Patent Application
20220304883
The present disclosure relates generally to assistive tools for regaining motor control during rehabilitation and, more specifically, to a device using multiple torque generating elements providing assistive torques to patients with motor deficits.
Simple exoskeletons have been used for several years as assistive and therapeutic tools for regaining motor control during rehabilitation. These devices employ a wide variety of modalities for torque generation at a joint, with each method holding its own unique advantages in human-robot interaction. Passive devices able to control joint torque stiffness using tension elements, moment arm adjustments, or mechanical reconfiguration have the potential to be simple, lightweight, non-intimidating, and inexpensive—all of which are sought-after advantages in the design of robots.
The MARIONET (Moment Arm Adjustment for Remote Induction of Net Effective Torque) is one such device which utilizes cables and moment arm manipulation to effectively generate torque in upper extremity motion. It belongs to a class of devices that use diagonal tension elements to exert torque on a joint. It varies the moment arm to control torque, rather than regulating the tension. It alters the moment arm by shifting the line of action of the tension element (often rotating its attachment along a circular path). This type of design can be useful for actuating an exoskeleton, providing gravity assistance for mobility, assisting the arm during therapy, or simply reducing the metabolic cost of walking. Moment arm adjustments can provide both positive and negative torque by moving to both sides of the joint's center of rotation. By placing spring origins in differing positions relative to the center of rotation, a variety of torque fields are possible that include unstable and even catastrophic phenomena.
A MARIONET can also be an exo-tendon device, shedding the need for a rigid skeleton and instead relying on the underlying structure of the human operator. Such aspects make this design ‘soft’ and bring with it the advantages of being user-friendly, safe, and low cost. What required is to have such hardware embody the intelligence that was formerly found in the software. In addition, torque deficit profiles are often highly complex. As such, it is not possible for a single tension element to provide any desired torque across the full range of movement.
In accordance with the principles of the present disclosure, a joint movement therapy and assistive device system comprises a torque profile device having a plurality of connecting components, a longitudinal axis, and a center, and each connecting component of the plurality of connecting components is disposed at a selected distance relative to the center and a selected angle relative to the longitudinal axis. The system also includes at least one segment end; and a plurality of tensioning components removably and selectively secured to the plurality of connecting components of the torque profile device and the at least one segment end. The plurality of tensioning components form an additive torque profile when selectively secured between the torque profile device and the at least one segment end.
In accordance with another aspect of the present disclosure, a torque rendering system for movement therapy comprises a plurality of tensioning components configured to form a torque profile over one or more muscle segments. The plurality of tensioning components are selectively securable across the one or more muscle segments.
In accordance with yet another aspect of the present disclosure, a method of generating an additive torque profile in a joint movement therapy and assistive device system comprises selectively securing a proximal end of a tensioning component of a plurality of tensioning components to a connecting component of a torque profile device and a distal end of the tensioning component to a connecting device of at least one segment end. The method further comprises selectively securing a proximal end of another tensioning component of the plurality of tensioning components to another connecting component of the torque profile device and a distal end of the tensioning component to the connecting device of the at least one segment end, such that the two tensioning components in a parallel and stacked arrangement relative to each other.
Any one or more of the foregoing joint movement therapy and assistive device system, the torque rendering system for movement therapy, or the method of generating an additive torque profile in a joint movement therapy and assistive device system may include any one or more of the following additional features.
In one aspect, each tensioning component of the plurality of tensioning components may include a proximal end and a distal end, and at least one proximal end may include a pin disposed in a connecting component of the plurality of connecting components of the torque profile device.
In another aspect, the plurality of connecting components may include at least one connecting component including a hole, and the pin may be disposed within the hole of the connecting component of the torque profile device.
In yet another aspect, the distal end of the at least one tensioning component may include a pin disposed in a connecting device of the at least one segment end.
In still another aspect, each connecting component of the plurality of connecting components may be disposed at a selected distance relative to the center of the torque profile device in a range from approximately 0.01 m to 0.15 m.
In another aspect, each connecting component of the plurality of connecting components may be disposed at a selected angle relative to the longitudinal axis of the torque profile device of one of less than 90 degrees, 90 degrees or more than 90 degrees.
In yet another aspect, the plurality of tensioning components may be stackable and configured to form at least one of non-linear torque profiles, stable and unstable configurations and bi-stability systems, and a mechanical replacement system for state-dependent control algorithms.
