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公开(公告)号：US20230390087A1
公开(公告)日：2023-12-07
申请号：US18250189
申请日：2021-10-21
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Cameron Roy Taylor , Seong Ho Yeon , Michael Thomas Nawrot
CPC classification number: A61F2/70 , A61B5/062 , A61B5/1107 , A61B5/224 , A61B5/4523 , A61B5/4528 , A61B5/6811 , A61B2560/0223 , A61F2002/704
Abstract: Systems and methods relating to magnetomicrometry and magnetic-target-based mechanomyography are provided. A method of detecting muscle activation, includes with a magnetic field sensor, detecting lateral vibration of a target implanted at a muscle or a tendon and estimating a level of muscle activation based on the detected lateral vibration. The target comprises a magnetic material.
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公开(公告)号：US20220257389A1
公开(公告)日：2022-08-18
申请号：US17647320
申请日：2022-01-06
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Roman Stolyarov , Luke M. Mooney , Cameron Taylor , Matthew Carney
IPC: A61F2/70 , A61B5/11 , A61B5/00 , A61F2/64 , A61F2/66 , A61F5/01 , A61H3/00 , B25J9/00 , A61F2/68 , A61F2/60
Abstract: An autonomous wearable leg device employs an array of sensors embedded along a support area, whereby a controller can generate a controlling command and send a controlling command to a prosthetic, orthotic, exoskeletal or wearable component to thereby control the prosthetic, orthotic, exoskeletal or wearable component. A method for controlling autonomous wearable device collects kinetic signals from an array of sensors embedded in a prosthetic, orthotic or exoskeletal component, wherein all values are extracted from at least one feature of the collected kinetic signals, which are applied to a controller that generates a controlling command that is sent to the prosthetic, orthotic exoskeletal component to thereby control the prosthetic, orthotic or exoskeletal component during a portion of a gait cycle.
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公开(公告)号：US11278433B2
公开(公告)日：2022-03-22
申请号：US16182298
申请日：2018-11-06
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Jeff A. Weber , Kwok Wai Samuel Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
Abstract: 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.
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14.发明授权公开(公告)号：US11273060B2
公开(公告)日：2022-03-15
申请号：US16458421
申请日：2019-07-01
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Kwok Wai Samuel Au , Daniel Joseph Paluska , Peter Dilworth
IPC: A61F2/68 , A61F2/70 , A61F2/66 , A61F2/60 , B25J19/00 , B62D57/032 , A61F2/50 , A61F2/64 , A61F2/76
Abstract: 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.
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15.发明授权公开(公告)号：US10588759B2
公开(公告)日：2020-03-17
申请号：US15098725
申请日：2016-04-14
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Daniel Joseph Paluska , Peter Dilworth
IPC: A61F2/64 , A61F2/68 , A61F2/60 , A61F2/66 , B25J19/00 , B62D57/032 , A61F2/70 , A61F2/50 , A61F2/76
Abstract: It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.
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Patent Agency Ranking
16.发明授权公开(公告)号：US10342681B2
公开(公告)日：2019-07-09
申请号：US15091895
申请日：2016-04-06
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Kwok Wai Samuel Au , Daniel Joseph Paluska , Peter Dilworth
IPC: A61F2/66 , A61F2/68 , A61F2/60 , B25J19/00 , B62D57/032 , A61F2/64 , A61F2/50 , A61F2/70 , A61F2/76
Abstract: 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.
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公开(公告)号：US20190175365A1
公开(公告)日：2019-06-13
申请号：US16182298
申请日：2018-11-06
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Jeff A. Weber , Kwok Wai Samuel Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
Abstract: 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.
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18.发明申请公开(公告)号：US20190021883A1
公开(公告)日：2019-01-24
申请号：US16068531
申请日：2017-01-06
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Tyler Clites , Benjamin Maimon , Anthony Zorzos , Matthew J. Carty , Jean-Francois Duval
Abstract: Proprioceptive feedback is provided in a residual limb of a person that includes forming a linkage between a pair of agonist and antagonist muscles, forming a sliding surface over which the agonist and antagonist muscles slide. The sliding surface can include a synovial sleeve, a bridge formed between the distal ends of bones, or a fixture that is osseointegrated into the bone. The invention also includes a system for transdermal electrical communication in a person that includes a percutaneous access device, a sensory device that communicates signals between a muscle and the percutaneous device, and a stimulation device in communication with the percutaneous access device. In another embodiment, a closed-loop functional stimulation system restores lost functionality to a person that suffers from impairment of a neurological control system or at least partial loss of a limb.
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公开(公告)号：US20150051710A1
公开(公告)日：2015-02-19
申请号：US14520091
申请日：2014-10-21
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Hartmut Geyer , Michael Frederick Eilenbeg
CPC classification number: 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
Abstract: 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 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.
Abstract translation: 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，其被配置为命令仿生模拟 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：US20140088729A1
公开(公告)日：2014-03-27
申请号：US13970094
申请日：2013-08-19
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Jeff A. Weber , Kwok Wai Samuel Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
IPC: A61F2/66
CPC classification number: 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
Abstract: 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.
Abstract translation: 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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