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公开(公告)号：US08801641B2
公开(公告)日：2014-08-12
申请号：US12922918
申请日：2009-07-23
CPC分类号： A61H3/008 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2003/002 , A61H2201/0165 , A61H2201/1215 , A61H2201/1238 , A61H2201/1246 , A61H2201/1614 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5051 , A61H2201/5056 , A61H2201/5061 , A61H2201/5071 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
摘要翻译： 可配置为耦合到人的下肢外骨骼包括可配置为联接到人的下肢的两个腿部支撑件，可配置为联接到人的上身的外骨骼躯干，其可旋转地连接到人的下肢的大腿连杆 腿部支撑件允许腿部支撑件和外骨骼躯干之间的弯曲和伸展，配置成在外骨骼躯干和腿部支撑件之间产生扭矩的两个髋部致动器以及能够向髋部致动器提供动力的至少一个动力单元，其中功率 单元构造成使摆动阶段的腿部支撑件的髋部致动器产生扭矩分布，使得在摆动阶段的至少一部分期间来自外骨骼腿的力支撑在人的下肢上是在人的方向 下肢摆动速度。
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公开(公告)号：US20110266323A1
公开(公告)日：2011-11-03
申请号：US13139933
申请日：2009-12-17
申请人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
发明人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
IPC分类号： A45F3/00
CPC分类号： B25J9/0006
摘要： An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
摘要翻译： 被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿支撑件。 髋扭矩发生器在外骨骼躯干和各支腿支撑之间延伸。 优选地，负载保持机构可旋转地联接到外骨骼躯干，所述外骨骼躯干被配置为支撑人的前方的负载。 在使用中，髋扭矩发生器在姿态相位之间在外骨骼躯干和相应腿支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干与姿态中的第一和第二腿支撑之一之间产生第一扭矩 相对于在外骨骼上产生的由负载的重量产生的第二扭矩。 负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。
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公开(公告)号：US20110105966A1
公开(公告)日：2011-05-05
申请号：US12922918
申请日：2009-07-23
IPC分类号： A61H1/02
CPC分类号： A61H3/008 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2003/002 , A61H2201/0165 , A61H2201/1215 , A61H2201/1238 , A61H2201/1246 , A61H2201/1614 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5051 , A61H2201/5056 , A61H2201/5061 , A61H2201/5071 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
摘要翻译： 可配置为耦合到人的下肢外骨骼包括可配置为联接到人的下肢的两个腿部支撑件，可配置为联接到人的上身的外骨骼躯干，其可旋转地连接到人的下肢的大腿连杆 腿部支撑件允许腿部支撑件和外骨骼躯干之间的弯曲和伸展，配置成在外骨骼躯干和腿部支撑件之间产生扭矩的两个髋部致动器以及能够向髋部致动器提供动力的至少一个动力单元，其中功率 单元构造成使摆动阶段的腿部支撑件的髋部致动器产生扭矩分布，使得在摆动阶段的至少一部分期间来自外骨骼腿的力支撑在人的下肢上是在人的方向 下肢摆动速度。
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公开(公告)号：US20130303950A1
公开(公告)日：2013-11-14
申请号：US13639984
申请日：2011-04-08
申请人： Russdon Angold , Adam Zoss , Homayoon Kazerooni , Jon Burns , Kurt Amundson , Nathan Harding
发明人： Russdon Angold , Adam Zoss , Homayoon Kazerooni , Jon Burns , Kurt Amundson , Nathan Harding
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61H3/008 , A61H2003/002 , A61H2201/1207 , A61H2201/5023 , A61H2203/0406 , B25J9/0006 , B66D3/18
摘要： An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.