In another aspect, a proximal end of the at least one tensioning component of the plurality of tensioning components may be disposed at a selected angle relative to the longitudinal axis of the torque profile device in a range of approximately less than 90 degrees and the at least one tensioning component is a spring element.
In yet another aspect, the at least one segment end may comprise a first segment end, and at least one tensioning component of the plurality of tensioning components may include a proximal end selectively secured to the torque profile device and a distal end selectively secured to the first segment end. Another tensioning component may include a proximal end selectively secured to the torque profile device and a distal end selectively secured to a second segment end. In addition, yet another tensioning component may include a proximal end selectively secured to the second segment end and a distal end selectively secured to the first segment end.
In another aspect, the first segment end may be configured to be disposed on a wrist. In addition, the second segment end may be configured to be disposed on an elbow, and the torque profile device may be configured to be disposed on a shoulder.
In yet another aspect, the plurality of tensioning components may include a first tensioning component configured to be disposed across the shoulder and the elbow, a second tensioning component configured to be disposed across the elbow and the wrist, and a stack of tensioning components including a pair of tensioning components. The pair of tensioning components may be configured to be disposed across the shoulder and the wrist.
According to yet another aspect, the second segment end may include a plurality of connecting components, a longitudinal axis, and a center. Each connecting component may be disposed at a selected distance relative to the center and a selected angle relative to the longitudinal axis, and at least one connecting component may include a hole.
In another aspect, each connecting component of the plurality of connecting components of the second segment end may be disposed at a selected distance relative to the center of the second segment end in a range from approximately 0.01 m to 0.15 m.
In another aspect, the plurality of tensioning components may be configured to be selectively secured to one or more of a torque profile device, a first segment end, and a second segment end of a joint movement therapy and assistive device system.
In yet another aspect, the at least one tensioning component of the plurality of tensioning components may be configured to be selectively securable across a muscle segment of an elbow and a muscle segment of a wrist.
In another aspect, the plurality of tensioning components may include a first tensioning component configured to be selectively securable across a muscle segment of a shoulder and the muscle segment of the elbow, a second tensioning component configured to be selectively securable across the muscle segment of the elbow and the muscle segment of the wrist, and a stack of tensioning components including one or more of a pair of tensioning components configured to be selectively securable across the muscle segment of the shoulder and the muscle segment of the wrist.
In yet another aspect, the at least one segment end may be a first segment end, and the method may further comprise selectively securing a proximal end of another tensioning component of the plurality of tensioning components to another connecting component of the torque profile device and a distal end of the same tensioning component to a connecting component of a second segment end.
According to another aspect, the at least one segment end is a first segment end, and the method may further comprise selectively securing a proximal end of another tensioning component of the plurality of tensioning components to a connecting component of a second segment end and a distal end of the same tensioning component to the connecting device of the first segment end.
In another aspect, selectively securing a proximal end of a tensioning component of a plurality of tensioning components to a connecting component of a torque profile device and a distal end of the tensioning component to a connecting device of at least one segment end may comprise selectively securing a pin of the proximal end of the tensioning component to a hole of the torque profile device and a pin of the distal end of the tensioning component to the connecting device of the at least one segment end.
In yet another aspect, selectively securing a proximal end of another tensioning component of the plurality of tensioning components to another connecting component of the torque profile device and a distal end of the tensioning component to the connecting device of the at least one segment end may comprise selectively securing a pin of the proximal end of the tensioning component to another hole of the torque profile device and a pin of the distal end of the tensioning component to the connecting device of the at least one segment end.
Various advantages of the present disclosure are specifically described below in reference to the exemplary embodiments, or conceptually embodied therein. The drawings and description herein are provided to merely illustrate examples of the general concepts discussed throughout the present disclosure. Numerous changes and modifications can be made, as known to those of skill in the art, without departing from the general principles set forth herein.
These and other features and advantages of the various exemplary embodiments disclosed herein will be better understood with respect to the following description and drawings, in which:
The detailed description set forth below in connection with the appended drawings is intended as a description of certain exemplary embodiments of various system components constructed in accordance with the principles herein. These examples are not intended to represent the only embodiments or forms that may be developed or utilized according to these principles. It is further understood that the use of relational terms such as first and second, and the like are used solely to distinguish one entity from another without necessarily requiring or implying any actual such relationship or order between such entities.
