公开(公告)号：US20160107309A1

公开(公告)日：2016-04-21

申请号：US14893934

申请日：2014-05-30

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ye Ding ,  Ignacio Galiana Bujanda ,  Stefano Marco Maria De Rossi

IPC: B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  A61H3/00

Abstract: A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.

Abstract translation: 运动控制系统包括具有致动构件的致动器，所述致动构件具有在接头的第一侧附接到致动器的近端，以及附接到接头第二侧上的锚固件附接点的远端。 第一传感器被配置为输出限定步态循环的信号，并且第二传感器被配置为输出表示所述至少一个致动构件中的张力的信号。 控制器接收来自传感器的输出信号，并且在步态周期的第一部分期间致动致动器，以通过致动构件将大于预定阈值拉力的力施加到锚固元件附接点，以产生有益的时刻 关节并自动启动执行机构。

公开(公告)号：US12036024B2

公开(公告)日：2024-07-16

申请号：US17432528

申请日：2020-02-27

Applicant: President and Fellows of Harvard College

Inventor： Dmitry Popov ,  Michael Karpelson ,  Timothy Walsh ,  Conor Walsh ,  Ryan Gulland ,  Alex Beaudette

IPC: A63B21/00 ,  A61B5/22 ,  A63B21/04 ,  A63B21/055 ,  A63B71/06

CPC classification number: A61B5/224 ,  A63B21/00043 ,  A63B21/00185 ,  A63B21/0442 ,  A63B21/0552 ,  A63B21/4034 ,  A63B21/4035 ,  A61B2505/09 ,  A63B2071/0625 ,  A63B2071/0647 ,  A63B2071/0655 ,  A63B2209/08 ,  A63B2220/72 ,  A63B2220/801 ,  A63B2220/802 ,  A63B2220/803 ,  A63B2220/805 ,  A63B2225/74 ,  A63B2230/06 ,  A63B2230/75

Abstract: A system for quantification of exercise and physical therapy includes an anchoring module and an electronics module. The anchoring module is removably attached to an object (e.g., a flexible resistive band) or equipped with a clamping mechanism for removably securing the object. The anchoring module also includes an anchoring-module coupling fixture. At least one of the modules includes a sensor (e.g., a force sensor) configured to generate a signal representative of a user's performance during exercise or physical therapy; a processor configured to receive signals from the force sensor; a computer storage medium storing software code and in communication with the processor, wherein the software code includes instruction for processing the signals from the force sensor to quantify the performance; and at least one electronics-module coupling fixture configured to secure the electronics module to the anchoring module coupling fixture.

公开(公告)号：US20210039248A1

公开(公告)日：2021-02-11

申请号：US16992298

申请日：2020-08-13

Applicant: President and Fellows of Harvard College

Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ye Ding ,  Ignacio Galiana Bujanda ,  Stefano Marco Maria De Rossi

IPC: B25J9/00 ,  A61H3/00 ,  A63B21/005 ,  A61H1/02 ,  G09B19/00 ,  A61B5/11 ,  A61B5/00 ,  B25J9/10 ,  B25J9/16

Abstract: In one aspect, a motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the first and second sensors and, responsive thereto, automatically actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator, during at least a second portion of the gait cycle, to reduce a tensile force at the anchor element attachment point to a level at or below the predetermined threshold tensile force to avoid generating a detrimental moment about the joint.

公开(公告)号：US10788058B2

公开(公告)日：2020-09-29

申请号：US16186823

申请日：2018-11-12

Applicant: President and Fellows of Harvard College

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: F15B15/10 ,  A61H3/00 ,  A61B17/02 ,  A61H1/02 ,  A61B34/00 ,  A61F2/70 ,  A61F2/68 ,  A61B17/00 ,  A61B17/11 ,  A61B90/00 ,  A61F2/74

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

公开(公告)号：US20160252110A1

公开(公告)日：2016-09-01

申请号：US15033270

申请日：2014-10-29

Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE

Inventor： Kevin Galloway ,  Conor Walsh ,  Donal Holland ,  Panagiotis Polygerinos ,  Tyler Clites ,  Paxton Maeder-York ,  Ryan Neff ,  Emily Marie Boggs ,  Zivthan Dubrovsky

IPC: F15B15/10 ,  A61F2/68

CPC classification number: F15B15/10 ,  A61B17/02 ,  A61B17/0218 ,  A61B34/70 ,  A61B2017/00535 ,  A61B2017/00539 ,  A61B2017/0225 ,  A61B2017/1103 ,  A61B2017/1132 ,  A61B2090/065 ,  A61B2090/0807 ,  A61F2/68 ,  A61F2002/74 ,  A61H1/024 ,  A61H1/0288 ,  A61H3/00 ,  A61H2201/1238 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5071 ,  A61H2230/605 ,  F15B15/103