摘要翻译： 可配置为耦合到人的外骨骼包括连接到相应髋关节处的第一和第二腿部支撑件的外骨骼躯干，其允许围绕相应髋部轴线的屈曲和伸展。 包括辅助物料的配重装置通过致动器连接到外骨骼躯干，使得辅助物质在外骨骼躯干后面的位置延伸。 外骨骼通过包括负载移动装置的负载支撑装置支撑前部负载，所述负载移动装置用于选择性地操作动力卷轴机构，以相对于外骨骼躯干提升或降低前部负载。 辅助质量可以相对于外骨骼躯干选择性地移动，以平衡由辅助质量围绕髋部轴线产生的力矩以及由承载装置上的负载的向下的力产生的力矩。
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5.发明授权Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton 有权通过使用下肢外骨骼降低人的能量消耗的装置和方法公开(公告)号：US08945028B2
公开(公告)日：2015-02-03
申请号：US12468595
申请日：2009-05-19
CPC分类号： A61H3/00 , A61H3/008 , A61H3/061 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.
摘要翻译： 可配置为耦合到人的下肢外骨骼包括：腿部支撑件，其可配置为联接到人的下肢并设计成在姿态阶段期间搁置在地面上，每个腿部支撑件具有大腿连杆和小腿连杆; 两个膝关节，每个被配置为允许在相应的柄和大腿连接之间弯曲和延伸; 外骨骼躯干，其可配置为联接到人的上身，可旋转地连接到腿支撑件的大腿连杆，允许脚支撑件和外骨骼躯干之间的弯曲和伸展; 两个髋部致动器被配置成在外骨骼躯干和腿部支撑之间产生扭矩; 以及能够向髋部致动器提供动力的至少一个动力单元。 在使用中，向臀部致动器供电，其量可以减少在行走周期期间用户消耗的能量。
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6.发明授权Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton 有权通过使用负载外骨骼在稳定步行期间减少人的氧消耗的装置和方法公开(公告)号：US08894592B2
公开(公告)日：2014-11-25
申请号：US12468487
申请日：2009-05-19
CPC分类号： B25J9/0006 , A61F5/0102 , A61H3/008
摘要： A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
摘要翻译： 下肢外骨骼包括：至少一个动力单元; 两腿支撑设计在地面上; 两个膝关节构造成允许在腿部支撑件的相应的柄部和大腿连接部之间弯曲和延伸; 可拆卸地连接到腿支撑的外骨骼躯干; 以及两个髋部致动器，其构造成在外骨骼躯干和腿部支撑件之间产生扭矩。 在使用中，臀部执行器在姿态阶段期间产生相对于外骨骼躯干向后移动腿部支撑的力矩，其将外骨骼躯干向前推动。 可以使用第二扭矩来将腿支撑件相对于外骨骼躯干向前移动到摆动阶段。 此外，在摆动阶段期间可能产生摆动扭矩，以使脚部支撑件相对于外骨骼躯干向前移动。 这导致佩戴外骨骼的使用者的氧气消耗和心率降低。
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7.发明申请Device and Method for Decreasing Oxygen Consumption of a Person During Steady Walking by Use of a Load-Carrying Exoskeleton 有权通过使用负载携带骨骼在稳定行走期间减少人的氧气消耗的装置和方法公开(公告)号：US20100094185A1
公开(公告)日：2010-04-15
申请号：US12468487
申请日：2009-05-19
CPC分类号： B25J9/0006 , A61F5/0102 , A61H3/008
摘要： A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
摘要翻译： 下肢外骨骼包括：至少一个动力单元; 两腿支撑设计在地面上; 两个膝关节构造成允许在腿部支撑件的相应的柄部和大腿连接部之间弯曲和延伸; 可拆卸地连接到腿支撑的外骨骼躯干; 以及两个髋部致动器，其构造成在外骨骼躯干和腿部支撑件之间产生扭矩。 在使用中，臀部执行器在姿态阶段期间产生相对于外骨骼躯干向后移动腿部支撑的力矩，其将外骨骼躯干向前推动。 可以使用第二扭矩来将腿支撑件相对于外骨骼躯干向前移动到摆动阶段。 此外，在摆动阶段期间可能产生摆动扭矩，以使脚部支撑件相对于外骨骼躯干向前移动。 这导致佩戴外骨骼的使用者的氧气消耗和心率降低。
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8.发明申请Device and Method for Decreasing Energy Consumption of a Person by Use of a Lower Extremity Exoskeleton 有权通过使用下肢外骨骼降低人员的能量消耗的装置和方法公开(公告)号：US20090292369A1
公开(公告)日：2009-11-26
申请号：US12468595
申请日：2009-05-19
IPC分类号： A61F2/74
CPC分类号： A61H3/00 , A61H3/008 , A61H3/061 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.