Generally, a joint movement therapy and assistive device system in accordance with the principles herein may employ an inherent sinusoidal torque profile, whose phase and intensity can be adjusted simply by locating proper attachment points. Because of this flexibility, it is possible to use multiple MARIONETs, each mathematically used as a basis function. By combining the torques of these tension elements in parallel (i.e., stacking MARIONETs), one may approximate any torque function by linear sum of the contribution of elements, much like a finite Fourier series or a radial basis function network. Moreover, the tension elements can eliminate the need for motors and controllers, allowing the hardware to embody the intelligence that was formerly found in the software, as explained more below.
Referring now to
The design of the joint movement therapy and assistive device system 10, e.g., the ExoNET, is driven by the need for a lightweight, simple, customizable device that provides any arbitrarily chosen torque profile to multiple joints. The system 10 is an exo-tendon device that utilizes diagonal tension elements to render torque for specified upper extremity movements, in one example, as explained more below.
In its simplest prototype form of
More specifically, and as depicted in
The at least one tensioning component 18 and any additional tensioning component that may be added to the joint movement therapy and assistive device system 10 includes a proximal end 19a and a distal end 19b. In one example, the proximal end 19a of the tensioning component 18 includes a pin 22a and the distal end 19b of the tensioning component 18 also includes a pin 22b. When the at least one tensioning component 18 is selectively secured to the torque profile device 12, the pin 22a of the tensioning component 18 is disposed in one of the connecting components 20 of the plurality of connecting components 14 of the torque profile device 12. In one example, and as depicted in
As will be appreciated the connecting device 24 may be any connecting device known to secure parts together. For example, the connecting device 24 may include a hole or an aperture into which the pin 22b of the distal end 19b of the tensioning component 18 is disposed. Alternatively, the connecting device 24 may be another fixture that receives the pin 22b or another component of the distal end 19b of the tensioning component 18. In addition, the connecting device 24 may include any other fastener capable of securing the distal end 19b of the tensioning component 18 to the segment end 16.
In addition, and still referring to
Further, the body 26 of the torque profile device 12 further includes a longitudinal axis X. Each connecting component 20 of the torque profile device 12 is disposed at a selected angle relative to the longitudinal axis X of the torque profile device 12 of one of less than 90 degrees, 90 degrees, or more than 90 degrees. In addition, the pin 22a of the proximal end 19a of the tensioning component 18 is disposed at an angle theta relative to and/or from the longitudinal axis X of the torque profile device 12. This angle of the pin 22a relative to the longitudinal axis may be less than 90 degrees, 90 degrees, or more than 90 degrees, depending upon the connecting component 20 in which the pin 22a of the tensioning component 18 is disposed, for example.
Still further, the at least one tensioning component 18 and any other additional tensioning components that may be added to the system 10, such as in a parallel or a stacked arrangement with the at least one tensioning component 18, may be a spring element. Such a spring element has an elasticity that enables a body of the tensioning component 18 to be stretched and/or releasably moved to various connecting components 20 on the torque profile device 12, for example. This enables the system 10 to be flexibly adapted to a size and shape of a user, such that the needed torque profile for the user may be generated. In the example of
The body 26 is generally rectangular in shape but may alternatively take the form of one or more various other shapes, such as a circle, a semi-circle, square, or triangle. In one example, the body 26 of the torque profile device 12 is a board that positions each pin. Alternatively, the body 26 of the torque profile device 12 may include many other forms, shapes, and sizes different from a board and still fall within the scope of the present disclosure.
In accordance with the principles herein, the aim of this joint movement therapy and assistive device system 10, e.g., the ExoNET system, is to generate a desired, task-specific torque profile for any user. Torque for the tensioning component 18, such as the spring element, is a product of the moment arm and force of the at least one tensioning component 18. The moment arm of each tensioning component 18 is a function of the location of the pin 22a of the tensioning component 18 on the body 26 of the torque profile device 12 and the angle of the tensioning component 18 relative to the longitudinal axis X. Here, a spring force of the tensioning component 18 is most simply governed by Hooke's Law, but this may be expanded to allow for nonlinear stiffness model or shift in resting length.
Using combinations of or “stacks” of the tensioning elements 18, this forms network of parallel torque-producing elements, and hence this is referred to as ExoNET, which capitalizes on their behavior as basis functions. This results in a sum of all torque profiles from each element, providing any unique output, personalized for the user.
