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公开(公告)号：US11819428B2
公开(公告)日：2023-11-21
申请号：US17663610
申请日：2022-05-16
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Minerva P. Pillai , Wayne Yi-Wei Tung
IPC: A61H3/00 , A61F2/70 , B25J17/00 , A61F2/64 , A61F5/01 , B25J9/00 , B25J9/10 , A61F2/68 , A61F2/50 , A61F2/76 , A61F2/74
CPC classification number: A61F2/70 , A61F2/64 , A61F5/0125 , A61F5/0127 , A61H3/00 , B25J9/0006 , B25J9/106 , B25J17/00 , A61F2/74 , A61F2002/5006 , A61F2002/5073 , A61F2002/6854 , A61F2002/701 , A61F2002/704 , A61F2002/764 , A61F2002/7625 , A61F2002/7645 , A61F2005/0155 , A61F2005/0158 , A61F2005/0169 , A61H2205/102
Abstract: A robotic joint comprises a first link, a middle link, a torque generator, a second link, and a locking mechanism. Different ends of the middle link are rotatably coupled to the first link and the second link. The torque generator is coupled to the first link and the middle link and is configured to produce torque between these links. The locking mechanism is switchable between a locking state and an unlocking state. In the unlocking state, the locking mechanism allows free rotation of the second link relative to the middle link in the first and second rotation directions. In the locking state, the locking mechanism is configured to impede rotation of the second link relative to the middle link in the first rotation direction and to allow rotation of the second link relative to the middle link in the second rotation direction opposite of the first rotation direction.
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公开(公告)号：US11684536B2
公开(公告)日：2023-06-27
申请号：US16189809
申请日：2018-11-13
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Mimi Parker , Lace Co Ting Keh
CPC classification number: A61H3/008 , A61F2/70 , A61H3/00 , A61H3/04 , B25J9/0006 , A61F2002/701 , A61F2002/704 , A61H2003/007 , A61H2201/0161 , A61H2201/0192 , A61H2201/163 , A61H2201/165 , A61H2201/1616 , A61H2201/1642 , A61H2201/1652
Abstract: A fall prevention device configured to be coupled to a person and comprising a mechanical torso configured to be coupled to the person's torso and a mechanical structure configurable to be coupled to the mechanical torso from its first end. The mechanical structure and mechanical torso resist forces at least along one direction to maintain their posture relative to each other. In operation the second end of the mechanical structure is positioned behind the person and substantially close to the ground. When the second end of the mechanical structure contacts the ground, contact points of legs of the person on the ground and contact points of the second end of the mechanical structure outline a multi-sided polygon on the ground. If the vertical projection of the center of gravity of the person to the ground intersects the ground within the multi-sided polygon, the person and fall prevention device remain stable.
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公开(公告)号：US20220273469A1
公开(公告)日：2022-09-01
申请号：US17663610
申请日：2022-05-16
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Minerva P. Pillai , Wayne Yi-Wei Tung
Abstract: A robotic joint comprises a first link, a middle link, a torque generator, a second link, and a locking mechanism. Different ends of the middle link are rotatably coupled to the first link and the second link. The torque generator is coupled to the first link and the middle link and is configured to produce torque between these links. The locking mechanism is switchable between a locking state and an unlocking state. In the unlocking state, the locking mechanism allows free rotation of the second link relative to the middle link in the first and second rotation directions. In the locking state, the locking mechanism is configured to impede rotation of the second link relative to the middle link in the first rotation direction and to allow rotation of the second link relative to the middle link in the second rotation direction opposite of the first rotation direction.
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公开(公告)号：US11369494B2
公开(公告)日：2022-06-28
申请号：US15631553
申请日：2017-06-23
Applicant: The Regents of the University of California
Inventor： Homayoon Kazerooni , Minerva V. Pillai , Wayne Yi-Wei Tung
IPC: A61H3/00 , A61F2/70 , B25J17/00 , A61F2/64 , A61F5/01 , B25J9/00 , B25J9/10 , A61F2/68 , A61F2/50 , A61F2/76 , A61F2/74
Abstract: A robotic joint includes a first link, a middle link, a torque generator, a second link, and a locking mechanism. Different ends of the middle link are rotatably coupled to the first link and the second link. The torque generator is coupled to the first link and the middle link and is configured to produce a torque between these links. The locking mechanism is switchable between a locking state and an unlocking state. In the unlocking state, the locking mechanism allows free rotation of the second link relative to the middle link in the first and second rotation directions. In the locking state, the locking mechanism is configured to impede rotation of the second link relative to the middle link in the first rotation direction and to allow rotation of the second link relative to the middle link in the second rotation direction opposite of the first rotation direction.
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公开(公告)号：US11096854B2
公开(公告)日：2021-08-24
申请号：US15797060
申请日：2017-10-30
Inventor： Homayoon Kazerooni , Katherine Strausser , Adam Zoss , Tim Swift
Abstract: A system and method by which movements desired by a user of a lower extremity orthotic is determined and a control system automatically regulates the sequential operation of powered lower extremity orthotic components to enable the user, having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid.
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Patent Agency Ranking
公开(公告)号：US10994409B2
公开(公告)日：2021-05-04
申请号：US16997742
申请日：2020-08-19
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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公开(公告)号：US10682249B2
公开(公告)日：2020-06-16
申请号：US14641039
申请日：2015-03-06
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Homayoon Kazerooni , Wayne Tung , Don Jin Hyun , Stephen McKinley , Yoon Jung Jeong
Abstract: An exoskeleton (100) adapted to be coupled to a lower extremity of a person includes a thigh link (102), a shank link (104) and a knee joint (106) allowing flexion and extension between the thigh and shank links (102, 104). A torque generator (156) connected to the knee joint (106) includes a wrap spring (110) having a first end (112) coupled to the thigh link (102), and a second end (118) coupled to an electric actuator (116) capable of selectively positioning the second end (118) of the wrap spring (110). A controller (120) causes the electric actuator (116) to position the wrap spring (110) to provide a selective torque between the thigh and shank links (102, 104) based on a signal (212, 214, 216) produced by a sensor (164, 166, 168).
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公开(公告)号：US20190321965A1
公开(公告)日：2019-10-24
申请号：US16455899
申请日：2019-06-28
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
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公开(公告)号：US10369690B2
公开(公告)日：2019-08-06
申请号：US16157417
申请日：2018-10-11
Applicant: The Regents of the University of California
Inventor： Logan Van Engelhoven , Homayoon Kazerooni
Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.
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公开(公告)号：US10357392B2
公开(公告)日：2019-07-23
申请号：US14704901
申请日：2015-05-05
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
IPC: A61F5/02
Abstract: An exoskeleton (100) includes two torque generators (116, 118), two thigh links (104,106), and a supporting trunk (112) rotatably coupled to the thigh links (104, 106). When a wearer bends forward in the sagittal plane such that the supporting trunk (112) extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators (116, 118) imposes a resisting torque between the supporting trunk (112) and a corresponding thigh link (104, 106), thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton (100) may include an active or passive means (116, 134) for actuating the torque generators (116, 118). When the supporting trunk (112) does not extend beyond the predetermined angle A, the torque generators (116, 118) do not impose resisting torques between the supporting trunk (112) and the thigh links (104, 106) during the entire range of motion of the thigh links (104, 106), thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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