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公开(公告)号：US09975249B2
公开(公告)日：2018-05-22
申请号：US14978445
申请日：2015-12-22
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.
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公开(公告)号：US20170348176A1
公开(公告)日：2017-12-07
申请号：US15612597
申请日：2017-06-02
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Jiun-Yih Kuan
CPC classification number: A61H3/00 , A61F2/6607 , A61F2002/503 , A61F2002/5038 , A61H1/0237 , A61H2201/1215 , A61H2201/1418 , A61H2201/1436 , A61H2201/1642 , A61H2201/165 , B25J9/0006 , B25J9/102 , B25J9/104 , F16H19/005 , F16H35/18
Abstract: A mechanical transmission, tethered actuation system, an autonomous ankle exoskeleton design and method of their use employing a cable, pulleys and associated pulley housings to change angular transmission of linear force on the cable. The pulleys are linked by a ground link and the cable is threaded across and between the pulleys, whereby rotation of either of the pulleys in one direction causes rotation of the other pulley in the opposite direction. Independently of the pulleys, the pulley housings can freely rotate about associated pulleys, and a link between the pulley housings is provided, whereby rotation of one of the pulley housings in one direction causes rotation of the other pulley housing at an equivalent angle in the opposite direction, thereby enabling a change in transmission angle of linear force on the cable threaded across and between the pulleys and the associated pulley housing essentially without resistance. When pulleys have the same angular velocity ratio as that of the associated pulley housings, there is no cable slack since the net changes in length of the cable wrapping around two pulleys is zero.
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公开(公告)号：US09682005B2
公开(公告)日：2017-06-20
申请号：US13774774
申请日：2013-02-22
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Grant Elliott , Andrew Marecki , Hazel Briner
CPC classification number: A63B21/00181 , A61F2002/2825 , A61F2002/5018 , A61F2002/7887 , A61H3/00 , A63B21/0004 , A63B21/157 , A63B21/22 , A63B21/4007 , A63B21/4011 , A63B21/4013 , A63B21/4015 , A63B21/4025 , A63B23/0405 , A63B24/0087 , A63B2207/02 , A63B2220/40 , A63B2220/62 , A63B2220/803 , A63B2220/805 , A63B2220/833 , A63B2225/02 , A63B2225/096 , B25J9/104
Abstract: Running in a mammal, such as a human, is augmented by adaptively modulating anticipation of maximum leg extension of a mammal when running, and actuating an exoskeletal clutch linked in series to at least one elastic element, wherein the clutch and elastic element form an exoskeleton and are attached in parallel to at least one muscle-tendon unit of a leg of the mammal and span at least one joint of the mammal fitted with the exoskeleton. The exoskeletal clutch is actuated in advance of a predicted maximum extension of the exoskeletal clutch to thereby cause the exoskeletal clutch to lock essentially simultaneously with ground strike by the leg of the mammal. The elastic element is thereby engaged during stance phase of the gait of the mammal while running, and subsequently is disengaged prior to or during the swing phase of the gait of the mammal, thereby augmenting running of the mammal.
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44.发明申请ARTIFICIAL ANKLE-FOOT SYSTEM WITH SPRING, VARIABLE-DAMPING, AND SERIES-ELASTIC ACTUATOR COMPONENTS 审中-公开具有弹簧，可变阻尼和系列弹性致动器部件的人造角系统公开(公告)号：US20160338857A1
公开(公告)日：2016-11-24
申请号：US15091895
申请日：2016-04-06
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Kwok Wai Samuel Au , Daniel Joseph Paluska , Peter Dilworth
IPC: A61F2/66
CPC classification number: A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/5006 , A61F2002/503 , A61F2002/5033 , A61F2002/5073 , A61F2002/5075 , A61F2002/5079 , A61F2002/509 , A61F2002/6657 , A61F2002/6678 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
Abstract: An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.
Abstract translation: 人造足部和踝关节由具有脚跟末端和脚趾末端的弯曲的板簧构件组成，以及弹性弹性脚踝构件，其连接足部件以在踝关节处转动。 致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。 带状离合器防止脚构件在一个方向上旋转超过预定极限位置。 采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和感应机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器电动机和可控制的阻尼器。
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公开(公告)号：US09498401B2
公开(公告)日：2016-11-22
申请号：US13722246
申请日：2012-12-20
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Jiun-Yih Kuan
IPC: G06F19/00 , A61H3/00 , A61H1/02 , A63B22/02 , A63B23/035 , A63B23/04 , B25J9/00 , A63B21/00 , A63B21/008
CPC classification number: A61H3/00 , A61H1/0255 , A61H1/0262 , A61H1/0266 , A61H1/0277 , A61H1/0281 , A61H1/0285 , A61H1/0288 , A61H2201/1238 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , A61H2201/5064 , A61H2201/5071 , A61H2230/06 , A61H2230/50 , A61H2230/60 , A63B21/00178 , A63B21/00181 , A63B21/008 , A63B21/4011 , A63B21/4025 , A63B21/4047 , A63B22/0235 , A63B23/03508 , A63B23/03541 , A63B23/047 , A63B2220/10 , A63B2220/51 , A63B2220/56 , A63B2220/803 , A63B2220/805 , A63B2230/06 , A63B2230/50 , A63B2230/60 , B25J9/0006
Abstract: A robotic system for simulating a wearable device actuation delivery mechanism and the source removed from the actuation delivery mechanism that is linked to the actuation delivery mechanism by at least one cable. A sensing system detects a physiological feature of the subject and, based on feedback from the sensing system, a control system linked to both the sensing system and the actuation source modulates the actuation source, and thereby modulating actuation of the joint of a subject in response to the physiological future sensed by the sensing system. A method for simulating a wearable robotic system employs the robotic system of the invention to thereby provide a model on which to base design of an ambulatory prosthetic for a subject.