More specifically, and referring now to
As depicted in
Each tensioning component of the plurality of tensioning components 117 is selectively and removably secured to a connecting component 120 of the torque profile device 112 and one of the first segment end 116 and the second segment end 128 or to the first segment 116 and the second segment 128, as explained more below. So configured, the plurality of tensioning components 117 forms a torque profile, such as an additive torque profile. Specifically, the torque profile is generated when the plurality of tensioning components 117 are secured between and across the torque profile device 112 and one of the first segment end 116 and the second segment end 128 or between the first segment end 116 and the second segment end 128.
In this example, the plurality of tensioning components 117 includes a first tensioning component 118a disposed across the shoulder or a muscle segment of the shoulder and the elbow or a muscle segment of the elbow. A second tensioning component 118b is disposed across the elbow or the muscle segment of the elbow and the wrist or the muscle segment of the wrist. The plurality of tensioning components 117 also includes a stack of tensioning components including a pair of tensioning components 118c, 118d. The pair of tensioning components 118c, 118d are disposed across the shoulder or the muscle segment of the shoulder and the wrist or the muscle segment of the wrist.
Each tensioning component 118a, 118b, 118c, 118d includes a proximal end 119a and a distal end 119b. In one example, the proximal end 119a includes a pin 122a and the distal end 119b also includes a pin 22b. When the first tensioning component 118a is selectively secured to the torque profile device 112, the pin 122a of the tensioning component 118 is disposed in one of the connecting components 120 of the plurality of connecting components 114 of the torque profile device 112. In one example, and as depicted in
When the second tensioning component 118b is selectively secured to the second segment end 128, the pin 122a of the tensioning component 118b is disposed in a connecting component 121 of the second segment end 128. More specifically, and like the torque profile device 112, the second segment end 128 may also include a plurality of connecting components 121. The connecting component 121 may be a hole or an aperture that receives the pin 122a of the second tensioning component 118b. As will be appreciated, the pin 122a may be easily removed from one of the connecting components 121 and to another connecting component 121 depending upon the torque desired for a user of the joint movement therapy and assistive device system 100. In a similar manner, the pin 122b of the distal end 119b of the tensioning component 118b may be disposed in and/or coupled to a connecting device 124 of the first segment end 116. Because the tensioning component 118b is selectively secured to each of the second segment end 128 and the first segment end 116, the tensioning component 118b is selectively securable between and across the elbow or a muscle segment of the elbow and the wrist or the muscle segment of the wrist in this example.
Still referring to
As will be appreciated the connecting device 124 may be any connecting device known to secure parts together. For example, the connecting device 124 may include a hole or an aperture into which the pin 122b of the distal end 119b of the tensioning component 118b, 118c, 118d is disposed. Alternatively, the connecting device 124 may be another member that receives the pin 122b or another component of the distal end 119b of the tensioning component 118. The connecting device 124 may include any other type of fastener capable of securing the distal end 119b of the tensioning component 118b, 118c, 118d to the first segment end 116.
In addition, and still referring to
Further, the body 126 of the torque profile device 12 also includes a longitudinal axis X. Each connecting component 120 of the torque profile device 12 is disposed at a selected angle relative to the longitudinal axis X of the torque profile device 112 of one of less than 90 degrees, 90 degrees, or greater than 90 degrees. In addition, the pin 122a of the proximal ends 119a of the tensioning components 118a, 118c, 118d is disposed at an angle theta relative to and/or from the longitudinal axis X of the torque profile device 112. This angle of the pin 122a relative to the longitudinal axis may be less than 90 degrees, 90 degrees, or more than 90 degrees, depending upon the connecting component 120 in which the pin 122a of the tensioning component 18 is disposed, for example. In addition, the body 126 is generally rectangular in shape, but may alternatively take the form of one or more various other shapes, such as a circle, a semi-circle, square, or triangle and still fall within the scope of the present disclosure. In one example, the body 126 of the torque profile device 112 is a board, but may include any other different form and still fall within the scope of the present disclosure.
