公开(公告)号：US11173054B2

公开(公告)日：2021-11-16

申请号：US16502914

申请日：2019-07-03

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

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

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：US10959862B2

公开(公告)日：2021-03-30

申请号：US16173519

申请日：2018-10-29

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Jason Mitchell ,  Huseyin Atakan Varol ,  Brian Lawson ,  Don Truex

IPC: A61F2/60 ,  A61F2/68 ,  A61F2/70 ,  G01L1/22 ,  A61F2/66 ,  A61F2/76 ,  G01L1/14 ,  A61F2/64

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

公开(公告)号：US10925754B2

公开(公告)日：2021-02-23

申请号：US16475332

申请日：2018-01-16

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Harrison Bartlett ,  Brian Lawson

IPC: F15B1/02 ,  A61F2/68 ,  A61F2/66 ,  A61F2/70 ,  F15B11/10 ,  F15B15/08 ,  F15B15/14 ,  F15B15/20 ,  F16H25/20 ,  A61F2/74

Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.

公开(公告)号：US20210016079A1

公开(公告)日：2021-01-21

申请号：US16965898

申请日：2019-02-11

Applicant: Vanderbilt University

Inventor： Andrew Ekelem ,  Michael Goldfarb

IPC: A61N1/04 ,  A61N1/36 ,  A61G5/06

Abstract: The present disclosure provides various systems and methods for assisting with lower limb movement. An exemplary system can include a plurality of wearable modules and a controller. Each of the plurality of wearable modules can include a stimulator and a sensor. The controller can be configured to detect a desired activity based on data from the sensors on the wearable modules. The controller can be further configured to cause the stimulator to provide electrical stimulation to assist with the desired activity.

公开(公告)号：US20200163787A1

公开(公告)日：2020-05-28

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：US09964125B2

公开(公告)日：2018-05-08

申请号：US14758311

申请日：2013-12-31

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Don Truex

IPC: F15B13/04 ,  F15B13/043 ,  F16K11/07 ,  F15B13/044 ,  F15B21/00 ,  F16K31/06

CPC classification number: F15B13/0431 ,  F15B13/0402 ,  F15B13/044 ,  F15B21/003 ,  F15B2013/0412 ,  F16K11/0704 ,  F16K31/0613 ,  F16K31/0679 ,  Y10T137/86879

Abstract: A double-solenoid directional control valve comprising a valve body and a valve spool within the valve body, where the valve spool is configured to move within the valve body between a first position, a second position and a third position, where the third spool position lies between the first and second spool positions. In certain embodiments, the spool is maintained in the first and third positions by energizing at least a first or a second solenoid actuator, and where the spool is maintained in the second position by de-energizing both solenoid actuators.

公开(公告)号：US09730815B2

公开(公告)日：2017-08-15

申请号：US14929800

申请日：2015-11-02

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Skyler A. Dalley ,  Huseyin Atakan Varol

IPC: A61F2/70 ,  B25J15/00 ,  B25J9/00 ,  B25J9/16 ,  A61F2/72 ,  B25J9/02 ,  A61F2/58 ,  B25J9/10 ,  B25J15/10 ,  A61F2/68 ,  B25J15/08 ,  A61B5/11 ,  A61B5/0488 ,  A61F2/76

CPC classification number: A61F2/70 ,  A61B5/04888 ,  A61B5/11 ,  A61F2/583 ,  A61F2/586 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/587 ,  A61F2002/6872 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  B25J9/0006 ,  B25J9/02 ,  B25J9/10 ,  B25J9/1612 ,  B25J15/0009 ,  B25J15/08 ,  B25J15/10 ,  Y10S901/15

Abstract: A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.

公开(公告)号：US09682006B2

公开(公告)日：2017-06-20

申请号：US14049494

申请日：2013-10-09

Applicant: VANDERBILT UNIVERSITY

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

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

CPC classification number: A61H3/00 ,  A61G5/14 ,  A61G7/1017 ,  A61G7/109 ,  A61G7/1096 ,  A61G2203/36 ,  A61H1/0262 ,  A61H3/02 ,  A61H3/04 ,  A61H2201/10 ,  A61H2201/1215 ,  A61H2201/1463 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5005 ,  A61H2201/5007 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61N1/0452 ,  A61N1/36003

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：US20170100264A1

公开(公告)日：2017-04-13

申请号：US15054381

申请日：2016-02-26

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Brian Lawson

IPC: A61F2/64 ,  A61F2/68 ,  A61F2/66

CPC classification number: A61F2/64 ,  A61F2/60 ,  A61F2/6607 ,  A61F2/68 ,  A61F2002/5083 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7615 ,  A61F2002/7635 ,  A61F2002/7685

Abstract: Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.

公开(公告)号：US20230092096A1

公开(公告)日：2023-03-23

申请号：US18060029

申请日：2022-11-30

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.