Exoskeleton Shoulder Joint That Adapts to Your Arm's Movement
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.
Original patent title: “Mechanism for alleviating the effects of joint misalignment between users and wearable robots”
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. Granted to Arizona State University Downtown Phoenix campus in 2020 with 12 claims, and it is expected to expire in 2037.
Coverage
What does this patent actually cover?
This patent details an exoskeleton system designed for a user's shoulder and arm. It combines a 'spherical parallel manipulator' with a 'passive slip mechanism' (ClaimclaimA numbered sentence at the end of a patent that legally defines what the inventor owns. The most important section.Read more → 1). The spherical parallel manipulator uses multiple linear actuators that work together to move the arm, with each actuator's motion depending on the others. The clever part is the slip mechanism, which connects to the user's arm and has a 'passive cuff joint' (Claim 1). This cuff joint allows for both rotational and translational movement, meaning it can slide and twist slightly. For example, if a user's shoulder joint shifts slightly during movement, the internal cuff can translate within an external cuff (Claim 7), preventing the rigid exoskeleton from fighting against the user's natural motion and causing discomfort or mechanical interference.
The gap
What does this patent NOT cover?
- Does not cover exoskeletons that lack a spherical parallel manipulator with interdependent linear actuators.
- Does not cover exoskeletons where the arm connection mechanism lacks both rotational and translational degrees-of-freedom.
- Does not cover systems where the slip mechanism is actively controlled rather than passive.
- Does not cover exoskeletons for other body parts, such as legs or hands, unless they also incorporate a shoulder-like spherical parallel manipulator and slip mechanism.
- Does not cover a rigid connection between the exoskeleton and the user's arm that does not allow for relative movement.
These exclusions are unique to PatentBrief — derived from the actual claim language, not patent-office boilerplate.
Key facts
What made this novel
The truly novel aspect is the integration of a passive slip mechanism, specifically a cuff joint with both rotational and translational freedom, directly into a spherical parallel manipulator-based shoulder exoskeleton. This simple mechanical addition allows the robot to tolerate natural, small shifts in a human joint's center of rotation, which was previously a significant hurdle for rigid exoskeleton designs.
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 exoskeletons for individuals with mobility impairments
Industrial exoskeletons for heavy lifting or repetitive tasks
Research prototypes for human-robot interaction
Why it matters
The bigger picture
Exoskeletons are powerful tools for rehabilitation and assistance, but a major challenge is ensuring they move naturally with the human body. Misalignment between robot and human joints can cause discomfort, skin irritation, and even injury. This patent addresses a core problem in wearable robotics by allowing the exoskeleton to adapt to the user, making these devices more practical and user-friendly for long-term use in therapy or assistive roles.
Filed
July 26, 2017
Granted
October 27, 2020
Market context
Who's building on this
Companies in this space
Companies like Rewalk Robotics, Ekso Bionics, and Cyberdyne are active in the powered exoskeleton space, developing devices for rehabilitation and assistance. University research labs, such as those at Arizona State University, continue to explore advanced human-robot interaction and biomechanical compatibility for next-generation wearable robots. These organizations are constantly seeking ways to improve the comfort and effectiveness of exoskeletons.
Market impact
The development of more comfortable and adaptable exoskeletons, as enabled by technologies like this patent, has expanded the potential market for these devices. By reducing the issues of joint misalignment, it makes exoskeletons more viable for long-term use in clinical settings and potentially in daily life. This helps drive innovation in the assistive technology and rehabilitation robotics sectors, leading to more widespread adoption and better patient outcomes.
Claim 1 — Plain English
What this patent covers
This patent details an exoskeleton system designed for a user's shoulder and arm. It combines a 'spherical parallel manipulator' with a 'passive slip mechanism' (Claim 1). The spherical parallel manipulator uses multiple linear actuators that work together to move the arm, with each actuator's motion depending on the others. The clever part is the slip mechanism, which connects to the user's arm and has a 'passive cuff joint' (Claim 1). This cuff joint allows for both rotational and translational movement, meaning it can slide and twist slightly. For example, if a user's shoulder joint shifts slightly during movement, the internal cuff can translate within an external cuff (Claim 7), preventing the rigid exoskeleton from fighting against the user's natural motion and causing discomfort or mechanical interference.
The clever bit
The truly novel aspect is the integration of a passive slip mechanism, specifically a cuff joint with both rotational and translational freedom, directly into a spherical parallel manipulator-based shoulder exoskeleton. This simple mechanical addition allows the robot to tolerate natural, small shifts in a human joint's center of rotation, which was previously a significant hurdle for rigid exoskeleton designs.
What it does not cover
- Does not cover exoskeletons that lack a spherical parallel manipulator with interdependent linear actuators.
- Does not cover exoskeletons where the arm connection mechanism lacks both rotational and translational degrees-of-freedom.
- Does not cover systems where the slip mechanism is actively controlled rather than passive.
- Does not cover exoskeletons for other body parts, such as legs or hands, unless they also incorporate a shoulder-like spherical parallel manipulator and slip mechanism.
- Does not cover a rigid connection between the exoskeleton and the user's arm that does not allow for relative movement.
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
8/20
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
$33K – $106K
Midpoint $66K · 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
12 claims as filed with the patent office.
Concepts involved
Citations
Patent lineage
Cite this patent
Lee, H., Hunt, J., & Artemiadis, P. (2020). Exoskeleton Shoulder Joint That Adapts to Your Arm's Movement (U.S. Patent No. 10,814,473). U.S. Patent and Trademark Office. https://patentbrief.org/patent/us/10814473/mechanism-for-alleviating-the-effects-of-joint-misalignment-between-users-and-we
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 Exoskeleton Shoulder Joint That Adapts to Your Arm's Movement cover?
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.
Who owns patent US 10814473?
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?
Exoskeletons are powerful tools for rehabilitation and assistance, but a major challenge is ensuring they move naturally with the human body. Misalignment between robot and human joints can cause discomfort, skin irritation, and even injury. This patent addresses a core problem in wearable robotics by allowing the exoskeleton to adapt to the user, making these devices more practical and user-friendly for long-term use in therapy or assistive roles.
What does this patent NOT cover?
Does not cover exoskeletons that lack a spherical parallel manipulator with interdependent linear actuators.
Same assignee
More from Arizona State University Downtown Phoenix campus
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