公开(公告)号：US20160030272A1

公开(公告)日：2016-02-04

申请号：US14774556

申请日：2014-03-12

Applicant: EKSO BIONICS, INC.

Inventor： Russdon Angold ,  Reuben Sandler ,  Robert Moore

IPC: A61H3/00 ,  A61F2/70

CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F2002/701 ,  A61F2005/0183 ,  A61H1/024 ,  A61H1/0244 ,  A61H2201/0103 ,  A61H2201/0173 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2230/625 ,  A61H2230/805

Abstract: A gait orthotic device, such as a powered exoskeleton, includes at least one joint; at least one actuator configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface or object; and a controller. The controller is configured to determine when a fall is occurring and direct the actuator to: orient the device so the cushioning mechanism makes contact with the surface or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work. The cushioning mechanism can take various forms, including an airbag, a spring, a bumper, a roll bar or a kickstand. Preferably, the cushioning mechanism is an airbag in the form of an airbag module that is detachably coupled to the device for removal and replacement.

Abstract translation: 步态矫正装置，例如动力外骨骼，包括至少一个关节; 至少一个致动器构造成使得所述装置在所述接头处的移动; 耦合到所述装置的缓冲机构，用于在与表面或物体的冲击期间吸收能量或扩展力; 和控制器。 控制器被配置为确定何时发生跌落并且引导致动器：使装置定向，使得缓冲机构在坠落期间与表面或物体接触; 或者通过执行正接合工作来减少设备在秋季期间的动能。 缓冲机构可以采取各种形式，包括气囊，弹簧，保险杠，滚动杆或支架。 优选地，缓冲机构是安全气囊模块形式的安全气囊，其可拆卸地联接到所述装置用于移除和更换。

公开(公告)号：US10694948B2

公开(公告)日：2020-06-30

申请号：US15566146

申请日：2016-04-14

Applicant: Ekso Bionics, Inc.

Inventor： Reuben Sandler ,  Katherine Strausser ,  Mark Fiedler ,  Kurt Amundson ,  Dan Brown ,  Renata Smith ,  Matthew D Sweeney ,  Russdon Angold ,  Niel McCaffrey ,  Duane Edmonds ,  Chris Meadows ,  Jared Jones ,  Kelly Mettler

IPC: A61B5/00 ,  A61H3/00 ,  G08C17/00 ,  A61H1/02 ,  A61B5/11 ,  A61B5/22 ,  G08C17/02 ,  A61H3/02 ,  A61H3/04 ,  A61B5/0402 ,  A61B5/145 ,  A61B5/0476 ,  A61B5/01

Abstract: A first exoskeleton is in communication with a central server or a peripheral device. The first exoskeleton collects first data and transmits the first data to the central server or peripheral device. The central server or peripheral device generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

公开(公告)号：US10391016B2

公开(公告)日：2019-08-27

申请号：US14776406

申请日：2014-03-12

Applicant: Ekso Bionics, Inc.

Inventor： Reuben Sandler ,  Kurt Amundson ,  James Stryker ,  Katherine Strausser ,  Adam Zoss ,  Tim Swift

IPC: A61H3/00 ,  A61F5/01 ,  A61B5/11 ,  A61B5/00

Abstract: An exoskeleton includes a control system which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist and/or to an exoskeleton user. The feedback system can take various forms, including employing sensors to establish a feedback ready value and communicating the value through one or more light sources which can be in close proximity to joints of the exoskeleton joints.

公开(公告)号：US10327975B2

公开(公告)日：2019-06-25

申请号：US14649822

申请日：2013-12-11

Applicant: Ekso Bionics, Inc.

Inventor： Adam Zoss ,  Jonathan Evans ,  Reuben Sandler ,  Nathan Harding ,  Aaron Julin ,  James Lubin ,  Taylor Heanue ,  Dylan Fairbanks ,  James Stryker

IPC: A61H1/02 ,  A61H3/00 ,  B25J9/00

Abstract: 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.

公开(公告)号：US09662261B2

公开(公告)日：2017-05-30

申请号：US14157052

申请日：2014-01-16

Applicant: Ekso Bionics, Inc.

Inventor： Aaron Julin ,  Reuben Sandler ,  Tom Smith ,  Adam Zoss

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/0262 ,  A61H2201/0173 ,  A61H2201/1616 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/50

Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.

公开(公告)号：US20140200491A1

公开(公告)日：2014-07-17

申请号：US14157052

申请日：2014-01-16

Applicant: Ekso Bionics, Inc.

Inventor： Aaron Julin ,  Reuben Sandler ,  Tom Smith ,  Adam Zoss

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H1/0262 ,  A61H2201/0173 ,  A61H2201/1616 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/50

Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.

Abstract translation: 矫正系统包括一个控制器，一个关节和一个用于关节的故障安全系统。 在优选实施例中，矫形系统是外骨骼，关节是膝关节，并且故障保护系统是由控制器控制的正常啮合的制动器。 控制器出现故障或外骨骼关闭时，制动器接合。 外骨骼还包括与控制器分离的电气或机械制动器分离机构，使得外骨骼使用者可以在需要时脱离制动器。 外骨骼还可以包括超控机构，当外骨骼通电并且控制器未发生故障时，防止制动器分离机构发挥作用。 此外，外骨骼可以包括在一个位置处的用户界面，其中制动器分离机构位于不同的有限的进入位置，使得用户不能意外地启动制动器分离机构。