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    TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE
    1.
    发明申请
    TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE 审中-公开

    公开(公告)号：US20170196712A1

    公开(公告)日：2017-07-13

    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

    IPC: A61F2/68 ,  A61F5/02

    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.

    Trunk supporting exoskeleton and method of use
    3.
    发明授权
    Trunk supporting exoskeleton and method of use 有权

    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

    IPC: A61F5/02 ,  A61F2/70 ,  A61F2/68 ,  A61F5/01 ,  A61F2/50

    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.

    MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS
    4.
    发明申请
    MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS 审中-公开

    公开(公告)号：US20200061810A9

    公开(公告)日：2020-02-27

    申请号：US15774112

    申请日：2016-11-10

    Applicant: The Regents of the University of California

    Inventor： Lee-Huang Chen ,  Azhar Khaderi ,  Alexander Y. Lim ,  Kyunam Kim ,  Deaho Moon ,  Peadar Keegan ,  Alice M. Agogino ,  Adrian Agogino

    IPC: B25J9/10 ,  B62D57/02

    Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.

    TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE
    6.
    发明申请
    TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE 有权

    公开(公告)号：US20210007875A1

    公开(公告)日：2021-01-14

    申请号：US17038328

    申请日：2020-09-30

    Applicant: The Regents of the University of California

    Inventor： Homayoon Kazerooni ,  Erich Hacker ,  Lee-Huang Chen

    IPC: A61F5/02 ,  A61F2/70 ,  A61F2/68

    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.

    MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS
    7.
    发明申请
    MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS 审中-公开

    公开(公告)号：US20180326577A1

    公开(公告)日：2018-11-15

    申请号：US15774112

    申请日：2015-11-10

    Applicant: The Regents of the University of California

    Inventor： Lee-Huang Chen ,  Azhar Khaderi ,  Alexander Y. Lim ,  Kyunam Kim ,  Deaho Moon ,  Peadar Keegan ,  Alice M. Agogino ,  Adrian Agogino

    IPC: B25J9/10 ,  B62D57/02

    Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.

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