公开(公告)号：US09022956B2

公开(公告)日：2015-05-05

申请号：US14480549

申请日：2014-09-08

申请人： Homayoon Kazerooni ,  Wayne Tung ,  Michael McKinley ,  Yoon Jung Jeong

发明人： Homayoon Kazerooni ,  Wayne Tung ,  Michael McKinley ,  Yoon Jung Jeong

IPC分类号： A61H1/00 ,  A61H1/02 ,  A61H5/00 ,  A61F5/02 ,  A61H3/00

CPC分类号： A61F5/02 ,  A61F5/01 ,  A61H3/00

摘要： An exoskeleton (100) includes two torque generators (116, 118), two thigh links (104,106), and a supporting trunk (112) rotatably coupled to the thigh links (104, 106). When a wearer bends forward in the sagittal plane such that the supporting trunk (112) extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators (116, 118) imposes a resisting torque between the supporting trunk (112) and a corresponding thigh link (104, 106), thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton (100) may include an active or passive means (116, 134) for actuating the torque generators (116, 118). When the supporting trunk (112) does not extend beyond the predetermined angle A, the torque generators (116, 118) do not impose resisting torques between the supporting trunk (112) and the thigh links (104, 106) during the entire range of motion of the thigh links (104, 106), thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.

摘要翻译： 外骨骼（100）包括两个扭矩发生器（116,118），两个大腿连杆（104,106）和可旋转地联接到大腿连杆（104,106）的支撑躯干（112）。 当穿戴者在矢状平面中向前弯曲，使得支撑躯干（112）相对于垂直方向延伸超过预定角度A时，至少一个扭矩发生器（116,118）在支撑躯干（112）之间施加阻力矩， ）和相应的大腿连杆（104,106），从而将力施加到穿着者的躯干上，并且大腿以帮助将佩戴者支撑在弯曲位置。 外骨骼（100）可以包括用于致动扭矩发生器（116,118）的主动或被动装置（116,134）。 当支撑躯干（112）不延伸超过预定角度A时，扭矩发生器（116,118）在整个范围内不会在支撑躯干（112）和大腿连杆（104,106）之间施加阻力转矩 大腿连杆（104,106）的运动，从而使得佩戴者能够在大致直立位置时无限制地行走，跑步和坐着。

公开(公告)号：US08945028B2

公开(公告)日：2015-02-03

申请号：US12468595

申请日：2009-05-19

申请人： Homayoon Kazerooni ,  Kurt Amundson ,  Nathan Harding

发明人： Homayoon Kazerooni ,  Kurt Amundson ,  Nathan Harding

IPC分类号： A61H3/00 ,  A61H3/06 ,  B25J9/00

CPC分类号： A61H3/00 ,  A61H3/008 ,  A61H3/061 ,  B25J9/0006

摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

摘要翻译： 可配置为耦合到人的下肢外骨骼包括：腿部支撑件，其可配置为联接到人的下肢并设计成在姿态阶段期间搁置在地面上，每个腿部支撑件具有大腿连杆和小腿连杆; 两个膝关节，每个被配置为允许在相应的柄和大腿连接之间弯曲和延伸; 外骨骼躯干，其可配置为联接到人的上身，可旋转地连接到腿支撑件的大腿连杆，允许脚支撑件和外骨骼躯干之间的弯曲和伸展; 两个髋部致动器被配置成在外骨骼躯干和腿部支撑之间产生扭矩; 以及能够向髋部致动器提供动力的至少一个动力单元。 在使用中，向臀部致动器供电，其量可以减少在行走周期期间用户消耗的能量。

