{
  "patent_number": "US 11673253",
  "country": "US",
  "title": "How an Exoskeleton Joint Moves with a Motor, Screw, and Linkage",
  "original_title": "Actuator devices for human exoskeleton joints",
  "summary": "This patent describes a compact and efficient way to make an exoskeleton joint bend and straighten using a motor, a special screw, and a clever set of levers.",
  "what_it_does": "This patent details an actuator mechanism for an exoskeleton joint. It connects a first support (like a thigh brace) and a second support (like a shin brace) to a wearer. The actuator uses a motor (claim 1) that spins a 'ball screw' (claim 1). This screw then moves a 'ball nut' along its length, which in turn pushes or pulls a 'yoke' (claim 1). The yoke is designed to move only in a straight line, acting like a slider (claim 1). This straight-line motion of the yoke then pushes or pulls a 'linkage,' which is a rod or bar (claim 1). Finally, the linkage causes a 'joint crank' to rotate around the exoskeleton's main joint (claim 1), making the two supports move relative to each other, like bending a knee. For example, as the motor spins, the yoke slides, pushing the linkage, which rotates the joint crank to bend the exoskeleton's knee joint.",
  "what_it_does_not_cover": [
    "Does not cover exoskeleton joints that use direct rotary motors without a ball screw and linkage system.",
    "Does not cover actuators where the yoke rotates or moves in a non-linear fashion, as it specifies the yoke moves 'only in translation' (claim 1).",
    "Does not cover systems where the motor, ball screw, ball nut, and yoke are not arranged collinearly (claim 1).",
    "Does not cover actuators that rely on hydraulic or pneumatic cylinders instead of a motor and ball screw mechanism.",
    "Does not cover a roller and joint cam system, as described in the abstract, if it does not also include the linkage and joint crank as claimed (claim 1)."
  ],
  "filed": "2018-03-07",
  "granted": "2023-06-13",
  "expires": "2038-03-07",
  "status": "active",
  "holder": "Ekso Bionics",
  "holder_url": "https://patentbrief.org/company/ekso-bionics",
  "inventors": [
    {
      "name": "Aaron JULIN",
      "url": "https://patentbrief.org/inventor/aaron-julin"
    }
  ],
  "times_cited": 1,
  "tags": [
    "robotics",
    "medical_devices",
    "mechanical",
    "biotech",
    "consumer_electronics"
  ],
  "abstract": "An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.",
  "url": "https://patentbrief.org/patent/us/11673253/actuator-devices-for-human-exoskeleton-joints",
  "markdown_url": "https://patentbrief.org/patent/us/11673253/actuator-devices-for-human-exoskeleton-joints/md",
  "google_patents_url": "https://patents.google.com/patent/US11673253",
  "relatedPatents": [
    {
      "patentNumber": "10702441",
      "countryCode": "US",
      "title": "How Exoskeletons Use Screws and Cables to Move Joints",
      "url": "https://patentbrief.org/patent/us/10702441/ball-screw-and-tensile-member-exoskeleton-joint-actuation-device"
    },
    {
      "patentNumber": "11304827",
      "countryCode": "US",
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      "url": "https://patentbrief.org/patent/us/11304827/unidirectional-actuated-exoskeleton-device"
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    {
      "patentNumber": "10800031",
      "countryCode": "US",
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      "url": "https://patentbrief.org/patent/us/10800031/spherical-parallel-manipulator-architecture-for-shoulder-robotic-exoskeleton"
    },
    {
      "patentNumber": "10814473",
      "countryCode": "US",
      "title": "Exoskeleton Shoulder Joint That Adapts to Your Arm's Movement",
      "url": "https://patentbrief.org/patent/us/10814473/mechanism-for-alleviating-the-effects-of-joint-misalignment-between-users-and-we"
    },
    {
      "patentNumber": "8209052",
      "countryCode": "US",
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      "url": "https://patentbrief.org/patent/us/8209052/high-performance-differential-actuator-for-robotic-interaction-tasks"
    }
  ]
}