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公开(公告)号：US20100324699A1
公开(公告)日：2010-12-23
申请号：US12698128
申请日：2010-02-01
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F5/0123 , A61F5/0127 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/741 , A61F2002/745 , A61F2002/747 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2005/0155 , B25J9/0006 , B25J9/1075 , B25J9/1633 , G06F19/00 , G16H50/50
摘要： A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetric torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.
摘要翻译： 用于具有至少一个关节的机器人肢体的基于模型的神经机械控制器包括有限状态机，其被配置为接收与所述机器人肢体的状态相关的反馈数据并且确定所述机器人肢体的状态，所述肌肉模型处理器被配置为接收 来自有限状态机的状态信息，以及使用肌肉几何和反射架构信息和神经肌肉模型来确定要发送到机器人肢体的至少一个期望的关节扭矩或刚度命令;以及联合命令处理器，其被配置为命令生物测量 在机器人肢体关节处由肌肉模型处理器确定的扭矩和刚度。 反馈数据优选地由安装在机器人肢体的每个关节处的至少一个传感器提供。 在优选实施例中，机器人肢体是腿部，并且有限状态机器与腿部步态周期同步。
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公开(公告)号：US08864846B2
公开(公告)日：2014-10-21
申请号：US12698128
申请日：2010-02-01
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F5/0123 , A61F5/0127 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/741 , A61F2002/745 , A61F2002/747 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2005/0155 , B25J9/0006 , B25J9/1075 , B25J9/1633 , G06F19/00 , G16H50/50
摘要： A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle tendon lever arm and muscle tendon length equations and reflex control equations in a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.
摘要翻译： 用于具有至少一个关节的机器人肢体的基于模型的神经机械控制器包括有限状态机，其被配置为接收与所述机器人肢体的状态相关的反馈数据并且确定所述机器人肢体的状态，所述肌肉模型处理器被配置为接收 来自有限状态机的状态信息，以及在神经肌肉模型中使用肌腱杠杆臂和肌腱长度方程和反射控制方程来确定要发送到机器人肢体的至少一个期望的关节扭矩或刚度命令，以及关节 命令处理器被配置为命令在机器人肢体关节处由肌肉模型处理器确定的仿生扭矩和刚度。 反馈数据优选地由安装在机器人肢体的每个关节处的至少一个传感器提供。 在优选实施例中，机器人肢体是腿部，并且有限状态机器与腿部步态周期同步。
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公开(公告)号：US08870967B2
公开(公告)日：2014-10-28
申请号：US12608627
申请日：2009-10-29
申请人： Hugh M. Herr , Lee Harris Magnusson , Ken Endo
发明人： Hugh M. Herr , Lee Harris Magnusson , Ken Endo
IPC分类号： A61F2/70 , A61F2/64 , A61F2/66 , A61F5/00 , A61F2/60 , A61F2/68 , B62D57/032 , B25J19/00 , A61F2/50 , A61F2/76 , A61F2/72 , A61F2/74
CPC分类号： A61F2/64 , A61F2/60 , A61F2/605 , A61F2/6607 , A61F2/68 , A61F2/72 , A61F2002/5003 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6657 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/741 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要： Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.
摘要翻译： 像生物肢体和关节一样表现的人造四肢和关节采用合成执行器，当施加零力时消耗能量可忽略的功率，当输出恒定长度（等距）的力时消耗可忽略的功率，并且在执行耗散的非保守性工作时，能够独立地接合屈曲 延伸腱状串联弹簧能够独立地改变关节位置和刚度，并且利用系列弹性进行机械功率放大。
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公开(公告)号：US08500823B2
公开(公告)日：2013-08-06
申请号：US12697894
申请日：2010-02-01
IPC分类号： A61F2/62
CPC分类号： A61F2/64 , A61F2/6607 , A61F2/68 , A61F2/72 , A61F2002/5003 , A61F2002/5075 , A61F2002/6657 , A61F2002/701 , A61F2002/704 , A61F2002/741 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/7645 , B62D57/032
摘要： A knee prosthesis comprises an agonist-antagonist arrangement of two series-elastic actuators in parallel, including a knee joint, flexion and extension actuators connected to the joint in parallel with a leg member, and a controller for independently energizing the actuators to control the movement of the knee joint and leg. The flexion actuator comprises the series combination of a flexion motor and a flexion elastic element and the extension actuator comprises the series combination of an extension motor and an extension elastic element. Sensors provide feedback to the controller. The flexion actuator and the extension actuator may be unidirectional, with the flexion and extension elastic elements being series springs. The extension actuator may alternatively be bidirectional, with the extension elastic element being a set of pre-compressed series springs. Alternatively, the flexion elastic element may be a non-linear softening spring and the extension elastic element may be a non-linear hardening spring.