公开(公告)号：US08894592B2

公开(公告)日：2014-11-25

申请号：US12468487

申请日：2009-05-19

申请人： Kurt Amundson ,  Russdon Angold ,  Nathan Harding ,  Homayoon Kazerooni

发明人： Kurt Amundson ,  Russdon Angold ,  Nathan Harding ,  Homayoon Kazerooni

IPC分类号： A61H3/00 ,  B25J9/00 ,  A61F5/01

CPC分类号： B25J9/0006 ,  A61F5/0102 ,  A61H3/008

摘要： A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

摘要翻译： 下肢外骨骼包括：至少一个动力单元; 两腿支撑设计在地面上; 两个膝关节构造成允许在腿部支撑件的相应的柄部和大腿连接部之间弯曲和延伸; 可拆卸地连接到腿支撑的外骨骼躯干; 以及两个髋部致动器，其构造成在外骨骼躯干和腿部支撑件之间产生扭矩。 在使用中，臀部执行器在姿态阶段期间产生相对于外骨骼躯干向后移动腿部支撑的力矩，其将外骨骼躯干向前推动。 可以使用第二扭矩来将腿支撑件相对于外骨骼躯干向前移动到摆动阶段。 此外，在摆动阶段期间可能产生摆动扭矩，以使脚部支撑件相对于外骨骼躯干向前移动。 这导致佩戴外骨骼的使用者的氧气消耗和心率降低。

公开(公告)号：US08231688B2

公开(公告)日：2012-07-31

申请号：US12457573

申请日：2009-06-16

申请人： Dylan Miller Fairbanks ,  Adam Brian Zoss ,  Minerva Vasudevan Pillai ,  Miclas Schwartz ,  Nathan Harding ,  Matthew Rosa ,  Bram Gilbert Antoon Lambrecht ,  Sebastian Kruse ,  Homayoon Kazerooni

发明人： Dylan Miller Fairbanks ,  Adam Brian Zoss ,  Minerva Vasudevan Pillai ,  Miclas Schwartz ,  Nathan Harding ,  Matthew Rosa ,  Bram Gilbert Antoon Lambrecht ,  Sebastian Kruse ,  Homayoon Kazerooni

IPC分类号： A61F2/48 ,  A61F2/60 ,  A61F2/68

CPC分类号： A61F2/64 ,  A61F2/68 ,  A61F2/80 ,  A61F2002/30359 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/741 ,  A61F2002/744 ,  A61F2002/745 ,  A61F2002/748 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/7645 ,  A61F2220/0033

摘要： A semi-actuated above knee prosthetic system, which is mostly passive in nature and includes a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link attached to an above-knee remaining lower limb of an amputee, is operable in either an actuated mode or an un-actuated mode controlled by a signal processor linked to various prosthetic mounted sensors which may include combinations of knee angle, stance, thigh angle and shank angle sensors. Power is delivered through an electric motor connected to a battery source and employed to drive a hydraulic pump which is part of an overall hydraulic power unit including the torque generator. A signal processor selects a swing state from at least forward, combination forward and descent, combination forward and ascent, reverse, combination reverse and descent, and combination reverse and ascent swing states.

摘要翻译： 一种半致动的上膝假体系统，其本质上是被动的，并且包括联接到人造足的柄连杆，连接到柄连杆的膝盖机构和连接到截肢者的膝盖下部剩余下肢的大腿连接 可操作在致动模式或由致动模式控制的信号处理器，该信号处理器连接到各种假肢安装的传感器，其可以包括膝盖角度，姿态，大腿角度和柄角度传感器的组合。 电力通过连接到电池源的电动机输送，并用于驱动作为包括扭矩发生器的整个液压动力单元的一部分的液压泵。 信号处理器从至少向前，组合前进和下降，组合前进和上升，反向，组合反向和下降以及组合反向和上升摆动状态中选择摆动状态。

公开(公告)号：US20100094185A1

公开(公告)日：2010-04-15

申请号：US12468487

申请日：2009-05-19

申请人： Kurt Amundson ,  Russdon Angold ,  Nathan Harding ,  Homayoon Kazerooni

发明人： Kurt Amundson ,  Russdon Angold ,  Nathan Harding ,  Homayoon Kazerooni

IPC分类号： A61F5/00 ,  A61F2/60

CPC分类号： B25J9/0006 ,  A61F5/0102 ,  A61H3/008

摘要： A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

摘要翻译： 下肢外骨骼包括：至少一个动力单元; 两腿支撑设计在地面上; 两个膝关节构造成允许在腿部支撑件的相应的柄部和大腿连接部之间弯曲和延伸; 可拆卸地连接到腿支撑的外骨骼躯干; 以及两个髋部致动器，其构造成在外骨骼躯干和腿部支撑件之间产生扭矩。 在使用中，臀部执行器在姿态阶段期间产生相对于外骨骼躯干向后移动腿部支撑的力矩，其将外骨骼躯干向前推动。 可以使用第二扭矩来将腿支撑件相对于外骨骼躯干向前移动到摆动阶段。 此外，在摆动阶段期间可能产生摆动扭矩，以使脚部支撑件相对于外骨骼躯干向前移动。 这导致佩戴外骨骼的使用者的氧气消耗和心率降低。

