公开(公告)号：US11173054B2

公开(公告)日：2021-11-16

申请号：US16502914

申请日：2019-07-03

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

IPC: A61F2/70 ,  A61F2/60 ,  A61F2/64 ,  A61F2/76 ,  A61F2/66

Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

公开(公告)号：US10959862B2

公开(公告)日：2021-03-30

申请号：US16173519

申请日：2018-10-29

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Jason Mitchell ,  Huseyin Atakan Varol ,  Brian Lawson ,  Don Truex

IPC: A61F2/60 ,  A61F2/68 ,  A61F2/70 ,  G01L1/22 ,  A61F2/66 ,  A61F2/76 ,  G01L1/14 ,  A61F2/64

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

公开(公告)号：US10925754B2

公开(公告)日：2021-02-23

申请号：US16475332

申请日：2018-01-16

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Harrison Bartlett ,  Brian Lawson

IPC: F15B1/02 ,  A61F2/68 ,  A61F2/66 ,  A61F2/70 ,  F15B11/10 ,  F15B15/08 ,  F15B15/14 ,  F15B15/20 ,  F16H25/20 ,  A61F2/74

Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

公开(公告)号：US20170100264A1

公开(公告)日：2017-04-13

申请号：US15054381

申请日：2016-02-26

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Brian Lawson

IPC: A61F2/64 ,  A61F2/68 ,  A61F2/66

CPC classification number: A61F2/64 ,  A61F2/60 ,  A61F2/6607 ,  A61F2/68 ,  A61F2002/5083 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7615 ,  A61F2002/7635 ,  A61F2002/7685

Abstract: Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.