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公开(公告)号：US09687377B2
公开(公告)日：2017-06-27
申请号：US13356230
申请日：2012-01-23
申请人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, Jr.
发明人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, Jr.
CPC分类号： A61F5/0125 , A61H1/024 , A61H3/00 , A61H2003/001 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5064 , A61H2201/5084 , A61H2201/5097 , A61H2205/10 , A61H2205/102
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
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公开(公告)号：US08512415B2
公开(公告)日：2013-08-20
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. Hofmann , Benjamin B. Aisen
发明人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
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：US20120259431A1
公开(公告)日：2012-10-11
申请号：US13356230
申请日：2012-01-23
申请人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, JR.
发明人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, JR.
IPC分类号： A61F2/48
CPC分类号： A61F5/0125 , A61H1/024 , A61H3/00 , A61H2003/001 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5064 , A61H2201/5084 , A61H2201/5097 , A61H2205/10 , A61H2205/102
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
摘要翻译： 动力装置在步态周期中增加人的关节功能，使用向关节提供增大扭矩，阻抗或两者的动力致动器。 控制器估计地形坡度并且根据步态周期的相位和估计的地形坡度来调制增加扭矩和阻抗，以提供至少一种仿生响应。 控制器也可以调节关节平衡。 因此，无论速度和地形如何，该装置能够对穿着者的活动进行响应而对人体生物力学功能进行归一化或增强，并且可用于例如膝关节矫形器，假体或外骨骼。
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公开(公告)号：US09839552B2
公开(公告)日：2017-12-12
申请号：US13347443
申请日：2012-01-10
申请人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, Jr.
发明人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, Jr.
CPC分类号： A61F5/0127 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/149 , A61H2201/1647 , A61H2201/165 , A61H2201/5038 , A61H2201/5069 , A61H2201/5084 , A61H2201/5097 , A61H2205/106 , A61H2205/12
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
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公开(公告)号：US20120259429A1
公开(公告)日：2012-10-11
申请号：US13347443
申请日：2012-01-10
申请人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, JR.
发明人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, JR.
IPC分类号： A61F2/48
CPC分类号： A61F5/0127 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/149 , A61H2201/1647 , A61H2201/165 , A61H2201/5038 , A61H2201/5069 , A61H2201/5084 , A61H2201/5097 , A61H2205/106 , A61H2205/12
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
摘要翻译： 动力装置在步态循环期间使用提供增加扭矩，阻抗或两者的动力致动器来增加人的关节功能，所述动力致动器向关节提供增益扭矩，阻抗或两者，以及控制器，所述控制器调制增加扭矩，阻抗和关节平衡， 到步态循环的阶段以提供至少一种仿生反应。 因此，无论速度和地形如何，该装置能够对穿着者的活动进行响应，使人的生物力学功能正常化或增加。
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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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18.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：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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