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公开(公告)号：US12029674B2
公开(公告)日：2024-07-09
申请号：US16375231
申请日：2019-04-04
Applicant: suitX, Inc. , The Regents of the University of California
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
Abstract: An exoskeleton includes two torque generators, thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The torque generators may be active or passive torque generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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公开(公告)号：US11471314B2
公开(公告)日：2022-10-18
申请号：US16360969
申请日：2019-03-21
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
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公开(公告)号：US20200376651A1
公开(公告)日：2020-12-03
申请号：US16997742
申请日：2020-08-19
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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公开(公告)号：US10821017B2
公开(公告)日：2020-11-03
申请号：US15469201
申请日：2017-03-24
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Erich Hacker , Lee-Huang Chen
Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.
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公开(公告)号：US10391627B2
公开(公告)日：2019-08-27
申请号：US16242875
申请日：2019-01-08
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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Patent Agency Ranking
公开(公告)号：US09987151B2
公开(公告)日：2018-06-05
申请号：US15190920
申请日：2016-06-23
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Nicholas Errico , Homayoon Kazerooni , Yoon Jung Jeong
CPC classification number: A61F2/76 , A61F2/605 , A61F2/64 , A61H1/0255 , A61H3/00 , A61H2201/1207 , A61H2201/1454 , A61H2201/1463 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676 , A61H2201/5007
Abstract: A manual apparatus of the present invention enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.
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公开(公告)号：US20180055709A1
公开(公告)日：2018-03-01
申请号：US15797060
申请日：2017-10-30
Inventor： Homayoon Kazerooni , Katherine Strausser , Adam Zoss , Tim Swift
CPC classification number: A61H1/00 , A61H1/024 , A61H1/0244 , A61H3/00 , A61H3/02 , A61H2201/1215 , A61H2201/1616 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5028 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , A61H2201/5092
Abstract: A system and method by which movements desired by a user of a lower extremity orthotic is determined and a control system automatically regulates the sequential operation of powered lower extremity orthotic components to enable the user, having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid.
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公开(公告)号：US12213934B2
公开(公告)日：2025-02-04
申请号：US17208900
申请日：2021-03-22
Applicant: The Regents of the University of California , suitX, Inc.
Inventor： Wayne Tung , Minerva V. Pillai , James Hatch , Homayoon Kazerooni , Theerapat Yangyuenthanasan , Yusuke Maruo , David Cuban
Abstract: An exoskeleton leg is wearable by a person. The exoskeleton includes a thigh link configured to move in unison with the thigh of the person, a shank link rotatably coupled to the thigh link and comprising at least one tooth, and a locking block coupled to the thigh link and comprising a locking face. Moreover, when the at least one tooth of the shank link contacts with the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.
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公开(公告)号：US12202137B2
公开(公告)日：2025-01-21
申请号：US18199177
申请日：2023-05-18
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: Described herein is an arm supporting exoskeleton including a proximal link, a distal link, a torque generator, and a bracket. The distal link is configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link. The torque generator is configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person. The bracket is coupled to one of the proximal link or the distal link. A location of the bracket is adjustable to adjust an effective length of the torque generator to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.
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公开(公告)号：US12048667B2
公开(公告)日：2024-07-30
申请号：US17646326
申请日：2021-12-29
Applicant: suitX, Inc. , The Regents of the University of California
Inventor： Wayne Tung , Minerva Pillai , Homayoon Kazerooni
CPC classification number: A61H3/00 , A61H1/024 , A61H2201/1207 , A61H2201/1246 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2203/0406 , A61H2203/0418 , A61H2205/102
Abstract: A leg support exoskeleton is strapped on as a wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first link and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
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