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公开(公告)号：US11766350B2
公开(公告)日：2023-09-26
申请号：US16156702
申请日：2018-10-10
Applicant: The Regents of the University of California
Inventor： Shangli Wu , Homayoon Kazerooni
CPC classification number: A61F5/0125 , A61F2/644 , A61F5/0123 , A61H1/024 , A61H1/0244 , A61H3/00 , B25J9/0006 , A61F2002/5043 , A61F2002/5072 , A61F2002/5079 , A61F2005/0165 , A61F2005/0179 , A61H2201/0192 , A61H2201/164 , A61H2201/165 , A61H2201/1642 , A61H2201/1671 , A61H2201/5007 , A61H2201/5053 , A61H2201/5069 , A61H2203/0406 , A61H2205/10 , A61H2205/102 , A61H2205/12
Abstract: An artificial knee is configured to be worn by a person. Artificial knees include a thigh link configured to move in unison with a thigh of the person, and a shank link configured to be coupled to the thigh link. Artificial knees include a compression spring coupled to the thigh link at a first end of the compression spring, the compression spring configured to be coupled to the shank link at a second end of the compression spring. The compression spring is configured to provide an extension torque between the thigh link and the shank link during a first range of motion of the thigh link and the shank link relative to each other. The compression spring is configured to provide a flexion torque between the thigh link and the shank link during a second range of motion of the thigh link and the shank link relative to each other.
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公开(公告)号：US10786896B2
公开(公告)日：2020-09-29
申请号：US16834647
申请日：2020-03-30
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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公开(公告)号：US10709633B2
公开(公告)日：2020-07-14
申请号：US16197129
申请日：2018-11-20
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Nicholas J. Errico , Katherine Marie Fearing , Wayne Yi-Wei Tung
Abstract: A coupling device couples a walker to a torso orthosis which is coupled to a person. The coupling device includes an orthosis coupling member coupled to said torso orthosis, a walker coupling member coupled to said walker, and a mechanism coupled to the orthosis coupling member from its first end and to the walker coupling member from its second end. The mechanism constrains said orthosis coupling member to move along a free line. The torso orthosis is worn by the person and said coupling device is coupled to both said walker and said torso orthosis. The person may be walking along a moving direction not parallel with said free line. The mechanism forces said walker and torso orthosis to move along said moving direction and allows said torso orthosis to move freely along said free line when said moving direction is not parallel with said free line.
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公开(公告)号：US20190143503A1
公开(公告)日：2019-05-16
申请号：US16242875
申请日：2019-01-08
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
CPC classification number: B25J9/0006 , B25H1/10 , B65H1/10
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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公开(公告)号：US20190142682A1
公开(公告)日：2019-05-16
申请号：US16243942
申请日：2019-01-09
Applicant: The Regents of the University of California
Inventor： Wayne Yi-Wey Tung , Nathan Poon , Theerapat Yangyuenthanasan , Homayoon Kazerooni
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
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Patent Agency Ranking
公开(公告)号：US20190105190A1
公开(公告)日：2019-04-11
申请号：US16156702
申请日：2018-10-10
Applicant: The Regents of the University of California
Inventor： Shangli WU , Homayoon Kazerooni
Abstract: An artificial knee is configured to be worn by a person. Artificial knees include a thigh link configured to move in unison with a thigh of the person, and a shank link configured to be coupled to the thigh link. Artificial knees include a compression spring coupled to the thigh link at a first end of the compression spring, the compression spring configured to be coupled to the shank link at a second end of the compression spring. The compression spring is configured to provide an extension torque between the thigh link and the shank link during a first range of motion of the thigh link and the shank link relative to each other. The compression spring is configured to provide a flexion torque between the thigh link and the shank link during a second range of motion of the thigh link and the shank link relative to each other.
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公开(公告)号：US10039685B2
公开(公告)日：2018-08-07
申请号：US15190946
申请日：2016-06-23
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Shang-Li Wu , Homayoon Kazerooni
CPC classification number: A61H1/0262 , A61F2/64 , A61F2/68 , A61F5/0123 , A61F5/0127 , A61F2005/0155 , A61F2005/0158 , A61H1/024 , A61H1/0244 , A61H3/00 , A61H2201/1207 , A61H2201/1246 , A61H2201/149 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676
Abstract: A passive artificial knee comprises first and second links rotatably coupled at a knee joint, a passive compressive force generator rotatably coupled to the second link, and a release mechanism coupled to the first link. When a relative angle of the first and second links is less than a toggle angle, the release mechanism locks in a first operational mode, and the force generator compresses, resisting the flexing of the second link relative to the first link. When the relative angle is larger than the toggle angle, the force generator decompresses and encourages the flexion of said second link relative to said first link. When the force generator is substantially extended and said compressive force is substantially small, the release mechanism moves into a second operational mode, wherein the force generator neither resists nor encourages the extension and flexion of said second link from said first link.
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公开(公告)号：US20180111263A1
公开(公告)日：2018-04-26
申请号：US15848487
申请日：2017-12-20
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
CPC classification number: B25J9/0006 , B25H1/10 , B65H1/10
Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.
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公开(公告)号：US09889554B2
公开(公告)日：2018-02-13
申请号：US15158113
申请日：2016-05-18
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
CPC classification number: B25J9/0006 , B25H1/10 , B65H1/10
Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the user's arm.
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公开(公告)号：US20170196712A1
公开(公告)日：2017-07-13
申请号：US15469201
申请日：2017-03-24
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Erich Hacker , Lee-Huang Chen
Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.
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