Still further, each tensioning component 118a, 118b, 118c, 118d of the plurality of tensioning components 117 may be a spring element. The spring element has an elasticity that enables a body of the tensioning component 118a, 118b, 118c, 118d to be stretched and/or releasably moved to various connecting components 120 on the torque profile device 112, for example. This enables the system 100 to be flexibly adapted to a size and shape of a user, such that the needed torque profile for the user may be generated. It will be appreciated that the tensioning component 118a, 118b, 118c, 118d may alternatively take the form of another element different from the spring element, for example, and/or be comprised of one or more materials having an elasticity that allows the tensioning component 118a, 118b, 118c, 118d to function as described above and still fall within the scope of the present disclosure.
Referring to the second segment 128, the second segment end 128 may include a body 129 having the connecting components 121 disposed around and in the body 129. In one example, and similar to the connecting components 114 of the torque profile device 112, the plurality of connecting components 121 of the second segment end 128 may be disposed around the center C of the second segment end 128, forming a ring of connecting components 121. The connecting components 121 may be disposed equidistantly from each other and around the center C of the second segment end 128. Alternatively, the connecting components 121 may be disposed in the body 129 of the second segment end 128 in any other manner and still fall within the scope of the present disclosure. In addition, each connecting component 121 may be disposed a selected distance, such as R, from the center C of the second segment end 128 in a range of approximately 0.01 m to 0.15 m.
Further, the body 129 of the second segment end also includes a longitudinal axis Y, and each connecting component 121 of the second segment end 128 is disposed at a selected angle of one of less than 90 degrees, 90 degrees, or more than 90 degrees relative to the longitudinal axis Y of the second segment end 128. In addition, the pin 122a of the tensioning component 118b may be disposed at an angle relative to the longitudinal axis Y, such as at an angle of less than 90 degrees. This angle depends upon the location of the connecting component 121 in which the pin 122a or other end of the tensioning component 118b is disposed, for example. In this example, the body 129 is generally circular in shape, but alternatively may take the form of various other shapes, in whole or in part, and still fall within the scope of the present disclosure.
The system 100 may also include a first strap 150 to which the torque profile device 112 may be attached. The first strap 150 may be attached to a patient for use of the system 100, for example. In one example, and as depicted in
Referring now to
Simple function minimization can be used to determine the optimal spring anchor positions. Since it is not realistic to anchor the tensioning component, such as a spring element, at a very large or very small radius, the selected range of possible radii values was constrained between 0.01 m and 0.15 m for the exemplary embodiments, as explained more above. Other ranges may provide suitable solutions as well in accordance with the principles herein. This global optimization process aims to minimize the cost given by the summed squared errors between the desired profile and the one calculated through the ExoNET system. Further regularization terms can be added to the cost function to limit or constrain other factors that serve other needs.
Specifically, the optimization results of
Referring now to
Referring now to
The capability of the joint movement therapy and assistive device system 100 for generating a gravity compensation is depicted as a vector field in
While the joint movement therapy and assistive device system 10, 100 is depicted in the figures on a user's arm, it will be understood that the joint movement therapy and assistive device system 10, 100 may alternatively be used on another joint system, such as a user's knee and ankle and still fall within the scope of the present disclosure.
Moreover, and at least in view of the foregoing, it will also be understood that the joint movement therapy and assistive device 100 may generate a torque profile according to the following exemplary method. More specifically, a method of generating a torque profile, such as an additive torque profile, in the joint movement therapy and assistive device 100 comprises selectively securing the proximal end 19a, 119a of at least one tensioning component 18, 118a, 118c, 118d to the connecting component 20, 120 of the torque profile device 12, 112.
The method also includes selectively securing the distal end 19b, 119b of the at least one tensioning component 18, 118c, 118d to the connecting device 24, 124 of the segment ends 16, 116. The method also includes selectively securing a proximal end 119a of another tensioning component 118c, 118d of the plurality of tensioning components 117 to another connecting component 120 of the torque profile device 112 and the distal end 119b of the tensioning component 118c, 118d to the connecting device 124 of the at least one segment end 16, 116. In this way, the two tensioning components 118c, 118d are in a parallel and stacked arrangement relative to each other.
In addition, when the at least one segment end is the first segment end 116, the method may also comprise selectively securing the proximal end 119a of another tensioning component 118a of the plurality of tensioning components 117 to another connecting component 120 of the torque profile device 112 and a distal end 119b of the same tensioning component 118a to the connecting component 121 of the second segment end 128.
Further, when the at least one segment end 116 is the first segment end 116, the method comprises selectively securing the proximal end 119a of another tensioning component 118b of the plurality of tensioning components 117 to the connecting component 121 of the second segment end 128 and the distal end 119b of the same tensioning component 118b to the connecting device 124 of the first segment end 116.
