-
公开(公告)号：US20070290180A1
公开(公告)日：2007-12-20
申请号：US11894884
申请日：2007-08-22
申请人： Homayoon Kazerooni
发明人： Homayoon Kazerooni
IPC分类号： B66D1/50
摘要： A vehicle, configured to transport an object, said vehicle among other components, comprising: a load bearing member; a line; an actuator coupled to said vehicle and adapted for applying a tensile force to said line in response to an actuator command, and disposed and adapted for transmitting at least a portion of said tensile force to said load bearing member; an end-effector mechanically coupled to said line and adapted for transmitting said tensile force and an operator force to said object and for generating an operator input signal; and a controller adapted for generating said actuator command from said operator input signal.
摘要翻译： 一种被配置为运送物体的车辆，所述车辆以及其他部件包括：承载构件; 一条线 耦合到所述车辆并且适于响应于致动器命令向所述线施加拉力的致动器，并且被布置并适于将所述拉力的至少一部分传递到所述承载构件; 机械地耦合到所述线路并且适于将所述拉力和操作者力传递到所述物体并用于产生操作者输入信号的末端执行器; 以及适于从所述操作者输入信号产生所述致动器命令的控制器。
-
公开(公告)号：US20070056592A1
公开(公告)日：2007-03-15
申请号：US11404719
申请日：2006-04-13
CPC分类号： A61H3/00 , A61B5/1038 , A61B5/4528 , A61F5/0102 , A61H1/0237 , A61H1/024 , A61H3/008 , A61H2201/1238 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/163 , A61H2201/1635 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , B25J9/0006
摘要： The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.
摘要翻译： 下肢外骨骼包括可连接到人的下肢并配置为在其姿态阶段休息在地面上的两个腿部支撑。 每个腿支撑件包括大腿连杆和小腿连杆; 膝关节，其构造成允许柄连杆和大腿连杆之间的屈曲和伸展。 下肢外骨骼还包括可连接到人的身体的外骨骼躯干。 外骨骼躯干可连接到腿部支撑的大腿连接部，允许脚部支撑件和外骨骼躯干之间的弯曲和伸展。 两个扭矩发生器联接到每个膝关节。 能够提供动力的动力单元联接到扭矩发生器。 在腿部支撑处于阶梯状态并爬坡或爬坡的情况下，动力单元将动力喷射到相应的扭矩发生器中，从而延伸相应的拐角。 当腿部支架处于阶梯状态而不爬坡或斜坡时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储动力的情况下，迫使扭矩发生器抵抗屈曲 相应的膝关节。 当腿部支撑件处于摆动阶段时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储的功率的情况下，迫使扭矩发生器将其抵抗膝盖的屈曲和伸展最小化。
-
公开(公告)号：US06422329B1
公开(公告)日：2002-07-23
申请号：US09439621
申请日：1999-11-12
申请人： Homayoon Kazerooni , Peter Neubaus
发明人： Homayoon Kazerooni , Peter Neubaus
IPC分类号： B62D5104
CPC分类号： B62D57/032 , B62D51/04 , B62D51/065
摘要： A human assisted walking robot formed by a motor, a cargo bin, a pair of legs mounted to the carrier; and a stabilizing support mounted at its proximal end to the carrier and having a wheel rotatably mounted to the distal end. The motor drives the first and second leg members resulting in a walking motion. Each leg is formed by a thigh link and a shank link. A four-bar linkage is coupled between the motor and the thigh and shank of each leg so that rotational motion generated by the motor produces a walking motion by the legs.
