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公开(公告)号：US09060883B2
公开(公告)日：2015-06-23
申请号：US13417949
申请日：2012-03-12
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F2002/6664 , A61F2002/6809 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625
摘要： In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
摘要翻译： 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。
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22.发明申请CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME 审中-公开根据预测的跑步速度或同步进行预测控制功率公开(公告)号：US20110295384A1
公开(公告)日：2011-12-01
申请号：US13079564
申请日：2011-04-04
申请人： Hugh M. Herr , Richard J. Casler , Zhixiu Han , Chris Barnhart , Gary Girzon
发明人： Hugh M. Herr , Richard J. Casler , Zhixiu Han , Chris Barnhart , Gary Girzon
CPC分类号： A61F2/70 , A61F2/6607 , A61F2/68 , A61F5/0127 , A61F2002/5003 , A61F2002/5007 , A61F2002/5018 , A61F2002/503 , A61F2002/5033 , A61F2002/607 , A61F2002/6685 , A61F2002/701 , A61F2002/704 , A61F2002/745 , A61F2002/7625 , A61F2002/7635 , A61F2002/7645 , A61F2002/7695 , A61F2005/0155
摘要： In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.
摘要翻译： 在假肢或矫形踝/脚的一些实施例中，预测在即将到来的步骤中步行速度将是什么。 当预测的步行速度慢时，该装置的特性随后被修改，使得在该步骤期间执行的较少的网络工作（与预测步行速度快的时间相比）。 这可以使用可以预测步行速度的一个传感器和可以确定踝扭矩的第二传感器来实现。 控制器接收来自这些传感器的输入，并控制电机的转矩，使慢行走速度的转矩低于快速行走速度的转矩。 这减少了执行器在步态周期中执行的工作以及在步态循环期间传递的峰值执行器功率。 在一些实施例中，串联弹性元件与可以驱动脚踝的马达串联连接，并且至少一个传感器设置有可以确定串联弹性元件偏转的输出。 控制器基于输出确定期望的转矩，并且基于所确定的期望转矩来控制电动机的转矩。
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公开(公告)号：US20110040216A1
公开(公告)日：2011-02-17
申请号：US12859765
申请日：2010-08-19
申请人： Hugh M. Herr , Conor Walsh , Daniel Joseph Paluska , Andrew Valiente , Kenneth Pasch , William Grand
发明人： Hugh M. Herr , Conor Walsh , Daniel Joseph Paluska , Andrew Valiente , Kenneth Pasch , William Grand
IPC分类号： A61H1/00
CPC分类号： A61F2/68 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/6607 , A61F5/0102 , A61F2002/5003 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5073 , A61F2002/5075 , A61F2002/5093 , A61F2002/607 , A61F2002/6614 , A61F2002/6818 , A61F2002/6845 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/7695 , B25J9/0006 , B25J19/0008 , B62D57/032
摘要： An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and exoskeleton leg structures, each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee, and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and the human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking.
摘要翻译： 由用户佩戴的外骨骼由围绕使用者的腰部的刚性骨盆线束和外骨骼腿结构组成，每个骨骼腿结构沿着人类使用者的腿部之一向下延伸。 腿部结构包括通过可调节长度的大腿和胫骨构件连接的髋关节，膝盖和踝关节。 将大腿结构附接到骨盆线束的髋关节包括被动弹簧或主动致动器，以帮助相对于用户在其上行走的地面提升外骨骼和人类使用者，并且推动外骨骼和人类使用者 前锋。 可控制的阻尼器在步行循环期间的可控制时间操作地阻止膝关节的运动，并且位于脚踝和脚部构件的弹簧在行走期间存储和释放能量。
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公开(公告)号：US07799091B2
公开(公告)日：2010-09-21
申请号：US11868941
申请日：2007-10-08
申请人： Hugh M. Herr , Ari Wilkenfeld , Olaf Bleck
发明人： Hugh M. Herr , Ari Wilkenfeld , Olaf Bleck
CPC分类号： F16F9/535 , A61B5/1038 , A61B5/4528 , A61F2/64 , A61F2/68 , A61F2002/5003 , A61F2002/5004 , A61F2002/6818 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/7645
摘要： The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.
摘要翻译： 本发明涉及用于膝关节假体的自动化速度适应和患者自适应控制方案和系统。 控制方案和系统使用在假体局部测量的感觉信息，以便在各种各样的运动活动下自动调节对特定佩戴者的姿态和摆动相位耐力。 有利的是，假肢或患者不需要将患者特定的信息预编程到假膝盖中。 一旦患者离开假肢的设施，该系统能够适应各种类型的干扰，因为它是患者适应性和速度适应性的。
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公开(公告)号：US07279009B2
公开(公告)日：2007-10-09
申请号：US10646097
申请日：2003-08-22
申请人： Hugh M. Herr , Ari Wilkenfeld , Olaf Bleck
发明人： Hugh M. Herr , Ari Wilkenfeld , Olaf Bleck
CPC分类号： F16F9/535 , A61B5/1038 , A61B5/4528 , A61F2/64 , A61F2/68 , A61F2002/5003 , A61F2002/5004 , A61F2002/6818 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/7645
摘要： The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.