In view of the foregoing, several advantages of the systems and method of the present disclosure will be understood. The joint movement therapy and assistive device system 10, 100, e.g., the ExoNET, has successfully demonstrated its ability to provide torques for gravity compensation and error augmentation applications. The system 10, 100 can provide effective compensation for deficits in upper extremity movement and also has the potential to be easy to use for both clinician and patient, leading to a greater chance for clinical acceptance. The system's adjustable tensioning components 18, 118a, 118b, 118c, and 118d, e.g., spring elements, eliminate the need for motors and controllers, which makes the device user-friendly, safe, non-intimidating, and low-cost. The system 10, 100 also can fit into a large variety of anthropometric dimensions so as to be easily used on a greater number of people.
The expansion of the original MARIONET concept to a combination of diagonal tensioning components 118a, 118b, 118c, 118d sheds light on new capabilities for a simple design. The system 10, 100 now represents a simple customizable tool capable of providing assistive torques to patients with motor deficits. The motivation behind this device is to allow therapists to easily assemble and adjust the ExoNET system 10, 100 depending on an individual patient's unique motor deficits.
Additionally, designs constructed in accordance with the principles herein aim to fit into a large variety of anthropometric dimensions to be easily used on a greater number of people. This exotendon network of “stacked” tensioning components 118a, 118b, 118c, 118d has the potential to be used for the actuation of several joints, can deliver non-linear torque fields, allow for stable and unstable configurations and bi-stability, and can even mechanically replace some state-dependent control algorithms. This represents a shift of the intelligent aspects of control from the software programs to the physical hardware, which may be a sleek, economical solution for actuator designs that advance human neurorehabilitation technology.
Although the foregoing text sets forth a detailed description of numerous different embodiments, it should be understood that the legal scope of the invention may be defined by the words of the claims set forth at the end of this patent. The detailed description is to be construed as exemplary only and does not describe every possible embodiment, as describing every possible embodiment would be impractical, if not impossible. One could implement numerous alternate embodiments, using either current technology or technology developed after the filing date of this patent, which would still fall within the scope of the claims.
Throughout this specification, plural instances may implement components, operations, or structures described as a single instance. Although individual operations of one or more methods are illustrated and described as separate operations, one or more of the individual operations may be performed concurrently, and nothing requires that the operations be performed in the order illustrated. Structures and functionality presented as separate components in example configurations may be implemented as a combined structure or component. Similarly, structures and functionality presented as a single component may be implemented as separate components. These and other variations, modifications, additions, and improvements fall within the scope of the subject matter herein.
As used herein any reference to “one embodiment” or “an embodiment” means that a particular element, feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment. The appearances of the phrase “in one embodiment” in various places in the specification are not necessarily all referring to the same embodiment.
As used herein, the terms “comprises,” “comprising,” “may include,” “including,” “has,” “having” or any other variation thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, article, or apparatus that comprises a list of elements is not necessarily limited to only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Further, unless expressly stated to the contrary, “or” refers to an inclusive or and not to an exclusive or. For example, a condition A or B is satisfied by any one of the following: A is true (or present) and B is false (or not present), A is false (or not present) and B is true (or present), and both A and B are true (or present).
In addition, use of the “a” or “an” are employed to describe elements and components of the embodiments herein. This is done merely for convenience and to give a general sense of the description. This description, and the claims that follow, should be read to include one or at least one and the singular also may include the plural unless it is obvious that it is meant otherwise.
This detailed description is to be construed as examples and does not describe every possible embodiment, as describing every possible embodiment would be impractical, if not impossible. One could implement numerous alternate embodiments, using either current technology or technology developed after the filing date of this application.
Variations of the specific device configurations shown and described herein are within the scope of the principles of the present disclosure, and are included in all claims deriving therefrom.
This patent application claims priority to U.S. Provisional Patent Application No. 62/864,280 filed Jun. 20, 2019, entitled “ExoNET: A Soft Exoskeletal Network of Elastic, Nonlinear Torque Field Generators for Neurorehabilitation,” the entire disclosure of which is hereby incorporated by reference.
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/US20/38631 | 6/19/2020 | WO |
| Number | Date | Country | |
|---|---|---|---|
| 62864280 | Jun 2019 | US |
