# 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. - **Patent:** US 10800031 - **Original title:** Spherical parallel manipulator architecture for shoulder robotic exoskeleton - **Owner:** Arizona State University Downtown Phoenix campus - **Granted:** 2020 - **Status:** Active - **Times cited:** 0 - **Field:** robotics, medical_devices, healthcare, mechanical, assistive_technology ## What it does 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. ## 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). ## 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. ## Real-world examples 1. Rehabilitation exoskeletons for stroke patients 2. Assistive devices for individuals with shoulder injuries 3. Physical therapy equipment for range-of-motion exercises 4. Powered orthoses for upper limb support ## Why it matters 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. ## 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). **Full plain-English explainer:** https://patentbrief.org/patent/us/10800031/spherical-parallel-manipulator-architecture-for-shoulder-robotic-exoskeleton **Original patent:** https://patents.google.com/patent/US10800031 --- _Source: PatentBrief — https://patentbrief.org. Patent facts are from public records; the plain-English explanation is PatentBrief's._ ## Related patents Semantically similar inventions in the PatentBrief corpus: - [Exoskeleton Shoulder Joint That Adapts to Your Arm's Movement](https://patentbrief.org/patent/us/10814473/mechanism-for-alleviating-the-effects-of-joint-misalignment-between-users-and-we) — This patent describes a shoulder exoskeleton that uses a special slip mechanism to prevent the robot's joints from getting out of sync with a user's natural arm movements, making it more comfortable and effective. - [How a Robot Actuator Controls Force and Speed with Gears](https://patentbrief.org/patent/us/8209052/high-performance-differential-actuator-for-robotic-interaction-tasks) — This patent describes a compact robot actuator that uses a special gear system and two motors with different electrical resistance to precisely control both the force and speed applied to a robotic arm or tool. - [How a Surgical Robot Arm's Wrist Moves Instruments](https://patentbrief.org/patent/us/12414825/surgical-arm) — This patent describes a specific design for the end part of a surgical robot arm, called the terminal portion, which uses a clever arrangement of three joints to precisely position and rotate surgical tools. - [How Surgical Robots Reconfigure Their Arms Without Moving the Tool Tip](https://patentbrief.org/patent/us/9949801/systems-and-methods-for-commanded-reconfiguration-of-a-surgical-manipulator-usin) — This patent describes how a surgical robot arm can move and reshape itself to avoid obstacles or improve its position, all while keeping its surgical tool perfectly still at the patient's entry point or target. - [Robots That Don't Get Stuck: A Master-Slave Control System](https://patentbrief.org/patent/us/9855653/master-slave-system) — This patent describes a robot control system where a human-operated 'master' robot guides a 'slave' robot, preventing either from getting into awkward, uncontrollable positions by carefully planning the master robot's movements.