公开(公告)号：US09539117B2

公开(公告)日：2017-01-10

申请号：US14520091

申请日：2014-10-21

Applicant: Massachusetts Institute of Technology

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

IPC: G05B21/00 ,  A61F2/72 ,  A61F2/68 ,  A61F5/01 ,  A61F2/66 ,  B25J9/00 ,  A61F2/70 ,  A61F2/76 ,  A61F2/60 ,  A61F2/64

CPC classification number: A61F2/68 ,  A61F2/605 ,  A61F2/64 ,  A61F2/66 ,  A61F5/0123 ,  A61F5/0127 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/741 ,  A61F2002/745 ,  A61F2002/747 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2005/0155 ,  B25J9/0006 ,  B25J9/1075 ,  B25J9/1633 ,  G06F19/00 ,  G16H50/50

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.

Abstract translation: 用于具有至少一个关节的机器人肢体的基于模型的神经机械控制器包括有限状态机，其被配置为接收与所述机器人肢体的状态相关的反馈数据并且确定所述机器人肢体的状态，所述肌肉模型处理器被配置为接收 来自有限状态机的状态信息，以及使用肌肉几何和反射架构信息和神经肌肉模型来确定要发送到机器人肢体的至少一个期望的关节扭矩或刚度命令;以及联合命令处理器，其被配置为命令仿生模拟 在机器人肢体关节处由肌肉模型处理器确定的扭矩和刚度。 反馈数据优选地由安装在机器人肢体的每个关节处的至少一个传感器提供。 在优选实施例中，机器人肢体是腿部，并且有限状态机器与腿部步态周期同步。

公开(公告)号：US20160346099A1

公开(公告)日：2016-12-01

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 ,  A61N1/05 ,  A61N1/36 ,  A61B5/0488

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。

公开(公告)号：US20160228265A1

公开(公告)日：2016-08-11

申请号：US15098725

申请日：2016-04-14

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Daniel Joseph Paluska ,  Peter Dilworth

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

CPC classification number: A61F2/604 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5072 ,  A61F2002/5075 ,  A61F2002/6818 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  B25J19/0008 ,  B62D57/032

Abstract: It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.

Abstract translation: 应当理解，上面已经描述的方法和装置仅仅是本发明原理的说明性应用。 在不脱离本发明的真实精神和范围的情况下，本领域技术人员可以进行许多修改。

公开(公告)号：US09032635B2

公开(公告)日：2015-05-19

申请号：US13715441

申请日：2012-12-14

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Arthur Petron

IPC: A61B5/107 ,  A61B5/11 ,  A61B5/00 ,  A61F2/76 ,  A61B5/01 ,  A61F2/50

CPC classification number: A61B5/4851 ,  A61B5/01 ,  A61B5/107 ,  A61B5/1077 ,  A61B5/11 ,  A61B5/4848 ,  A61B2562/0247 ,  A61B2562/046 ,  A61F2/76 ,  A61F2002/5049 ,  A61F2002/762

Abstract: A physiological measurement device or wearable device simulator includes a frame and a plurality of surfaces distributed within the frame. For each surface, a surface actuator links the surface of the frame. At least one of: i) force or position imparted by the surface on a physiological feature of a subject by the surface actuator; and ii) the force imparted by the physiological feature of the subject on the surface, can be employed to modulate the positions of the surfaces relative to each other independently of the forces imparted by or on those surfaces, thereby measuring the physiological feature of the subject or simulating a wearable device interface.

Abstract translation: 生理测量装置或可穿戴装置模拟器包括框架和分布在框架内的多个表面。 对于每个表面，表面致动器连接框架的表面。 以下至少之一：i）由表面致动器在受试者的生理特征上由表面赋予的力或位置; 和ii）由表面上的受试者的生理特征赋予的力可以用于相对于彼此独立于由这些表面施加的力而调节表面的位置，从而测量受试者的生理特征 或模拟可穿戴设备接口。

公开(公告)号：US08734528B2

公开(公告)日：2014-05-27

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 ,  A61F2/70

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。

公开(公告)号：US20140046455A1

公开(公告)日：2014-02-13

申请号：US13959495

申请日：2013-08-05

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Ernesto C. Martinez-Villalpando ,  Jeff Anthony Weber

IPC: A61F2/64

CPC classification number: A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/5003 ,  A61F2002/5075 ,  A61F2002/6657 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/741 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/7645 ,  B62D57/032

Abstract: A knee prosthesis comprises an agonist-antagonist arrangement of two series-elastic actuators in parallel, including a knee joint, flexion and extension actuators connected to the joint in parallel with a leg member, and a controller for independently energizing the actuators to control the movement of the knee joint and leg. The flexion actuator comprises the series combination of a flexion motor and a flexion elastic element and the extension actuator comprises the series combination of an extension motor and an extension elastic element. Sensors provide feedback to the controller. The flexion actuator and the extension actuator may be unidirectional, with the flexion and extension elastic elements being series springs. The extension actuator may alternatively be bidirectional, with the extension elastic element being a set of pre-compressed series springs. Alternatively, the flexion elastic element may be a non-linear softening spring and the extension elastic element may be a non-linear hardening spring.

Abstract translation: 膝关节假体包括并联的两个串联弹性致动器的激动剂 - 拮抗剂装置，包括膝关节，与腿部构件平行地连接到关节的屈曲和伸展致动器，以及用于独立地激励致动器以控制运动的控制器 的膝关节和腿部。 屈曲致动器包括屈曲马达和屈曲弹性元件的串联组合，延伸致动器包括延伸马达和延伸弹性元件的串联组合。 传感器向控制器提供反馈。 屈曲致动器和延伸致动器可以是单向的，其中屈曲和延伸弹性元件是串联弹簧。 延伸致动器可以是双向的，延伸弹性元件是一组预压缩的串联弹簧。 或者，弯曲弹性元件可以是非线性软化弹簧，并且延伸弹性元件可以是非线性硬化弹簧。

公开(公告)号：US20130296746A1

公开(公告)日：2013-11-07

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

IPC: A61H3/00

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.

Abstract translation: 在哺乳动物（例如人）中运行，通过自适应地调节哺乳动物在行驶时的最大腿伸展的预期，以及致动与至少一个弹性元件串联的外骨骼离合器，其中离合器和弹性元件形成外骨骼 并且与哺乳动物的腿部的至少一个肌肉 - 肌腱单元平行地附接并且跨越安装有外骨骼的哺乳动物的至少一个关节。 外骨骼离合器在预测的外骨骼离合器的最大延伸之前被致动，从而使外骨骼离合器基本上与哺乳动物的腿的地面撞击同时锁定。 因此，弹性元件在运行时哺乳动物的步态的姿态阶段中接合，并且随后在哺乳动物的步态的摆动阶段之前或期间脱离，从而增加哺乳动物的运行。