摘要翻译： 由马达，货物仓，安装在托架上的一对腿形成的人造辅助步行机器人; 以及稳定支撑件，其在其近端处安装到所述托架并且具有可旋转地安装到所述远端的轮。 马达驱动第一和第二腿部件，导致行走运动。 每条腿由大腿连接和小腿连杆形成。 电动机和每个腿的大腿和柄之间连接四杆连杆，使得由电动机产生的旋转运动产生腿的步行运动。
-
公开(公告)号：US06299139B1
公开(公告)日：2001-10-09
申请号：US09192795
申请日：1998-11-16
申请人： Homayoon Kazerooni
发明人： Homayoon Kazerooni
IPC分类号： B66D100
摘要： A human power amplifier includes an end-effector which is grasped by a human operator and applied to a load. The end-effector is suspended, via a rope, from a take-up pulley, winch or drum which is driven by an actuator to lift or lower the load. The end-effector includes a force sensor which measures the vertical force imposed on the end-effector by the operator and delivers a signal to a controller. The controller and actuator are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The load thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load. The operator has direct contact with the load (through the end-effector) there need be no switches, valves, keyboards, teach pendents, or pushbuttons in the human power amplifier to control the lifting speed of the load.
摘要翻译： 人力功率放大器包括由人操作者掌握并应用于负载的端部执行器。 末端执行器通过绳索从由执行器驱动的卷取滑轮，绞盘或滚筒悬挂以提升或降低负载。 末端执行器包括力传感器，其测量由操作者施加在末端执行器上的垂直力，并将信号传递给控制器。 控制器和致动器被构造成使得由执行器施加提升或降低负载所需的力的预定百分比，其余的力由操作者提供。 因此，负载对于操作者来说感觉更轻，但是操作者不会失去起源于负载的重力和惯性力的感觉。 操作员与负载（通过末端执行器）直接接触，人力放大器中不需要开关，阀门，键盘，示教器或按钮来控制负载的提升速度。
-
公开(公告)号：US4775289A
公开(公告)日：1988-10-04
申请号：US100929
申请日：1987-09-25
申请人： Homayoon Kazerooni
发明人： Homayoon Kazerooni
CPC分类号： B23Q11/0021 , B25J19/0008 , B25J9/0012 , B25J9/04 , B25J9/1065 , Y10S414/13 , Y10S700/90
摘要： A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes of two of which intersect at the center of gravity of the arm to eliminate gravity forces on the drive system without counterweights.
摘要翻译： 机器人（10）包括具有三个自由度的静态平衡的直接驱动臂（14），所有这些都是独立的铰接驱动接头，其中两个的驱动轴在臂的重心处相交以消除 驱动系统上没有配重的重力。
-
公开(公告)号：US09655762B2
公开(公告)日：2017-05-23
申请号：US14125117
申请日：2012-06-11
申请人： Homayoon Kazerooni , Erich Hacker , Lee-Huang Chen
发明人： Homayoon Kazerooni , Erich Hacker , Lee-Huang Chen
CPC分类号： A61F2/68 , A61F5/02 , A61F5/026 , A61F5/028 , A61F2002/5038 , A61F2002/5039 , A61F2005/016 , A61F2005/0169 , A61F2005/0179 , A61F2005/0188
摘要： 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.
-
公开(公告)号：US09158376B2
公开(公告)日：2015-10-13
申请号：US14291101
申请日：2014-05-30
申请人： Homayoon Kazerooni , Yoon Jung Jeong , Kyunam Kim
发明人： Homayoon Kazerooni , Yoon Jung Jeong , Kyunam Kim
CPC分类号： G06F3/014 , A61F4/00 , A61H1/00 , A61H1/024 , A61H1/0244 , A61H1/0262 , A61H3/00 , A61H2201/1635 , A61H2201/165 , A61H2201/1652 , A61H2201/5007 , A61H2201/5035 , A61H2201/5043 , A61H2201/5048 , A61H2201/5061 , A61H2201/5097 , A61H2203/0406 , B25J9/0006 , G05B15/02 , G05B2219/40305 , G06F3/011
摘要： An input device for commanding an exoskeleton worn by a person, adapted to be coupled to the person, the input device comprising: at least one signal generator adapted to be coupled to the user's finger capable of generating at least one electric signal when said one signal generator gets contacted and, an input device controller adapted to be coupled to the user's body capable of receiving and processing at least one signal and transmitting a command signal to the exoskeleton.
