Document Type


Publication Date

April 2020

Patent Number



A61H 1/00, A61H 1/02, A61H 1/0274, A61H 1/0277, A61H 2201/1215, A61H 2201/1261, A61H 2201/14, A61H 2201/1635, A61H 2201/1638, A61H 2201/165, A61H 2201/5007, A61H 2201/5064, A61H 2205/06, F16H 1/06, F16D 11/16, F16D 28/00


Injury-specific resistive exoskeleton devices and iris-based mechanisms utilized therein. The devices assist those currently in rehabilitation or those who have lost partial or all motion to specific muscles. The device can be used for directly driving a limb or providing resistance to partially impaired muscles. For example, the device can provide a resistive force during contraction of an affected/injured muscle and release the resistive force during contraction of an unaffected/healthy muscle. The iris-based joint mechanism generally includes a hub, an iris mechanism, and a plurality of teeth disposed therebetween. When the teeth are engaged with the hub, the mechanism is locked and the servo outputs a rotational force that affects rotation of the user's limb. When the teeth are disengaged with the hub, the mechanism is unlocked and the user has full range of motion of the underlying hinge joint.

Application Number



University of South Florida

Filing Date