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    Neuromuscular Model-Based Sensing And Control Paradigm For A Robotic Leg
    21.
    发明申请
    Neuromuscular Model-Based Sensing And Control Paradigm For A Robotic Leg 有权
    一个机器人腿的神经肌肉模型感知和控制范式

    公开(公告)号：US20130310979A1

    公开(公告)日：2013-11-21

    申请号：US13865840

    申请日：2013-04-18

    Applicant: Massachusetts Institute of Technology

    Inventor： Hugh M. Herr ,  Ken Endo ,  Pavitra Krishnaswamy ,  Jared Markowitz ,  Michael Frederick Eilenberg ,  Jing Wang

    IPC: B25J9/16

    CPC classification number: B25J9/1694 ,  B62D57/032 ,  G05B2219/40324 ,  Y10S901/01

    Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

    Abstract translation: 用于具有至少一个关节的机器人肢体的基于神经肌肉模型的控制器包括具有肌肉模型，肌肉几何形状和反射反馈回路的神经肌肉模型，以确定要发送到机器人肢体的至少一个扭矩或阻抗命令。 确定反馈数据与肌肉模型激活之间的关系的一个或多个参数是根据来自内部传感器和外在传感器中的至少一个的感觉数据进行调整的。 与神经肌肉模型通信的控制器被配置为接收至少一个扭矩或阻抗命令并且控制机器人肢体关节的位置，扭矩和阻抗中的至少一个。

    Mechanoneural Interfaces for Prosthetic Control
    24.
    发明申请
    Mechanoneural Interfaces for Prosthetic Control 有权

    公开(公告)号：US20230050411A1

    公开(公告)日：2023-02-16

    申请号：US17759219

    申请日：2021-01-21

    Applicant: Massachusetts Institute of Technology

    Inventor： Hugh M. Herr ,  Hyungeun Song ,  Shriya Sruthi Srinivasan

    IPC: A61F2/68

    Abstract: Mechanoneural Interfaces (MIs) and methods of forming MIs are provided, including cutaneous mechanoneural interfaces (CMIs) and proprioceptive mechanoneural interfaces (PMIs). A CMI includes a device in operative arrangement with a muscle actuator to stimulate muscle contraction, the muscle actuator disposed in a substantially circumferential configuration about a skin flap that includes a native or regenerative neurovascular structure of an amputated body segment. A PMI includes an actuator mechanically linked to a muscle end organ and configured to apply a force to the muscle end organ, the actuator including a synthetic actuator or a biological muscle actuator. The muscle end organ is of an agonist-antagonist muscle pair and can include at least one of a native or regenerative neurovascular structure. CMIs and PMIs can each further include a controller configured to provide a stimulation signal or operate an actuator based on a signal received from a sensor of a prosthetic device.

    Neural efferent and afferent control of spring equilibrium, damping, and power in backdrivable and non-backdrivable series-elastic actuators comprising variable series stiffness mechanisms
    25.
    发明授权
    Neural efferent and afferent control of spring equilibrium, damping, and power in backdrivable and non-backdrivable series-elastic actuators comprising variable series stiffness mechanisms 有权

    公开(公告)号：US11278235B2

    公开(公告)日：2022-03-22

    申请号：US16661483

    申请日：2019-10-23

    Applicant: Massachusetts Institute of Technology

    Inventor： Hugh M. Herr ,  Matthew Eli Carney ,  Emily Ann Rogers ,  Lucy Wei Du

    IPC: A61B5/389 ,  A61B5/00 ,  A61F2/72 ,  G06F3/01 ,  A61F2/64 ,  A61F2/66 ,  A61F2/74

    Abstract: A prosthetic device includes a frame defining an output axis, a cantilever beam spring attached to the frame, a moment arm attached to the spring, and a rigid output arm coupled to the frame and rotatable about the output axis. A connector assembly is configured to apply a moment to the cantilever beam spring via the moment arm while applying a torque about the output axis via the output arm. An ankle-foot device includes foot and ankle members connected for two-degree of freedom movement relative to one another, allowing for rotation about an ankle axis and rotation about a subtalar axis. Two linear actuators, each coupled to corresponding series elastic element, link the foot and ankle members. Driving the actuators in the same direction causes rotation about the ankle axis and driving the actuators in opposing directions causes rotation about the subtalar axis. A processor receives sensory information from a sensor and drives the actuators to control an equilibrium position of the series elastic elements. A rotary actuator for a prosthetic device includes a housing frame, a motor mounted within the housing frame, and a cycloidal drive coupled to the motor within the housing frame. A torsion shaft can extend through the actuator to an output and provide a series elastic element.

    Peripheral Neural Interface Via Nerve Regeneration To Distal Tissues
    26.
    发明申请
    Peripheral Neural Interface Via Nerve Regeneration To Distal Tissues 有权

    公开(公告)号：US20210093470A1

    公开(公告)日：2021-04-01

    申请号：US17120938

    申请日：2020-12-14

    Applicant: Massachusetts Institute of Technology

    Inventor： Hugh M. Herr ,  Ronald R. Riso ,  Katherine W. Song ,  Richard J. Casler, JR. ,  Matthew J. Carty

    IPC: A61F2/72 ,  A61N1/05 ,  A61N1/36 ,  A61F2/68

    Abstract: At least partial function of a human limb is restored by surgically removing at least a portion of an injured or diseased human limb from a surgical site of an individual and transplanting a selected muscle into the remaining biological body of the individual, followed by contacting the transplanted selected muscle, or an associated nerve, with an electrode, to thereby control a device, such as a prosthetic limb, linked to the electrode. Simulating proprioceptive sensory feedback from a device includes mechanically linking at least one pair of agonist and antagonist muscles, wherein a nerve innervates each muscle, and supporting each pair with a support, whereby contraction of the agonist muscle of each pair will cause extension of the paired antagonist muscle. An electrode is implanted in a muscle of each pair and electrically connected to a motor controller of the device, thereby simulating proprioceptive sensory feedback from the device.

    Neuromuscular model-based sensing and control paradigm for a robotic leg
    30.
    发明授权
    Neuromuscular model-based sensing and control paradigm for a robotic leg 有权
    机器人腿的神经肌肉模型感知和控制范式

    公开(公告)号：US09221177B2

    公开(公告)日：2015-12-29

    申请号：US13865840

    申请日：2013-04-18

    Applicant: Massachusetts Institute of Technology

    Inventor： Hugh M. Herr ,  Ken Endo ,  Pavitra Krishnaswamy ,  Jared Markowitz ,  Michael Frederick Eilenberg ,  Jing Wang

    IPC: B25J9/16 ,  B62D57/032

    CPC classification number: B25J9/1694 ,  B62D57/032 ,  G05B2219/40324 ,  Y10S901/01

    Abstract: A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

    Abstract translation: 用于具有至少一个关节的机器人肢体的基于神经肌肉模型的控制器包括具有肌肉模型，肌肉几何形状和反射反馈回路的神经肌肉模型，以确定要发送到机器人肢体的至少一个扭矩或阻抗命令。 确定反馈数据与肌肉模型激活之间的关系的一个或多个参数是根据来自内部传感器和外部传感器中的至少一个的感觉数据进行调整的。 与神经肌肉模型通信的控制器被配置为接收至少一个扭矩或阻抗命令并且控制机器人肢体关节的位置，扭矩和阻抗中的至少一个。

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