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公开(公告)号：US20120283845A1
公开(公告)日：2012-11-08
申请号：US13417949
申请日：2012-03-12
IPC分类号： A61F2/70
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F2002/6664 , A61F2002/6809 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625
摘要： In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
摘要翻译： 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。
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6.发明申请Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components 审中-公开具有弹簧，可变阻尼和串联弹性致动器部件的人造踝足系统公开(公告)号：US20120209405A1
公开(公告)日：2012-08-16
申请号：US13348570
申请日：2012-01-11
IPC分类号： A61F2/66
CPC分类号： A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/5006 , A61F2002/503 , A61F2002/5033 , A61F2002/5073 , A61F2002/5075 , A61F2002/5079 , A61F2002/509 , A61F2002/6657 , A61F2002/6678 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要： An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.
摘要翻译： 人造足部和踝关节由具有脚跟末端和脚趾末端的弯曲的板簧构件组成，以及弹性弹性脚踝构件，其连接足部件以在踝关节处转动。 致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。 带状离合器防止脚构件在一个方向上旋转超过预定极限位置。 采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和感应机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器电动机和可控制的阻尼器。
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公开(公告)号：USRE42903E1
公开(公告)日：2011-11-08
申请号：US11490508
申请日：2006-07-20
IPC分类号： A61F2/48
CPC分类号： F16F9/535 , A61F2/5046 , A61F2/64 , A61F2/68 , A61F2/70 , A61F2/80 , A61F2002/5003 , A61F2002/5004 , A61F2002/5016 , A61F2002/5043 , A61F2002/607 , A61F2002/6614 , A61F2002/6863 , A61F2002/704 , A61F2002/74 , A61F2210/009 , A61F2250/0034
摘要： The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.
摘要翻译： 本发明涉及一种可变扭矩磁流变动力学假肢膝盖，其利用多个散布的和交替的转子和定子来剪切在其间形成的间隙中的磁流变流体。 有利地，通过在“剪切模式”中操作，基本上没有或可忽略的流体压力积聚或改变。 此外，多个MR流体间隙或磁通界面期望地允许以低速产生大的扭矩 - 消除了对变速器的需要以及宽动态扭矩范围。 本发明的一个实施例允许转子和/或定子闭合它们之间的间隙以产生摩擦转矩分量，由此形成“混合”制动系统，其提供作为粘性转矩和摩擦转矩的组合的总扭矩或阻尼。
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公开(公告)号：US20110257764A1
公开(公告)日：2011-10-20
申请号：US12157727
申请日：2008-06-12
申请人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hoffman , Benjamin B. Aisen
发明人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hoffman , Benjamin B. Aisen
IPC分类号： A61F2/48
CPC分类号： A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008
摘要： A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.
摘要翻译： 一种动力踝关节假体，与常规的被动弹性假体相比，能够在终端立场提供类似人的力量，增加截肢者代谢性行走经济。 动力假体包括与具有串联弹性的力可控致动器平行配置的单向弹簧。 控制假体以提供在正常人行走中观察到的高机械力和净正功。
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公开(公告)号：US20100241242A1
公开(公告)日：2010-09-23
申请号：US12608627
申请日：2009-10-29
申请人： Hugh M. Herr , Lee Harris Magnusson , Ken Endo
发明人： Hugh M. Herr , Lee Harris Magnusson , Ken Endo
IPC分类号： A61F2/48
CPC分类号： A61F2/64 , A61F2/60 , A61F2/605 , A61F2/6607 , A61F2/68 , A61F2/72 , A61F2002/5003 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6657 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/741 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要： Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.
摘要翻译： 像生物肢体和关节一样表现的人造四肢和关节采用合成执行器，当施加零力时消耗能量可忽略的功率，当输出恒定长度（等距）的力时消耗可忽略的功率，并且在执行耗散的非保守性工作时，能够独立地接合屈曲 延伸腱状串联弹簧能够独立地改变关节位置和刚度，并且利用系列弹性进行机械功率放大。
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公开(公告)号：US20100113980A1
公开(公告)日：2010-05-06
申请号：US12552036
申请日：2009-09-01
申请人： Hugh M. Herr , Rick Casler , Zhixiu Han
发明人： Hugh M. Herr , Rick Casler , Zhixiu Han
IPC分类号： A61B5/103
CPC分类号： A61F2/68 , A61F2/60 , A61F2/6607 , A61F2/72 , A61F2002/5003 , A61F2002/5007 , A61F2002/5018 , A61F2002/503 , A61F2002/5033 , A61F2002/5079 , A61F2002/5087 , A61F2002/6614 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/7665 , A61F2005/0155 , A61H3/00 , A61H2003/001 , B25J9/0006 , G01L5/0028 , G01L5/0061 , G01P21/00 , H02K7/06 , H02K7/116
摘要： Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
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