摘要翻译： 本发明涉及用于膝关节假体的自动化速度适应和患者自适应控制方案和系统。 控制方案和系统使用在假体局部测量的感觉信息，以便在各种各样的运动活动下自动调节对特定佩戴者的姿态和摆动相位耐力。 有利的是，假肢或患者不需要将患者特定的信息预编程到假膝盖中。 一旦患者离开假肢的设施，该系统能够适应各种类型的干扰，因为它是患者适应性和速度适应性的。
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公开(公告)号：US06610101B2
公开(公告)日：2003-08-26
申请号：US09823931
申请日：2001-03-29
申请人： Hugh M. Herr , Ari Wilkenfeld , Olaf Bleck
发明人： Hugh M. Herr , Ari Wilkenfeld , Olaf Bleck
IPC分类号： A61F264
CPC分类号： F16F9/535 , A61B5/1038 , A61B5/4528 , A61F2/64 , A61F2/68 , A61F2002/5003 , A61F2002/5004 , A61F2002/6818 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/7645
摘要： The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.
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公开(公告)号：US6029374A
公开(公告)日：2000-02-29
申请号：US864467
申请日：1997-05-28
申请人： Hugh M. Herr , Rustem Igor Gamow
发明人： Hugh M. Herr , Rustem Igor Gamow
CPC分类号： A43B5/06 , A43B13/183 , A43B13/203 , A43B21/30 , A61F2/66 , A61F2002/5003 , A61F2002/501 , A61F2002/503 , A61F2002/5055 , A61F2002/5072 , A61F2002/6621 , A61F2002/6642 , A61F2002/665 , A61F2002/6657 , A61F2002/6664 , A61F2002/6671 , A61F2250/0018
摘要： A midsole system for a running shoe or foot prosthesis have a sole spring, a heel spring and/or a forefoot spring stores energy of foot impact and releases it during the running cycle. A preferred embodiment provides bending beam sole systems for shoes or foot prostheses comprising a bending beam heel spring, a bending beam forefoot spring, a two coupled spring sole system, and a three coupled spring sole system. The sole systems of this invention maximize stability, cushioning, and walking or running economy.
摘要翻译： 用于跑步鞋或脚假体的中底系统具有唯一的弹簧，脚后跟弹簧和/或前脚掌弹簧储存足部冲击的能量并在运行周期中释放它。 优选的实施例提供了用于鞋或脚假体的弯梁单体系统，其包括弯曲梁脚跟弹簧，弯曲梁前脚弹簧，两个联接的弹簧鞋底系统和三个联接的弹簧鞋底系统。 本发明的唯一系统使稳定性，缓冲和步行或经济运行最大化。
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公开(公告)号：US09687377B2
公开(公告)日：2017-06-27
申请号：US13356230
申请日：2012-01-23
申请人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, Jr.
发明人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, Jr.
CPC分类号： A61F5/0125 , A61H1/024 , A61H3/00 , A61H2003/001 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5064 , A61H2201/5084 , A61H2201/5097 , A61H2205/10 , A61H2205/102
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
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公开(公告)号：US20160296348A1
公开(公告)日：2016-10-13
申请号：US15095616
申请日：2016-04-11
申请人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexaner S. Margolin , Kristen J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timonthy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
发明人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexaner S. Margolin , Kristen J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timonthy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
IPC分类号： A61F2/66
CPC分类号： A61F2/68 , A61F2/60 , A61F2/6607 , A61F2/72 , A61F2002/5003 , A61F2002/5007 , A61F2002/5018 , A61F2002/503 , A61F2002/5033 , A61F2002/5079 , A61F2002/5087 , A61F2002/6614 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/7665 , A61F2005/0155 , A61H3/00 , A61H2003/001 , B25J9/0006 , G01L5/0028 , G01L5/0061 , G01P21/00 , H02K7/06 , H02K7/116
摘要： Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
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公开(公告)号：US08512415B2
公开(公告)日：2013-08-20
申请号：US12157727
申请日：2008-06-12
申请人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
发明人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
CPC分类号： A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008
摘要： A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.
摘要翻译： 一种动力踝关节假体，与常规的被动弹性假体相比，能够在终端立场提供类似人的力量，增加截肢者代谢性行走经济。 动力假体包括与具有串联弹性的力可控致动器平行配置的单向弹簧。 控制假体以提供在正常人行走中观察到的高机械力和净正功。
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