公开(公告)号：US20200223057A1

公开(公告)日：2020-07-16

申请号：US16834647

申请日：2020-03-30

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B25H1/10 ,  B65H1/10

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.

公开(公告)号：US10524950B2

公开(公告)日：2020-01-07

申请号：US15898102

申请日：2018-02-15

Applicant: The Regents of the University of California

Inventor： Shang-Li Wu ,  Homayoon Kazerooni

IPC: A61F2/64 ,  A61F5/01 ,  A61F2/68 ,  B25J9/00 ,  A61F2/50

Abstract: Systems, methods, and apparatus provide an artificial knee. Such artificial knees may include a thigh link configured to move in unison with a thigh of the person, a shank link configured to be rotatably coupled to the thigh link, and a compression spring rotatably coupled to the thigh link at a first end and coupled to the shank link at a second end. The compression spring is configured to provide an extension torque between the thigh link and the shank link during a first range of motion of the thigh link and the shank link relative to each other. The compression spring is configured to provide a flexion torque between the thigh link and the shank link during a second range of motion of the thigh link and the shank link relative to each other.

公开(公告)号：US20190231574A1

公开(公告)日：2019-08-01

申请号：US16375231

申请日：2019-04-04

Applicant: U.S. Bionics, Inc. ,  The Regents of the University of California

Inventor： Homayoon Kazerooni ,  Wayne Tung ,  Michael McKinley ,  Yoon Jung Jeong

IPC: A61F5/02 ,  A61H3/00 ,  A61F5/01

CPC classification number: A61F5/02 ,  A61F5/01 ,  A61H3/00

Abstract: An exoskeleton includes two torque generators, thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the torque generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.

公开(公告)号：US20180318164A1

公开(公告)日：2018-11-08

申请号：US16026966

申请日：2018-07-03

Applicant: The Regents of the University of California

Inventor： Shang-Li Wu ,  Homayoon Kazerooni

IPC: A61H1/02 ,  A61H3/00 ,  A61F2/68 ,  A61F5/01 ,  A61F2/64

CPC classification number: A61H1/0262 ,  A61F2/64 ,  A61F2/68 ,  A61F5/0123 ,  A61F5/0127 ,  A61F2005/0155 ,  A61F2005/0158 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1246 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676

Abstract: A wearable apparatus comprises a passive artificial knee that comprises first and second links coupled at a knee joint, a passive compressive force generator coupled to the second link, and a release mechanism coupled to the first link. When an angle of the first and second links is less than a toggle angle, the release mechanism locks in a first operational mode, and the force generator compresses, resisting flexing of the second link. When the angle is larger than the toggle angle, the force generator decompresses and encourages flexion of said second link. When the force generator is extended and said compressive force is small, the release mechanism moves into a second operational mode, wherein the force generator neither resists nor encourages extension and flexion of said second link from said first link. The wearable apparatus comprises an exoskeleton trunk configured to couple to an upper body of a user.

公开(公告)号：US20180200135A1

公开(公告)日：2018-07-19

申请号：US15813013

申请日：2017-11-14

Applicant: The Regents of the University of California

Inventor： Wayne Tung ,  Minerva V. Pillai ,  James Hatch ,  Homayoon Kazerooni ,  Theerapat Yangyuenthanasan ,  Yusuke Maruo ,  David Cuban

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H2201/1207 ,  A61H2201/1246 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2203/0406 ,  A61H2203/0418 ,  A61H2205/102

Abstract: A leg support exoskeleton is strapped on as a wearable device to support its user during squatting and/or lunging. The exoskeleton includes a knee joint connected to a first link and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatable connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.

公开(公告)号：US20170367852A1

公开(公告)日：2017-12-28

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: A61F2/68 ,  B25J17/00 ,  A61F2/64 ,  A61H3/00 ,  A61F2/74 ,  A61F2/70

CPC classification number: A61F2/68 ,  A61F2/64 ,  A61F5/0125 ,  A61F5/0127 ,  A61F2002/5006 ,  A61F2002/5073 ,  A61F2002/6854 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/745 ,  A61F2002/747 ,  A61F2002/7625 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2005/0155 ,  A61F2005/0158 ,  A61F2005/0169 ,  A61H3/00 ,  A61H2205/102 ,  B25J9/0006 ,  B25J9/106 ,  B25J17/00

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 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.

公开(公告)号：US11938074B2

公开(公告)日：2024-03-26

申请号：US16656941

申请日：2019-10-18

Applicant: suitX, Inc. ,  The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni ,  James Ren ,  Wayne Yi-Wei Tung ,  Valantyn Koziak

IPC: A61H1/02 ,  A61F5/042 ,  A61F5/058 ,  A61F5/01

CPC classification number: A61H1/0296 ,  A61F5/05883 ,  A61F2005/0197 ,  A61H2201/1607 ,  A61H2201/1621 ,  A61H2201/1652

Abstract: A neck supporting exoskeleton is configured to be worn by a person to support the person's head during backward extension motions of the person's neck. The neck supporting exoskeleton may comprise a torso frame configured to be coupled to the person's torso, a head pillow configured to contact the rear portion of the person's head during backward extension motions of the person's neck, a linkage allowing for relative motion between the head pillow and the torso frame in the sagittal plane of the person, and an actuator configured to impose a supporting force onto the head pillow. When the person's neck extension angle increases beyond an engagement angle, the actuator causes the linkage to impose a supporting force onto the head pillow resisting the backward extension motion of the head pillow and the person's head relative to the torso frame thereby providing a support for the person's head.

公开(公告)号：US11369503B2

公开(公告)日：2022-06-28

申请号：US16696872

申请日：2019-11-26

Applicant: The Regents of the University of California

Inventor： Shang-Li Wu ,  Homayoon Kazerooni

IPC: A61F2/64 ,  A61F5/01 ,  B25J9/00 ,  A61F2/70 ,  A61F2/50

Abstract: Systems, methods, and apparatus provide artificial knees. Artificial knees include a thigh link configured to move in unison with a thigh of the person, a shank link configured to be rotatably coupled to the thigh link, and a compression spring rotatably coupled to the thigh link and coupled to a second end of shank link with a second end of the compression spring. During a first range of motion, the compression spring is configured to provide an extension torque between the thigh link and the shank link causing the artificial knee to resist flexion. After the first range of motion, the compression spring is configured to provide a flexion torque between the thigh link and the shank link encouraging the artificial knee to flex resulting in toe clearance during the swing phase. During the swing phase, the compression spring provides no torque between the thigh link and the shank link.

公开(公告)号：US20210315765A1

公开(公告)日：2021-10-14

申请号：US17208900

申请日：2021-03-22

Applicant: The Regents of the University of California ,  U.S. Bionics, Inc.

Inventor： Wayne Tung ,  Minerva V. Pillai ,  James Hatch ,  Homayoon Kazerooni ,  Theerapat Yangyuenthanasan ,  Yusuke Maruo ,  David Cuban

IPC: A61H3/00 ,  A61H1/02

Abstract: An exoskeleton leg is wearable by a person. The exoskeleton includes a thigh link configured to move in unison with the thigh of the person, a shank link rotatably coupled to the thigh link and comprising at least one tooth, and a locking block coupled to the thigh link and comprising a locking face. Moreover, when the at least one tooth of the shank link contacts with the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.

公开(公告)号：US20210220987A1

公开(公告)日：2021-07-22

申请号：US17221121

申请日：2021-04-02

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon Kazerooni

IPC: B25J9/00 ,  B25H1/10 ,  B65H1/10

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.