摘要翻译： 一种输入设备，用于命令人适合与人联系的外骨骼，所述输入设备包括：至少一个信号发生器，适于在所述一个信号上与所述用户手指耦合，以产生至少一个电信号 生成器被接触，并且适于耦合到用户身体的输入设备控制器能够接收和处理至少一个信号并向外骨骼传送命令信号。
-
公开(公告)号：US20130303950A1
公开(公告)日：2013-11-14
申请号：US13639984
申请日：2011-04-08
申请人： Russdon Angold , Adam Zoss , Homayoon Kazerooni , Jon Burns , Kurt Amundson , Nathan Harding
发明人： Russdon Angold , Adam Zoss , Homayoon Kazerooni , Jon Burns , Kurt Amundson , Nathan Harding
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61H3/008 , A61H2003/002 , A61H2201/1207 , A61H2201/5023 , A61H2203/0406 , B25J9/0006 , B66D3/18
摘要： An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.
摘要翻译： 可配置为耦合到人的外骨骼包括连接到相应髋关节处的第一和第二腿部支撑件的外骨骼躯干，其允许围绕相应髋部轴线的屈曲和伸展。 包括辅助物料的配重装置通过致动器连接到外骨骼躯干，使得辅助物质在外骨骼躯干后面的位置延伸。 外骨骼通过包括负载移动装置的负载支撑装置支撑前部负载，所述负载移动装置用于选择性地操作动力卷轴机构，以相对于外骨骼躯干提升或降低前部负载。 辅助质量可以相对于外骨骼躯干选择性地移动，以平衡由辅助质量围绕髋部轴线产生的力矩以及由承载装置上的负载的向下的力产生的力矩。
-
公开(公告)号：US08070700B2
公开(公告)日：2011-12-06
申请号：US12622362
申请日：2009-11-19
申请人： Homayoon Kazerooni , Jean-Louis Racine , Andrew Chu , Adam Zoss
发明人： Homayoon Kazerooni , Jean-Louis Racine , Andrew Chu , Adam Zoss
IPC分类号： A61F5/00
CPC分类号： A61F5/00 , A61H3/008 , A61H2201/165
摘要： A lower extremity enhancer to be worn by a user includes two leg supports having a plurality of jointed links. Proximal ends of the leg supports are connected to a back frame. Distal ends of the leg supports are connected to two foot links. The leg supports are powered by a plurality of actuators adapted to apply torques to the leg supports in response to movement of the user's legs.
摘要翻译： 用户佩戴的下肢增强器包括具有多个连接连杆的两个腿部支撑件。 腿部支撑件的近端连接到后框架。 腿支撑的远端连接到两个脚连接。 脚部支撑件由多个致动器提供动力，该致动器响应于使用者的腿的移动而将扭矩施加到腿部支撑件。
-
公开(公告)号：US08057410B2
公开(公告)日：2011-11-15
申请号：US11404719
申请日：2006-04-13
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61B5/1038 , A61B5/4528 , A61F5/0102 , A61H1/0237 , A61H1/024 , A61H3/008 , A61H2201/1238 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/163 , A61H2201/1635 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , B25J9/0006
摘要： The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.
摘要翻译： 下肢外骨骼包括可连接到人的下肢并配置为在其姿态阶段休息在地面上的两个腿部支撑。 每个腿支撑件包括大腿连杆和小腿连杆; 膝关节，其构造成允许柄连杆和大腿连杆之间的屈曲和伸展。 下肢外骨骼还包括可连接到人的身体的外骨骼躯干。 外骨骼躯干可连接到腿部支撑的大腿连接部，允许脚部支撑件和外骨骼躯干之间的弯曲和伸展。 两个扭矩发生器联接到每个膝关节。 能够提供动力的动力单元联接到扭矩发生器。 在腿部支撑处于阶梯状态并爬坡或爬坡的情况下，动力单元将动力喷射到相应的扭矩发生器中，从而延伸相应的拐角。 当腿部支架处于阶梯状态而不爬坡或斜坡时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储动力的情况下，迫使扭矩发生器抵抗屈曲 相应的膝关节。 当腿部支撑件处于摆动阶段时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储的功率的情况下，迫使扭矩发生器将其抵抗膝盖的屈曲和伸展最小化。
-
-
-
-
-
-
-
-
-
搜索结果
48 条记录 (耗时 0.016 秒)
