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公开(公告)号：US11826302B2
公开(公告)日：2023-11-28
申请号：US17467924
申请日：2021-09-07
发明人： Ryan J. Farris , Mike Clausen , Edgar Wilson
CPC分类号： A61H3/00 , A61F5/0102 , A61F5/0111 , A61H1/024 , A61H1/0244 , B25J9/0006 , B25J9/104 , B25J9/1045 , A61F5/0123 , A61F5/0127 , A61F2005/0155 , A61H2003/007 , A61H2201/0107 , A61H2201/0176 , A61H2201/0192 , A61H2201/1215 , A61H2201/164 , A61H2201/165 , A61H2201/1628 , A61H2201/5058
摘要： A self-aligning, self-drawing coupler for coupling body assemblies together improves usability of a wearable robotic device. A self-contained removable actuator cassette improves the ease of manufacture and of replacing parts in the field. A tensioning retention system designed for one handed operation makes donning and doffing a wearable robotic device easier. A two-stage attachment system increases the range of sizes a wearable robotic device will fit. A removable, integrated ankle-foot orthotic system makes donning and doffing a wearable robotic device easier. An infinitely adjustable, integrated ankle-foot orthotic system increases the range of sizes a wearable robotic device will fit. A manually-removable hip-wing attachment system makes field changes easier, and protecting such a system from inadvertent disengagement during operation increases safety.
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公开(公告)号：US12071990B2
公开(公告)日：2024-08-27
申请号：US17435743
申请日：2020-05-04
IPC分类号： F16D63/00 , A61H1/02 , A61H3/00 , F16D121/20 , F16D127/02
CPC分类号： F16D63/002 , A61H1/024 , A61H1/0244 , A61H3/00 , A61H2201/1215 , A61H2201/1463 , A61H2201/164 , A61H2201/165 , A61H2201/1671 , F16D2121/20 , F16D2127/02
摘要： An electromagnetic brake assembly includes a solenoid coil; a fixed ferrous brake stator; a ferrous armature having a braking face, wherein the armature is moveable in a translation direction relative to the brake stator between a disengaged position and an engaged position; and a rotating member including a mating surface and that rotates relative to the armature when the armature is in the disengaged position. When the solenoid coil is energized, the armature translationally moves from the disengaged position to the engaged position, and in the engaged position the braking face of the armature interacts with the mating surface of the rotating member to apply a braking force to the rotating member. The braking face and the mating surface may form a conical interface, and the conical interface further may include a friction O-ring positioned within a slot that permits the O-ring to roll along the braking interface when the armature moves between the disengaged position and the engaged position.
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公开(公告)号：US12076291B2
公开(公告)日：2024-09-03
申请号：US17051556
申请日：2019-07-17
CPC分类号： A61H3/00 , A61H1/024 , A61H1/0244 , A61H1/0255 , A61H1/0262 , A61H1/0266 , A61H2201/0192 , A61H2201/1215 , A61H2201/1481 , A61H2201/149 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/5071
摘要： An actuator system for an orthotic device includes an actuator assembly and a driven joint member connected remotely from the actuator assembly by flexible cabling to permit flexibility in positioning the driven joint member relative to the actuator assembly. The actuator system includes an actuator assembly having a motor and a first portion of a transmission assembly that provides a speed reduction of a motor speed to an output speed. The driven joint member has an output portion of the transmission assembly and a connector component for connecting the driven joint member to a brace component of the orthotic device. The driven joint member including the output portion of the transmission assembly is connected remotely from the actuator assembly by flexible cabling that runs between the actuator assembly and the driven joint component, to permit flexibility in positioning the driven joint member relative to the actuator assembly.
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公开(公告)号：US11679056B2
公开(公告)日：2023-06-20
申请号：US16761928
申请日：2018-04-23
发明人： Skyler Dalley , Ryan Farris , Spencer Murray
CPC分类号： A61H3/00 , A61H1/0262 , B25J9/0006 , B25J13/088 , G05B19/042 , G16H40/40 , G16H40/67 , A61H2003/007 , A61H2201/5007 , A61H2201/5035 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , G05B2219/25257 , G05B2219/25268
摘要： A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.
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公开(公告)号：US11654280B2
公开(公告)日：2023-05-23
申请号：US16770104
申请日：2018-02-13
发明人： Spencer Murray , Don Truex , Michael Goldfarb , Scott Morrison , Ryan Farris
CPC分类号： A61N1/36003 , A61H3/00 , A61N1/36031 , A61H2201/10 , A61H2201/5097 , A61H2205/088 , A61H2230/605
摘要： An integrated functional electrical stimulation (FES) system includes a component of a mobility assistance device, and an FES system mounted within the component. The FES system includes an FES stimulator that is embedded within the component, and a plurality of FES jacks that are electrically connected to the FES stimulator and are located on the component. The FES jacks are configured to receive a plurality of FES electrodes, and an electrical stimulation output from the FES stimulator is conducted through the FES jacks to the FES electrodes. In a wireless embodiment, the FES stimulator is configured to wirelessly transmit a control signal for applying an electrical stimulation output to the plurality of FES electrodes, and the FES jacks are eliminated. The FES stimulator may be embedded within a back portion of the hip component of an exoskeleton device, and in the wired embodiment the FES jacks are located on wing portions of the hip component.
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公开(公告)号：US11642272B2
公开(公告)日：2023-05-09
申请号：US16344643
申请日：2018-02-07
发明人： Skyler Dalley , Spencer Murray , Ryan Farris , Michael Goldfarb , Scott Morrison
CPC分类号： A61H3/008 , A61F5/0123 , A61H1/0262 , B25J9/0006 , A61H2003/007 , A61H2201/1207 , A61H2201/165 , A61H2201/1642 , A61H2201/5084
摘要： A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user. Automatic adjustments to the device components, including adjusting tension and resistance levels of the joint components, may then be made based the performance metrics.
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公开(公告)号：US20240148522A1
公开(公告)日：2024-05-09
申请号：US18549985
申请日：2021-03-15
CPC分类号： A61F2/70 , A61F2/64 , A61F2/76 , A61F5/0102 , A61F2002/701 , A61F2002/7625 , A61F2005/0158
摘要： A powered KAFO device includes an electronic control system that provides an enhanced operation to better approximate a human gait cycle for enhanced mobility assistance. Multiple gait cycles of stance substate control and swing substate control are implemented to perform walking. During stance control, the control system measures an error between a desired and an actual knee joint component angle, and operates the actuator assembly of the powered mobility assistance device to control the knee joint component to stabilize the knee joint component. During swing control, the electronic control system measures an error between a desired and an actual knee swing trajectory, and operates the actuator assembly to control the knee joint component to adjust toward the desired swing knee trajectory. The gait cycle further may include a neutral substate that transitions from the stance substate to the swing substate, in which actuator assembly releases the knee joint component.
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