straight-moving actuators arranged in a "spherical parallel manipulator" to assist or rehabilitate arm movements while preventing joint misalignment. Granted to Arizona State University Downtown Phoenix campus in 2020 with 9 claims, and it is expected to expire in 2037.
Coverage
What does this patent actually cover?
The exoskeleton system helps a user's arm move by using several "linear actuators" (like small robotic arms that push and pull in a straight line). These actuators are connected to a base and a cuff that attaches to the user's arm, forming a "spherical parallel manipulator." This setup means all actuators work together, so moving one affects the others (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1). The system is designed to apply a specific "force component tangential to the motion" of the actuator endpoints, helping the arm move smoothly through its natural arc (Claim 1). For example, it could help someone recovering from a shoulder injury lift their arm by providing controlled assistance. The abstractabstractA short summary at the front of the patent describing the invention. Not legally binding.Read more → also mentions a "passive slip mechanism" that helps prevent the robotic system from fighting against the natural, slight shifting of the human shoulder joint, which improves how the system moves and prevents mechanical problems.
The gap
What does this patent NOT cover?
- Does not cover exoskeletons that use rotary motors instead of "linear actuators" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
- Does not cover robotic manipulators that are not "spherical parallel" in their design (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
- Does not cover exoskeletons for body parts other than the "shoulder" and "arm" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
- Does not cover systems where the motion of actuators is independent, as it specifies "motion of each of the plurality of linear actuators is dependent upon each of the remaining linear actuators" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
- Does not cover systems that fail to apply a "force component tangential to the motion of each of the actuator endpoints across an entirety of the arc of motion" (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1).
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The clever bit is how the "spherical parallel manipulator" uses multiple "linear actuators" that are interdependent, allowing them to precisely apply a "tangential force component" to guide the arm through complex arcs of motion, which is challenging given the human shoulder's non-fixed center of rotation.
The Patent Drawing
Schematic visualization of the patent's claim structure. Hand-drawn diagrams in progress for each landmark patent.
Where you've seen this
Real-world examples
Rehabilitation exoskeletons for stroke patients
Assistive devices for individuals with shoulder injuries
Physical therapy equipment for range-of-motion exercises
Powered orthoses for upper limb support
Why it matters
The bigger picture
This technology matters because it offers a precise way to assist or rehabilitate shoulder movement, which is crucial for many daily activities. By using a "spherical parallel manipulator," it can mimic the complex, multi-directional motion of the human shoulder more effectively than simpler designs. This could lead to better physical therapy outcomes for patients recovering from injuries or strokes, and provide improved assistance for individuals with chronic mobility issues.
Filed
July 26, 2017
Granted
October 13, 2020
Market context
Who's building on this
Companies in this space
Arizona State University, the assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →, continues to research in robotics and assistive technologies. Companies specializing in rehabilitation robotics, such as Ekso Bionics or ReWalk Robotics (though more focused on lower limbs, they represent the industry), are potential developers of similar or related technologies.
Market impact
This patent contributes to the ongoing development of advanced robotic exoskeletons, a growing market driven by an aging population and increasing demand for rehabilitation solutions. It could influence the design of future assistive devices by offering a more biomechanically aligned approach to shoulder movement, potentially leading to more effective and comfortable patient outcomes in physical therapy.
Claim 1 — Plain English
What this patent covers
The exoskeleton system helps a user's arm move by using several "linear actuators" (like small robotic arms that push and pull in a straight line). These actuators are connected to a base and a cuff that attaches to the user's arm, forming a "spherical parallel manipulator." This setup means all actuators work together, so moving one affects the others (Claim 1). The system is designed to apply a specific "force component tangential to the motion" of the actuator endpoints, helping the arm move smoothly through its natural arc (Claim 1). For example, it could help someone recovering from a shoulder injury lift their arm by providing controlled assistance. The abstract also mentions a "passive slip mechanism" that helps prevent the robotic system from fighting against the natural, slight shifting of the human shoulder joint, which improves how the system moves and prevents mechanical problems.
The clever bit
The clever bit is how the "spherical parallel manipulator" uses multiple "linear actuators" that are interdependent, allowing them to precisely apply a "tangential force component" to guide the arm through complex arcs of motion, which is challenging given the human shoulder's non-fixed center of rotation.
What it does not cover
- Does not cover exoskeletons that use rotary motors instead of "linear actuators" (Claim 1).
- Does not cover robotic manipulators that are not "spherical parallel" in their design (Claim 1).
- Does not cover exoskeletons for body parts other than the "shoulder" and "arm" (Claim 1).
- Does not cover systems where the motion of actuators is independent, as it specifies "motion of each of the plurality of linear actuators is dependent upon each of the remaining linear actuators" (Claim 1).
- Does not cover systems that fail to apply a "force component tangential to the motion of each of the actuator endpoints across an entirety of the arc of motion" (Claim 1).
Patent timeline
Application submitted to the patent office
Application published, typically 18 months after filing
Patent officially issued
Patent enters public domain
PatentBrief Score
Impact Score
Limited data
Citation count
0/40
No citations yet
Claim breadth
6/20
Moderate scope
Recency
10/20
Granted 5–10 years ago
Assignee scale
0/20
Independent or smaller assigneeassigneeThe entity that owns the patent — usually the inventor's employer or a company.Read more →
PatentBrief Impact Score — based on citation count, claim breadth, recency, and assignee scale. Not a legal assessment.
Heuristic Value Estimate
What this patent might be worth
$41K – $132K
Midpoint $83K · 10.9 yr remaining · industry ×2.2
Heuristic only — blends forward/backward citation counts, claim scope, time remaining, litigation history, and CPC-derived industry baseline. Real valuations need a professional appraisal.
Claim text not yet imported for this patent
The original legal language
Original claims
9 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Lee, H., Hunt, J., & Artemiadis, P. (2020). How a Robotic Exoskeleton Helps Your Shoulder Move (U.S. Patent No. 10,800,031). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/10800031/spherical-parallel-manipulator-architecture-for-shoulder-robotic-exoskeleton
Auto-generated from the patent record. Double-check author order and the issue date against the official USPTO document before submitting.
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Common Questions
Frequently Asked Questions
What does How a Robotic Exoskeleton Helps Your Shoulder Move cover?
This patent describes a robotic shoulder exoskeleton using multiple straight-moving actuators arranged in a "spherical parallel manipulator" to assist or rehabilitate arm movements while preventing joint misalignment.
Who owns patent US 10800031?
Arizona State University Downtown Phoenix campus owns this patent, granted in 2020.
When does this patent expire?
This patent is expected to expire on July 26, 2037, when the invention enters the public domain.
What problem does this patent solve?
This technology matters because it offers a precise way to assist or rehabilitate shoulder movement, which is crucial for many daily activities. By using a "spherical parallel manipulator," it can mimic the complex, multi-directional motion of the human shoulder more effectively than simpler designs. This could lead to better physical therapy outcomes for patients recovering from injuries or strokes, and provide improved assistance for individuals with chronic mobility issues.
What does this patent NOT cover?
Does not cover exoskeletons that use rotary motors instead of "linear actuators" (Claim 1).
Same assignee
More from Arizona State University Downtown Phoenix campus
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