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    EXOSKELETON AND METHOD OF PROVIDING AN ASSISTIVE TORQUE TO AN ARM OF A WEARER
    1.
    发明授权
    EXOSKELETON AND METHOD OF PROVIDING AN ASSISTIVE TORQUE TO AN ARM OF A WEARER 有权

    公开(公告)号：EP3189945B1

    公开(公告)日：2018-09-12

    申请号：EP16205837.4

    申请日：2016-12-21

    申请人： Ekso Bionics, Inc.

    发明人： Angold, Russ ,  Lubin, James ,  Solano, Mario ,  Paretich, Chris ,  Mastaler, Tom

    IPC分类号： B25J9/00 ,  A61H1/02 ,  B25J9/10 ,  B25J9/14

    CPC分类号： B25J9/0006 ,  B25J9/109 ,  Y10S901/02

    摘要： An exoskeleton (100) includes a first link (215, 216) that pivots in a transverse plane about a first vertical axis and a second link (220, 221) that pivots in a transverse plane about a second vertical axis. The second link (220, 221) is coupled to the first link (215, 216). An arm support assembly (230, 231) is coupled to the second link and pivots about a horizontal axis. The arm support assembly (230, 231) includes a spring (410) that generates an assistive torque that counteracts gravity. The arm support assembly (230, 231) provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly (230, 231) further includes a cam profile (400) and a cam follower (405). Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly (230, 231). A cuff is coupled to the arm support assembly (230, 231) and the arm of the wearer.

    AMBULATORY EXOSKELETON AND METHOD OF RELOCATING EXOSKELETON
    2.
    发明公开
    AMBULATORY EXOSKELETON AND METHOD OF RELOCATING EXOSKELETON 审中-公开

    公开(公告)号：EP3119369A4

    公开(公告)日：2017-11-29

    申请号：EP15765102

    申请日：2015-03-19

    申请人： EKSO BIONICS INC

    发明人： HARDING NATHAN ,  ZOSS ADAM

    IPC分类号： A61H3/00 ,  A61H1/02 ,  B62D57/032

    CPC分类号： A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H2201/1635 ,  A61H2201/165 ,  A61H2201/5023 ,  A61H2201/5035 ,  B62D57/032

    摘要： An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.

    METHODS OF ENHANCING THE REHABILITATION OR TRAINING OF AN EXOSKELETON WEARER
    3.
    发明公开
    METHODS OF ENHANCING THE REHABILITATION OR TRAINING OF AN EXOSKELETON WEARER 审中-公开
    增强外科医生康复或训练的方法

    公开(公告)号：EP3217942A1

    公开(公告)日：2017-09-20

    申请号：EP15858390.6

    申请日：2015-11-11

    申请人： Ekso Bionics, Inc.

    发明人： ZOSS, Adam ,  MUSICK, Darrell ,  HARDING, Nathan

    IPC分类号： A61H1/02 ,  A61H3/00 ,  G05D3/12

    CPC分类号： A61H3/00 ,  A61F2/68 ,  A61H1/0255 ,  A61H1/0262 ,  A61H3/008 ,  A61H3/02 ,  A61H2201/1621 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/501 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084

    摘要： Use of an exoskeleton by a wearer of the exoskeleton is improved through several features. In a first feature, the exoskeleton enters a gait therapy preparation mode to prepare the wearer for subsequent gait therapy. In a second feature, the exoskeleton enters a balance training mode to help the wearer learn to balance while wearing the exoskeleton. In a third feature, the exoskeleton prompts the wearer to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer.

    摘要翻译： 通过外骨骼（100）的佩戴者（130）使用外骨骼（100）通过几个特征得以改善。 在第一特征中，外骨骼（100）进入步态治疗准备模式以准备穿用者（130）用于随后的步态治疗。 在第二特征中，外骨骼（100）进入平衡训练模式以帮助穿着者（130）在穿着外骨骼（100）时学会平衡。 在第三特征中，外骨骼（100）促使佩戴者（130）在压力控制模式的中心改变重量和/或自动改变佩戴者的体重。 在第四特征中，在轨迹循环模式中将外部变量的元素引入由外骨骼（100）执行的轨迹循环中。 总体而言，各种公开的操作模式可以单独使用或以各种组合使用以增强佩戴者（130）的康复或训练。

    RECONFIGURABLE EXOSKELETON
    5.
    发明公开
    RECONFIGURABLE EXOSKELETON 审中-公开
    REKONFIGURIERBARES EXOSKELETT

    公开(公告)号：EP2931204A4

    公开(公告)日：2016-09-21

    申请号：EP13862294

    申请日：2013-12-11

    申请人： EKSO BIONICS INC

    发明人： ZOSS ADAM ,  EVANS JONATHAN ,  SANDLER REUBEN ,  HARDING NATHAN ,  JULIN AARON ,  LUBIN JAMES ,  HEANUE TAYLOR ,  FAIRBANKS DYLAN ,  STRYKER JAMES

    IPC分类号： A61H1/02 ,  A61H3/00 ,  B25J9/00

    CPC分类号： A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/0107 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  B25J9/0006

    摘要： An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

    摘要翻译： 外骨骼可以在飞行中重新配置，调整和/或控制，利用分为三类的装置，特别是包括可切换的未致动腿，可锁定的横向和冠状髋关节旋转以及软件控制的自由关节。 更具体地，第一装置允许创建模块化关节系统，其中可以改变或交换单个外骨骼关节或四肢以优化特定使用者的外骨骼。 第二装置涉及机械控制，例如锁定和解锁接合，从而允许例如外骨骼腿在未致动的轴线上枢转或不枢转。 第三装置允许使用软件在飞行中调节致动的外骨骼关节以模拟自由旋转的关节。 各种装置可以单独使用或组合使用，以使得能够适当地重新配置任何给定的外骨骼，例如当患者在治疗期间前进时。