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。

公开(公告)号：US12226336B2

公开(公告)日：2025-02-18

申请号：US16969937

申请日：2019-02-15

Applicant: President and Fellows of Harvard College

Inventor： Ignacio Galiana Bujanda ,  Conor J. Walsh ,  Michael T. Rouleau ,  Jinwon Chung ,  Tim-Fabian Moser ,  Ye Ding ,  Danielle L. Nathanson ,  Nicolas Menard

IPC: A61F5/02 ,  A61F5/01 ,  B25J9/00

Abstract: Wearable devices protect against musculoskeletal injuries and enhance performance. Systems and methods provide wearable devices to assist with human motion during physical activities, such as performing movements (e.g., lifting) and holding static poses (e.g., crouching, or holding a tool while working overhead). Materials, constructions, and system architectures allow the wearable devices to be worn over, under, or integrated into clothing for extended periods of time to improve performance or reduce risk of injury. Sensors may be included in the wearable devices to detect various activities, motions, and postures of the wearer, and various active and semi-active controls approaches may leverage sensor information to provide tailored assistance to individual users. Various controls optimization techniques ensure the wearable devices operate at peak efficiency.

公开(公告)号：US11498203B2

公开(公告)日：2022-11-15

申请号：US16317845

申请日：2017-07-15

Applicant: President and Fellows of Harvard College

Inventor： Ye Ding ,  Ignacio Galiana Bujanda ,  Jinsoo Kim ,  Myunghee Kim ,  Scott Kuindersma ,  Sangjun Lee ,  Kathleen E. O'Donnell ,  Christopher J. Siviy ,  Conor J. Walsh

IPC: B25J9/16 ,  G05B19/042 ,  B25J9/00

Abstract: A wearable system includes an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the wearer and the exosuit or exoskeleton, and/or an operation of the exosuit or exoskeleton; and a controller(s) configured to: actuate the actuator(s) according to an actuation profile(s), evaluate the objective function based on the information measured by the at least one sensor to determine a resulting change in the objective function, adjust a parameter(s) of the actuation profile(s) based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the actuation parameter(s) for maximizing or minimizing the objective function. Wearable systems configured to assist or promote an improvement in the wearer's gait and optimized using a gradient descent or Bayesian approach.

公开(公告)号：US11458064B2

公开(公告)日：2022-10-04

申请号：US16538746

申请日：2019-08-12

Applicant: President and Fellows of Harvard College

Inventor： Alan Thomas Asbeck ,  Ye Ding ,  Ignacio Galiana Bujanda ,  Sangjun Lee ,  Diana Wagner ,  Conor J. Walsh

IPC: A61H3/00 ,  A61F5/01 ,  A61H1/02

Abstract: Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.

公开(公告)号：US20180008502A1

公开(公告)日：2018-01-11

申请号：US15511894

申请日：2015-09-19

Applicant: President and Fellows of Harvard College

Inventor： Alan T. Asbeck ,  Ye Ding ,  Ignacio Galiana Bujanda ,  Sangjun Lee ,  Diana A. Wagner ,  Conor J. Walsh

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61F5/01 ,  A61H1/0262 ,  A61H1/0266 ,  A61H2003/007 ,  A61H2201/165 ,  A61H2201/1659 ,  A61H2201/1695 ,  A61H2201/501 ,  A61H2201/503 ,  A61H2201/5038 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2205/106

Abstract: Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.