公开(公告)号：US20240261117A1

公开(公告)日：2024-08-08

申请号：US18527057

申请日：2023-12-01

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Duncan Ru Chieh Lee ,  Christina Meyer ,  Dana Solav ,  Xingbang Yang

IPC: A61F2/78

CPC classification number: A61F2/7812 ,  A61F2002/7818

Abstract: Aspects of inventive concepts are generally directed to a liner, methods of use, methods of design, and related systems. In various embodiments, the liner is configured to serve as an interface between an external surface of a biological body segment of a subject and a prosthetic socket, the biological body segment being amputated below a joint. In various embodiments, a pressure applied by the liner to the biological body segment varies over the length of the liner with a maximum pressure applied at the joint and a lesser pressure applied below the joint.

公开(公告)号：US11723581B2

公开(公告)日：2023-08-15

申请号：US16661283

申请日：2019-10-23

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Seong Ho Yeon

IPC: A61B5/389 ,  G06F3/01 ,  A61B5/00 ,  A61F2/72 ,  A61F2/64 ,  A61F2/66 ,  A61F2/74

CPC classification number: A61B5/389 ,  A61B5/688 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/72 ,  G06F3/015 ,  A61F2/741 ,  A61F2002/6664

Abstract: An electromyography (EMG) sensor for a wearable device, such as a prosthetic device attachable to a residual limb, includes a flexible substrate comprising an elongated portion and an electrode portion. At least two electrodes are disposed at a surface of the electrode portion of the flexible substrate, and leads from the at least two electrodes extend through the elongated portion of the flexible substrate.

公开(公告)号：US20230145008A1

公开(公告)日：2023-05-11

申请号：US18049405

申请日：2022-10-25

Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Inventor： Hugh M. Herr ,  Benjamin Maimon ,  Anthony Zorzos

IPC: A61N1/32 ,  A61K9/00 ,  A61N1/04 ,  A61N5/06 ,  C07K14/47 ,  C12N15/86

CPC classification number: A61N1/327 ,  A61K9/0009 ,  A61K9/0019 ,  A61N1/0412 ,  A61N5/062 ,  A61N5/0622 ,  C07K14/47 ,  C12N15/86 ,  A61N2005/0651 ,  A61N2005/0659 ,  A61N2005/0661 ,  A61N2005/0663 ,  C12N2750/14143 ,  C12N2830/008 ,  A61N5/067

Abstract: A nerve in a mammal is optogenetically transduced, wherein the nerve is susceptible to stimulus by selective application of transdermal light, and a light source is applied to dermis of the mammal at or proximate to the optogenetically transduced nerve, to thereby stimulate the nerve. A wearable device for optogenetic motor control and sensation restoration of a mammal includes a wearable support, a power source at the wearable support, a controller at the wearable support and in electrical communication with a power source, and a transdermal light source coupled to the controller.

公开(公告)号：US11491032B2

公开(公告)日：2022-11-08

申请号：US16427646

申请日：2019-05-31

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Lee Harris Magnusson ,  Ken Endo

IPC: A61F2/68 ,  A61F5/01 ,  B25J9/16 ,  A61F2/76 ,  A61F2/72 ,  A61F2/66 ,  B25J9/10 ,  A61F2/64 ,  B25J9/00 ,  G16H50/50 ,  G16H40/63 ,  A61F2/60 ,  A61F2/70 ,  A61F2/50 ,  A61F2/74

Abstract: Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.

公开(公告)号：US20220160522A1

公开(公告)日：2022-05-26

申请号：US17455884

申请日：2021-11-19

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Matthew Lawrence Handford ,  Christopher Charles Williams ,  Matthew Eli Carney ,  Daniel Visan Levine

IPC: A61F2/66 ,  A61F2/68

Abstract: An ankle-foot prosthesis comprises a foot structure having a foot keel leaf spring, a heel leaf spring, and an upper J leaf spring above the keel leaf spring. An ankle bearing block is mounted to the keel leaf spring and a shank shell is mounted to the ankle bearing block. A shank interface mounts to the shank shell. A processor controlled active element extends along an axis between the shank shell and the upper leaf-spring.

公开(公告)号：US20210145608A1

公开(公告)日：2021-05-20

申请号：US16969142

申请日：2019-02-12

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kevin Mattheus Moerman ,  Dana Solav ,  Bryan James Ranger ,  Rebecca Steinmeyer ,  Stephanie Lai Ku ,  Canan Dagdeviren ,  Matthew Carney ,  German A. Prieto-Gomez ,  Xiang Zhang ,  Jonathan Randall Fincke ,  Micha Feigin-Almon ,  Brian W. Anthony, Ph.D. ,  Zixi Liu ,  Aaron Jaeger ,  Xingbang Yang

IPC: A61F2/50 ,  A61F2/76 ,  A61F2/80 ,  A61F2/78

Abstract: Devices and methods for obtaining external shapes and internal tissue geometries, as well as tissue behaviors, of a biological body segment are provided. A device for three-dimensional imaging of a biological body segment includes a structure configured to receive the biological body segment, the structure including a first array of imaging devices disposed about a perimeter of the device to capture side images of the biological body segment and a second array of imaging devices disposed at an end of the device to capture images of a distal portion of the biological body segment. The second array has a generally axial viewing angle relative to the perimeter. A controller is configured to generate a three-dimensional reconstruction of the biological body segment based on cross-correlation of captured images from the first and second arrays.

公开(公告)号：US10898351B2

公开(公告)日：2021-01-26

申请号：US15233241

申请日：2016-08-10

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 ,  A61B5/0488 ,  A61F2/68 ,  A61B5/04 ,  A61N1/05 ,  A61N1/36 ,  A61F2/60 ,  A61B5/00 ,  A61B17/11 ,  A61F2/48

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.

公开(公告)号：US20190321201A1

公开(公告)日：2019-10-24

申请号：US16458421

申请日：2019-07-01

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66 ,  B25J19/00 ,  A61F2/68 ,  A61F2/60 ,  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.

公开(公告)号：US10307272B2

公开(公告)日：2019-06-04

申请号：US15342661

申请日：2016-11-03

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Hartmut Geyer ,  Michael Frederick Eilenberg

IPC: A61F2/64 ,  A61F2/66 ,  A61F2/70 ,  A61F2/74 ,  A61F2/76 ,  G16H50/50 ,  G06F19/00 ,  B25J9/16 ,  B25J9/10 ,  B25J9/00 ,  A61F5/01 ,  A61F2/68 ,  A61F2/60

Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

公开(公告)号：US20190021880A1

公开(公告)日：2019-01-24

申请号：US16069837

申请日：2017-01-12

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kevin Mattheus Moerman ,  David Moinina Sengeh

IPC: A61F2/50 ,  G06F17/50 ,  A61F2/80

Abstract: A method and associated system for designing a biomechanical interface of a device contacting a biological body segment of a subject includes forming a quantitative model of the biological body segment from subject specific data, conducting a biophysical analysis, such as a finite element analysis, to thereby establish a relationship, such as a functional relationship, between the quantitative model and at least one feature of the biomechanical interface contacting the biological body segment, and applying the relationship to the at least one feature of the biomechanical interface contacting the biological body segment to thereby obtain an interface design for the mechanical interface of the device. The subject-specific data can include geometry of the biological body segment and the at least one feature can be associated with physiological benefit of the biological body segment.