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    Prosthetic knee with swing assist
    31.
    发明授权
    Prosthetic knee with swing assist 有权

    公开(公告)号：US11471306B2

    公开(公告)日：2022-10-18

    申请号：US16961723

    申请日：2019-01-25

    Applicant: Vanderbilt University

    Inventor： Michael Goldfarb ,  Almaskhan Baimyshev ,  Harrison Bartlett ,  Jantzen Lee

    IPC: A61F2/64 ,  A61F2/70 ,  A61F2/50 ,  A61F2/74 ,  A61F2/76

    Abstract: The present disclosure provides for a device and method of control for an artificial prosthetic knee. A prosthetic knee according to the present disclosure relies on strictly passive means of providing support during weight bearing and supplements a resistive swing-phase mechanism with a small powered actuator. This actuator adds power to the knee, exclusively during swing phase, to improve swing-phase behavior. In particular, the knee still relies on the resistive swing-phase mechanism to provide nominal swing-phase knee motion, but supplements that motion as needed with the small powered actuator.

    Linear actuator for asymmetric power generation and dissipation
    32.
    发明授权
    Linear actuator for asymmetric power generation and dissipation 有权

    公开(公告)号：US11213408B2

    公开(公告)日：2022-01-04

    申请号：US17144418

    申请日：2021-01-08

    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.

    JOINTED MECHANICAL DEVICES
    33.
    发明申请
    JOINTED MECHANICAL DEVICES 审中-公开

    公开(公告)号：US20190125550A1

    公开(公告)日：2019-05-02

    申请号：US16209474

    申请日：2018-12-04

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael Goldfarb ,  Skyler Dalley ,  Huseyin Atakan Varol ,  Tuomas Wiste

    IPC: A61F2/58 ,  A61F2/72 ,  A61F2/68 ,  A61F2/70 ,  A61F2/76

    Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

    Jointed mechanical devices
    34.
    发明授权
    Jointed mechanical devices 有权

    公开(公告)号：US10172725B2

    公开(公告)日：2019-01-08

    申请号：US15049826

    申请日：2016-02-22

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael Goldfarb ,  Skyler Dalley ,  Huseyin Atakan Varol ,  Tuomas Wiste

    IPC: A61F2/54 ,  A61F2/58 ,  A61F2/68 ,  A61F2/72 ,  A61F2/70 ,  A61F2/76

    Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

    Movement assistance device
    37.
    发明授权
    Movement assistance device 有权
    运动辅助装置

    公开(公告)号：US09566705B2

    公开(公告)日：2017-02-14

    申请号：US14408094

    申请日：2013-06-17

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael Goldfarb ,  Spencer Murray

    IPC: A61H3/00 ,  B25J9/00 ,  A61H1/02 ,  A61F2/72

    CPC classification number: B25J9/0006 ,  A61F2/72 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  Y10S901/28

    Abstract: An exoskeleton for applying force to at least one lower limb of a user includes a control system with a sensor interface for sensor signals; a power interface for transmitting control signals to the powered joint; a processor coupled to the sensor and the power interfaces; and a computer-readable medium storing a computer program executable on the processor with code sections for: estimating a configuration of a body of the user with respect to a gravity vector based on the sensor signals; computing a control torque for the powered joint that compensates gravitational dynamics of the user based on the configuration; calculating a gravitational energy gradient for the powered joint; attenuating the control torque based on the gravitational energy gradient; computing a final control torque based on the attenuated control torque, and configuring the control signals based on the attenuated control torque.

    Abstract translation: 用于向使用者的至少一个下肢施加力的外骨骼包括具有用于传感器信号的传感器接口的控制系统; 用于将控制信号发送到动力接头的电力接口; 耦合到传感器和电源接口的处理器; 以及计算机可读介质，其存储可在所述处理器上执行的代码部分的计算机程序，所述代码部分用于：基于所述传感器信号估计所述用户的身体相对于重力向量的配置; 基于该配置计算用于补偿用户的重力动力学的动力接头的控制扭矩; 计算动力接头的重力能梯度; 基于重力梯度衰减控制扭矩; 基于所述衰减的控制转矩来计算最终控制转矩，以及基于所述衰减的控制转矩构造所述控制信号。

    PARALLELOGRAM LOAD CELL
    38.
    发明申请
    PARALLELOGRAM LOAD CELL 审中-公开
    并联负载电池

    公开(公告)号：US20160287414A1

    公开(公告)日：2016-10-06

    申请号：US15180617

    申请日：2016-06-13

    Applicant: Vanderbilt University

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

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

    CPC classification number: A61F2/70 ,  A61F2/60 ,  A61F2/644 ,  A61F2/66 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/76 ,  A61F2002/6614 ,  A61F2002/6621 ,  A61F2002/6642 ,  A61F2002/6664 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/762 ,  A61F2002/7635 ,  G01L1/142 ,  G01L1/2243

    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.

    Abstract translation: 一种装置包括沿着纵向轴线串联布置的第一构件和第二构件。 该装置还包括将第一构件的第一接头连接到第二构件的第二接头的连接件。 第一和第二构件和连接件布置成限定平面平行四边形连杆。 这些装置还包括设置在第一构件和第二构件之间的弹性元件，第一构件和预先抵靠弹性元件的第二构件。 第一构件和第二构件被预加载以提供第一和第二接头的布置，其中第一接头相对于第二接头的运动被约束到基本上平行于纵向轴线的方向。 所述装置还包括用于产生指示所述第一构件和所述第二构件之间的间隔的信号的传感器。

    Control method for a robotic system
    40.
    发明授权
    Control method for a robotic system 有权

    公开(公告)号：US11865723B2

    公开(公告)日：2024-01-09

    申请号：US17040075

    申请日：2019-04-30

    Applicant: Vanderbilt University

    Inventor： Michael Goldfarb ,  Andres Martinez-Guerra ,  Brian Lawson

    IPC: B25J9/16 ,  B25J9/00

    CPC classification number: B25J9/1664 ,  B25J9/1633 ,  B25J9/1651 ,  B25J9/1653 ,  B25J9/0006

    Abstract: An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration. The control method then provides for applying a total control vector at the plurality of controllable joints, by the controller, based on the error velocity vector.

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