Abstract: A multi-segment reinforced actuator includes (a) a soft actuator body that defines a chamber and (b) a plurality of distinct reinforcement structures on or in respective segments of the soft actuator body. First and second reinforcement structures are respectively configured to produce a first and second actuation motions, respectively, in first and second segments of the soft actuator body when fluid flows into or out of the chamber. The actuation motions are selected bending, extending, expansion, contraction, twisting, and combinations thereof; and the first actuation motion differs from the second actuation motion. The actuator can be used, e.g., to facilitate bending of the thumb with corresponding bending, extending, expansion, contraction, and twisting actuation motions.

Abstract translation: 多段增强致动器包括（a）柔性致动器主体，其限定腔室和（b）柔性致动器主体的相应部分上或其中的多个不同的加强结构。 第一和第二加强结构分别构造成当流体流入或流出腔室时，分别在软致动器主体的第一和第二段中产生第一和第二致动运动。 致动运动被选择为弯曲，延伸，膨胀，收缩，扭转及其组合; 并且第一致动运动与第二致动运动不同。 可以使用致动器，例如，以便于拇指以相应的弯曲，延伸，膨胀，收缩和扭转致动运动弯曲。

公开(公告)号：US20160220438A1

公开(公告)日：2016-08-04

申请号：US15097744

申请日：2016-04-13

Applicant: President and Fellows of Harvard College

Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ignacio Galiana Bujanda ,  Ye Ding ,  Robert Joseph Dyer ,  Arnar Freyr Larusson ,  Brandan Thomas Quinlivan ,  Kai Schmidt ,  Diana Wagner ,  Michael Wehner

IPC: A61H3/00 ,  A63B21/04 ,  A61F2/68

CPC classification number: B25J9/0006 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1481 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/60 ,  A61H2230/605

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

公开(公告)号：US09351900B2

公开(公告)日：2016-05-31

申请号：US14371675

申请日：2013-09-17

Applicant: President and Fellows of Harvard College

Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ignacio Galiana Bujanda ,  Ye Ding ,  Robert Joseph Dyer ,  Arnar Freyr Larusson ,  Brendan Thomas Quinlivan ,  Kai Schmidt ,  Diana Wagner ,  Michael Wehner

IPC: A61H3/00 ,  A61H1/02 ,  F03G7/08

CPC classification number: A61H3/00 ,  A61F2/68 ,  A61F2002/745 ,  A61F2002/747 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1481 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/60 ,  A61H2230/605 ,  A63B21/0414 ,  B25J9/0006 ,  F03G7/08

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

Abstract translation: 在至少一个方面，提供了一种用于产生围绕一个或多个关节的力的系统，包括具有多个锚定元件的软质外套和设置在多个锚定元件之间的至少一个连接元件。 所述系统还包括至少一个传感器，用于确定所述至少一个连接元件或所述多个锚定元件中的至少一个的力，并且输出与所述力相关的信号，所述至少一个致动器被配置成改变所述软性外旋中的张力 以及至少一个控制器，被配置为接收从所述至少一个传感器输出的信号并响应于所接收的信号致动所述至少一个致动器。

公开(公告)号：US20150321339A1

公开(公告)日：2015-11-12

申请号：US14660704

申请日：2015-03-17

Applicant: President and Fellows of Harvard College

Inventor： Alan Thomas Asbeck ,  Ignacio Galiana Bujanda ,  Ye Ding ,  Robert Joseph Dyer ,  Arnar Freyr Larusson ,  Brendan Thomas Quinlivan ,  Kai Schmidt ,  Diana Wagner ,  Conor Walsh ,  Michael Wehner

IPC: B25J9/00

CPC classification number: B25J9/0006 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1481 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/60 ,  A61H2230/605

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

Abstract translation: 在至少一个方面，提供了一种用于产生围绕一个或多个关节的力的系统，包括具有多个锚定元件的软质外套和设置在多个锚定元件之间的至少一个连接元件。 所述系统还包括至少一个传感器，用于确定所述至少一个连接元件或所述多个锚定元件中的至少一个的力，并且输出与所述力相关的信号，所述至少一个致动器被配置成改变所述软性外旋中的张力 以及至少一个控制器，被配置为接收从所述至少一个传感器输出的信号并响应于所接收的信号致动所述至少一个致动器。