公开(公告)号：US11673253B2

公开(公告)日：2023-06-13

申请号：US16491091

申请日：2018-03-07

申请人： Ekso Bionics, Inc.

发明人： Aaron Julin

IPC分类号： B25J9/00 ,  A61H3/00 ,  B25J9/10 ,  B25J9/12 ,  F16H25/20

CPC分类号： B25J9/0006 ,  A61H3/00 ,  B25J9/102 ,  B25J9/126 ,  F16H25/20 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/165 ,  A61H2201/1638 ,  A61H2201/1642 ,  A61H2201/1671 ,  F16H2025/2043

摘要： An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.

公开(公告)号：US11096854B2

公开(公告)日：2021-08-24

申请号：US15797060

申请日：2017-10-30

申请人： Ekso Bionics, Inc. ,  The Regents of the University of California

发明人： Homayoon Kazerooni ,  Katherine Strausser ,  Adam Zoss ,  Tim Swift

IPC分类号： A61H3/00 ,  A61H1/00 ,  A61H1/02 ,  A61H3/02

摘要： A system and method by which movements desired by a user of a lower extremity orthotic is determined and a control system automatically regulates the sequential operation of powered lower extremity orthotic components to enable the user, having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid.

公开(公告)号：US11045940B2

公开(公告)日：2021-06-29

申请号：US16332924

申请日：2017-09-14

申请人： Ekso Bionics, Inc.

发明人： Russdon Angold ,  Mario Solano ,  Chris Paretich ,  Thomas Mastaler ,  Brett Jaeger ,  Nicholas Fleming ,  Katherine Calvert ,  Matthew D. Sweeney

IPC分类号： B25J1/02 ,  B25H1/00 ,  B25J1/12 ,  B25J19/00 ,  F16M13/02

摘要： A positionable tool support device is mounted near a work surface for supporting a tool for a user. The tool support device includes a surface mount to secure the tool support device to a support surface. A gravity-balancing articulated arm assembly is coupled to and extends from the surface mount. The gravity-balancing articulated arm assembly is selectively adjustable about both vertical and horizontal axes. A rigid support extension is coupled to the gravity-balancing articulated arm assembly for selective rotation relative to the gravity-balancing articulated arm assembly. A flexible tensile member is coupled to and extends, in a relaxed state, vertically downward from the rigid support extension. The tensile member is coupled to the tool.

公开(公告)号：US20190350794A1

公开(公告)日：2019-11-21

申请号：US16085296

申请日：2017-03-17

申请人： Ekso Bionics, Inc.

发明人： Russ ANGOLD ,  Nicholas FLEMING ,  Emily ROGERS ,  Brett JAEGER ,  Chris PARETICH

IPC分类号： A61H1/02 ,  B25J9/00 ,  B25J9/10

摘要： An exoskeleton includes an arm brace coupled to an arm of a wearer and a tensile member connected to the arm brace. An actuator exerts a pulling force on the tensile member. The pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at an elbow.

公开(公告)号：US10464204B2

公开(公告)日：2019-11-05

申请号：US15420309

申请日：2017-01-31

申请人： Ekso Bionics, Inc.

发明人： Russ Angold ,  James Lubin ,  Mario Solano ,  Chris Paretich ,  Tom Mastaler

IPC分类号： B25H1/00 ,  B66F11/04

摘要： A tool arm mount couples a tool arm to an aerial work platform. The tool arm mount includes a first mounting hook that hangs on a first rail of the aerial work platform and a second mounting hook that hangs on a second rail of the aerial work platform. The first mounting hook defines a first channel in which the first rail is received, and the second mounting hook defines a second channel in which the second rail is received. The first and second mounting hooks are coupled to a spine of the tool arm mount. The tool arm mount also includes a first lock that locks the first mounting hook to the first rail.

公开(公告)号：US10352334B2

公开(公告)日：2019-07-16

申请号：US14423302

申请日：2013-08-27

申请人： Ekso Bionics, Inc.

发明人： Kurt Reed Amundson ,  Russdon Angold ,  David Scheinman ,  Tim Swift ,  Daniel P Norboe ,  Robert Moore ,  Jonathan Beard ,  Kyle Edelberg

IPC分类号： F15B7/00 ,  F15B11/04 ,  A61H3/00 ,  A61H1/02 ,  F15B11/028 ,  F15B15/08 ,  F04C14/22

摘要： The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.

公开(公告)号：US10350130B2

公开(公告)日：2019-07-16

申请号：US15329529

申请日：2016-07-15

申请人： EKSO BIONICS, INC.

发明人： Mike Hughes ,  Russdon Angold ,  Jeff Vickers ,  Bradley Roan ,  Kurt Amundson ,  Nicholas Fleming

IPC分类号： A61H3/00 ,  A61F2/66 ,  A61H1/02 ,  A61F2/60 ,  B25J9/00 ,  B25J17/00 ,  A61F2/50

摘要： An exoskeleton includes first and second compression members configured to be coupled to a wearer of the exoskeleton. A tensegrity joint connects the first compression member to the second compression member, the joint including a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side.

公开(公告)号：US10342723B2

公开(公告)日：2019-07-09

申请号：US15564497

申请日：2016-04-06

申请人： Ekso Bionics, Inc.

发明人： Aaron Julin

IPC分类号： A61H1/02 ,  A61F5/01 ,  F16H19/06

摘要： An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.

公开(公告)号：US20180078442A1

公开(公告)日：2018-03-22

申请号：US15524702

申请日：2015-11-11

申请人： Ekso Bionics, Inc.

发明人： Adam ZOSS ,  Darrell MUSICK ,  Nathan HARDING

IPC分类号： A61H3/00 ,  A61F2/68 ,  A61H1/02

CPC分类号： A61H3/00 ,  A61F2/68 ,  A61H1/0255 ,  A61H1/0262 ,  A61H3/008 ,  A61H3/02 ,  A61H2201/1621 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/501 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084

摘要： Use of an exoskeleton by a wearer of the exoskeleton is improved through several features. In a first feature, the exoskeleton enters a gait therapy preparation mode to prepare the wearer for subsequent gait therapy. In a second feature, the exoskeleton enters a balance training mode to help the wearer learn to balance while wearing the exoskeleton. In a third feature, the exoskeleton prompts the wearer to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer.

公开(公告)号：US11577410B2

公开(公告)日：2023-02-14

申请号：US16071303

申请日：2017-01-20

申请人： Ekso Bionics, Inc.

发明人： Adam Preuss ,  Chris Meadows ,  Kurt Amundson ,  Russ Angold ,  James Lubin ,  Mario Solano ,  Tom Mastaler ,  Nicholas Fleming ,  Matt Sweeney

IPC分类号： B25J19/00 ,  B25J9/00 ,  B65G7/12 ,  B65G9/00 ,  B65G47/91

摘要： A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.