公开(公告)号：US11207202B2

公开(公告)日：2021-12-28

申请号：US16804216

申请日：2020-02-28

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Benjamin Gasser ,  Judith Lefkowitz

IPC: A61F5/01 ,  A61H1/02

Abstract: An orthotic device includes an upper arm section for receiving an upper portion of an arm of a subject, a forearm section for receiving a forearm section of the arm, and at least one elbow joint rotatably coupling the upper arm section and the forearm section. In the orthotic device, the forearm section includes a release control operatively coupled to the at least one elbow joint, where the release control is configured to transition the at least one elbow joint from a restricted motion state to a free motion state when the release control is activated.

公开(公告)号：US10792210B2

公开(公告)日：2020-10-06

申请号：US15627959

申请日：2017-06-20

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Ryan J. Farris ,  Hugo A. Quintero

IPC: A61H3/00 ,  A61G7/10 ,  A61N1/04 ,  A61H1/02 ,  A61N1/36 ,  A61G5/14 ,  A61H3/02 ,  A61H3/04

Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

公开(公告)号：US10646358B2

公开(公告)日：2020-05-12

申请号：US13804263

申请日：2013-03-14

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Amanda Shultz ,  Brian Lawson

IPC: A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/70 ,  A61F2/76 ,  A61F2/66 ,  A61F2/50

Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

公开(公告)号：US20190388247A1

公开(公告)日：2019-12-26

申请号：US16502914

申请日：2019-07-03

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

IPC: A61F2/68

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：US10441439B2

公开(公告)日：2019-10-15

申请号：US13832431

申请日：2013-03-15

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

IPC: A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/66 ,  A61F2/70 ,  A61F2/76

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：US10092423B2

公开(公告)日：2018-10-09

申请号：US14929779

申请日：2015-11-02

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Nasser Alshammary ,  Daniel Bennett ,  Skyler Dalley

IPC: A61F2/58 ,  A61F2/70 ,  A61F2/72 ,  A61F2/68 ,  G05B15/02 ,  A61F2/54 ,  A61F2/76

Abstract: A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.

公开(公告)号：US20160242936A1

公开(公告)日：2016-08-25

申请号：US14885151

申请日：2015-10-16

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Huseyin Atakan Varol ,  Frank Charles Sup, IV ,  Jason Mitchell ,  Thomas J. Withrow

IPC: A61F2/60 ,  A61F2/68

CPC classification number: A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/30359 ,  A61F2002/5073 ,  A61F2002/6642 ,  A61F2002/665 ,  A61F2002/6657 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/768 ,  A61F2220/0033

Abstract: A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including an ankle joint and an ankle motor unit to deliver power to the ankle joint, a prosthetic foot coupled to the ankle joint, a plurality of sensors for measuring a real-time input, and controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.

Abstract translation: 一种动力腿假体，其包括具有膝关节的动力膝关节和用于向膝关节递送动力的膝盖电动机单元，联接到膝关节的动力踝关节，包括踝关节和脚踝马达单元以向踝部输送动力 关节，联接到踝关节的假脚，用于测量实时输入的多个传感器，以及用于基于实时输入来控制假体的运动的控制器。 在动力腿假体中，膝关节运动器单元或脚踝马达单元中的至少一个包括至少一个驱动台，其中驱动平台包括用于产生扭矩的旋转元件和固定在旋转元件周围的至少一个环形元件， 用于将扭矩传递到联接到待致动的接头的另一旋转元件。

公开(公告)号：US11666463B2

公开(公告)日：2023-06-06

申请号：US17499287

申请日：2021-10-12

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

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

CPC classification number: A61F2/70 ,  A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635

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：US11534321B2

公开(公告)日：2022-12-27

申请号：US16614935

申请日：2018-05-25

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Benjamin William Gasser ,  Daniel Alvin Bennett

IPC: A61F5/01

Abstract: In one embodiment, the orthotic device can include a powered hand portion, a switching element, and a controller. The wearer can interact with the switching element to generate input signals for adjusting an operation of the powered hand portion. The controller can receive the input signals and generate control signals to accordingly adjust the operation of the powered hand portion. In some embodiments, a powered hand portion can be comprised of a plurality of linkages and at least one powered actuator to assist with an opening and closing of the hand portion. The plurality of linkages can be operated by at least one electric motor with quick-connect elements to link onto fingers of a user. In some embodiments, an electrically-actuated clutch mechanism can be affixed to an upper arm section and a lower arm section of an orthotic device. The clutch mechanism can be configured into different positions.

公开(公告)号：US20220054285A1

公开(公告)日：2022-02-24

申请号：US17499287

申请日：2021-10-12

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

IPC: A61F2/70 ,  A61F2/60

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.