摘要翻译： 可配置为耦合到人的下肢外骨骼包括：腿部支撑件，其可配置为联接到人的下肢并设计成在姿态阶段期间搁置在地面上，每个腿部支撑件具有大腿连杆和小腿连杆; 两个膝关节，每个被配置为允许在相应的柄和大腿连接之间弯曲和延伸; 外骨骼躯干，其可配置为联接到人的上身，可旋转地连接到腿支撑件的大腿连杆，允许脚支撑件和外骨骼躯干之间的弯曲和伸展; 两个髋部致动器被配置成在外骨骼躯干和腿部支撑之间产生扭矩; 以及能够向髋部致动器提供动力的至少一个动力单元。 在使用中，向臀部致动器供电，其量可以减少在行走周期期间用户消耗的能量。
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公开(公告)号：US08968222B2
公开(公告)日：2015-03-03
申请号：US13139933
申请日：2009-12-17
申请人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
发明人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
CPC分类号： B25J9/0006
摘要： An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
摘要翻译： 被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿支撑件。 髋扭矩发生器在外骨骼躯干和各支腿支撑之间延伸。 优选地，负载保持机构可旋转地联接到外骨骼躯干，所述外骨骼躯干被配置为支撑人的前方的负载。 在使用中，髋扭矩发生器在姿态相位之间在外骨骼躯干和相应腿支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干与姿态中的第一和第二腿支撑之一之间产生第一扭矩 相对于在外骨骼上产生的由负载的重量产生的第二扭矩。 负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。
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公开(公告)号：US08231688B2
公开(公告)日：2012-07-31
申请号：US12457573
申请日：2009-06-16
申请人： Dylan Miller Fairbanks , Adam Brian Zoss , Minerva Vasudevan Pillai , Miclas Schwartz , Nathan Harding , Matthew Rosa , Bram Gilbert Antoon Lambrecht , Sebastian Kruse , Homayoon Kazerooni
发明人： Dylan Miller Fairbanks , Adam Brian Zoss , Minerva Vasudevan Pillai , Miclas Schwartz , Nathan Harding , Matthew Rosa , Bram Gilbert Antoon Lambrecht , Sebastian Kruse , Homayoon Kazerooni
CPC分类号： A61F2/64 , A61F2/68 , A61F2/80 , A61F2002/30359 , A61F2002/701 , A61F2002/704 , A61F2002/741 , A61F2002/744 , A61F2002/745 , A61F2002/748 , A61F2002/7625 , A61F2002/7635 , A61F2002/7645 , A61F2220/0033
摘要： A semi-actuated above knee prosthetic system, which is mostly passive in nature and includes a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link attached to an above-knee remaining lower limb of an amputee, is operable in either an actuated mode or an un-actuated mode controlled by a signal processor linked to various prosthetic mounted sensors which may include combinations of knee angle, stance, thigh angle and shank angle sensors. Power is delivered through an electric motor connected to a battery source and employed to drive a hydraulic pump which is part of an overall hydraulic power unit including the torque generator. A signal processor selects a swing state from at least forward, combination forward and descent, combination forward and ascent, reverse, combination reverse and descent, and combination reverse and ascent swing states.
摘要翻译： 一种半致动的上膝假体系统，其本质上是被动的，并且包括联接到人造足的柄连杆，连接到柄连杆的膝盖机构和连接到截肢者的膝盖下部剩余下肢的大腿连接 可操作在致动模式或由致动模式控制的信号处理器，该信号处理器连接到各种假肢安装的传感器，其可以包括膝盖角度，姿态，大腿角度和柄角度传感器的组合。 电力通过连接到电池源的电动机输送，并用于驱动作为包括扭矩发生器的整个液压动力单元的一部分的液压泵。 信号处理器从至少向前，组合前进和下降，组合前进和上升，反向，组合反向和下降以及组合反向和上升摆动状态中选择摆动状态。
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