Abstract translation: 一种用于模拟可穿戴设备致动传送机构的机器人系统，以及从致动传送机构移除的源，其通过至少一根电缆连接到致动传送机构。 感测系统检测对象的生理特征，并且基于来自感测系统的反馈，连接到感测系统和致动源的控制系统调制致动源，从而调节受试者的关节的致动以作出响应 到感知系统感测到的生理学未来。 一种用于模拟可穿戴机器人系统的方法采用本发明的机器人系统，从而提供一种模型，用于对被摄体进行移动假肢的设计。
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Patent Agency Ranking
公开(公告)号：US09474634B2
公开(公告)日：2016-10-25
申请号：US14520766
申请日：2014-10-22
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Ronald R. Riso , Katherine W. Song , Richard J. Casler, Jr. , Matthew J. Carty
CPC classification number: A61F2/72 , A61B5/04888 , A61F2/68 , A61F2002/607 , A61F2002/6827 , A61N1/0551 , A61N1/36003
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.
Abstract translation: 通过从个体的外科手术部位手术除去至少一部分受伤或患病的人类肢体并将选定的肌肉移植到个体的剩余生物体中，然后将移植的人体接触，来恢复人肢的至少部分功能 所选择的肌肉或相关联的神经与电极连接，从而控制与电极连接的装置，例如假肢。 模拟来自装置的本体感觉反馈包括机械连接至少一对激动剂和拮抗性肌肉，其中神经支配每只肌肉，并且用支撑体支撑每一对，由此每对激动肌的收缩将导致配对 拮抗肌。 将电极植入每对肌肉中并电连接到装置的马达控制器，从而模拟来自装置的本体感觉反馈。
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47.发明授权Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components 有权具有弹簧，可变阻尼和串联弹性致动器部件的人造脚踝系统公开(公告)号：US09339397B2
公开(公告)日：2016-05-17
申请号：US14283323
申请日：2014-05-21
Applicant: Massachusetts Institute of Technology
Inventor： Hugh M. Herr , Kwok Wai Samuel Au , Daniel Joseph Paluska , Peter Dilworth
IPC: A61F2/70 , A61F2/66 , A61F2/60 , A61F2/68 , B25J19/00 , B62D57/032 , A61F2/64 , A61F2/50 , A61F2/76
CPC classification number: A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/5006 , A61F2002/503 , A61F2002/5033 , A61F2002/5073 , A61F2002/5075 , A61F2002/5079 , A61F2002/509 , A61F2002/6657 , A61F2002/6678 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
Abstract: An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.
Abstract translation: 人造足部和踝关节由具有脚跟末端和脚趾末端的弯曲的板簧构件组成，以及弹性弹性脚踝构件，其连接足部件以在踝关节处转动。 致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。 带状离合器防止脚构件在一个方向上旋转超过预定极限位置。 采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和感应机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器电动机和可控制的阻尼器。
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公开(公告)号：US20150173918A1
公开(公告)日：2015-06-25
申请号：US14520766
申请日：2014-10-22
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
CPC classification number: A61F2/72 , A61B5/04888 , A61F2/68 , A61F2002/607 , A61F2002/6827 , A61N1/0551 , A61N1/36003
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.
Abstract translation: 通过从个体的外科手术部位手术除去至少一部分受伤或患病的人类肢体并将选定的肌肉移植到个体的剩余生物体中，然后将移植的人体接触，来恢复人肢的至少部分功能 所选择的肌肉或相关联的神经与电极连接，从而控制与电极连接的装置，例如假肢。 模拟来自装置的本体感觉反馈包括机械连接至少一对激动剂和拮抗性肌肉，其中神经支配每只肌肉，并且用支撑体支撑每一对，由此每对激动肌的收缩将导致配对 拮抗肌。 将电极植入每对肌肉中并电连接到装置的马达控制器，从而模拟来自装置的本体感觉反馈。
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49.发明申请Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components 有权具有弹簧，可变阻尼和串联弹性致动器部件的人造踝足系统公开(公告)号：US20130110256A1
公开(公告)日：2013-05-02
申请号：US13723743
申请日：2012-12-21
Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY
Inventor： Hugh M. Herr , Kwok Wai Samuel Au , Daniel Joseph Paluska , Peter Dilworth
IPC: A61F2/66
CPC classification number: A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/5006 , A61F2002/503 , A61F2002/5033 , A61F2002/5073 , A61F2002/5075 , A61F2002/5079 , A61F2002/509 , A61F2002/6657 , A61F2002/6678 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
Abstract: An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.
Abstract translation: 人造足部和踝关节由具有脚跟末端和脚趾末端的弯曲的板簧构件组成，以及弹性弹性脚踝构件，其连接足部件以在踝关节处转动。 致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。 带状离合器防止脚构件在一个方向上旋转超过预定极限位置。 采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和感应机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器电动机和可控制的阻尼器。
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公开(公告)号：US12245956B2
公开(公告)日：2025-03-11
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 , A61B5/24 , A61B5/389 , A61F2/68 , A61N1/05 , A61N1/36 , A61B5/00 , A61B17/11 , A61F2/48 , A61F2/60
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.
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