公开(公告)号：US20090292369A1

公开(公告)日：2009-11-26

申请号：US12468595

申请日：2009-05-19

申请人： Homayoon Kazerooni ,  Kurt Amundson ,  Nathan Harding

发明人： Homayoon Kazerooni ,  Kurt Amundson ,  Nathan Harding

IPC分类号： A61F2/74

CPC分类号： A61H3/00 ,  A61H3/008 ,  A61H3/061 ,  B25J9/0006

摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

摘要翻译： 可配置为耦合到人的下肢外骨骼包括：腿部支撑件，其可配置为联接到人的下肢并设计成在姿态阶段期间搁置在地面上，每个腿部支撑件具有大腿连杆和小腿连杆; 两个膝关节，每个被配置为允许在相应的柄和大腿连接之间弯曲和延伸; 外骨骼躯干，其可配置为联接到人的上身，可旋转地连接到腿支撑件的大腿连杆，允许脚支撑件和外骨骼躯干之间的弯曲和伸展; 两个髋部致动器被配置成在外骨骼躯干和腿部支撑之间产生扭矩; 以及能够向髋部致动器提供动力的至少一个动力单元。 在使用中，向臀部致动器供电，其量可以减少在行走周期期间用户消耗的能量。

公开(公告)号：US20060260620A1

公开(公告)日：2006-11-23

申请号：US11335392

申请日：2006-01-18

申请人： Homayoon Kazerooni ,  Nathan Harding ,  Russdon Angold

发明人： Homayoon Kazerooni ,  Nathan Harding ,  Russdon Angold

IPC分类号： A61G15/00

CPC分类号： A61B5/1038 ,  A61B5/4528 ,  A61B5/6829 ,  A61B2562/0219 ,  A61F5/0102 ,  B25J9/0006

摘要： A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.

摘要翻译： 可配置为耦合到人的下肢外骨骼包括可配置为联接到人的下肢并被配置为在其姿态阶段期间搁置在地面上的两个腿部支撑件。 每个腿部支撑件包括大腿连杆，小腿连杆和两个膝关节。 每个膝关节被构造成允许在相应的小腿连杆和相应的大腿连杆之间弯曲和伸展。 下肢外骨骼还包括可配置成与人的上身联接的外骨骼躯干。 外骨骼躯干可旋转地连接到腿部支撑件的大腿连接部，允许脚部支撑件和外骨骼躯干之间的弯曲和伸展。 在该示例性实施例中，由腿部支撑件和腿部支撑件的相应大腿连接件之间的弯曲和伸展运动所需的能量在循环膝盖运动上提供。

公开(公告)号：US20060151765A1

公开(公告)日：2006-07-13

申请号：US10885693

申请日：2004-07-08

申请人： Homayoon Kazerooni

发明人： Homayoon Kazerooni

IPC分类号： B66D1/50

CPC分类号： B60R5/04 ,  B66D3/18 ,  B66D3/26

摘要： An apparatus for loading an object into a vehicle, the vehicle having a trunk lid, the apparatus comprising: a line; an actuator adapted for applying a tensile force to the line in response to an actuator command, and disposed and adapted for transmitting at least a portion of the tensile force to the trunk lid; an end-effector mechanically coupled to the line and adapted for transmitting the tensile force and an operator force to the object and for generating an operator force measurement; and a controller adapted for generating the actuator command from the operator force measurement.

摘要翻译： 一种用于将物体装载到车辆中的装置，所述车辆具有行李箱盖，所述装置包括：线; 致动器，其适于响应于致动器指令向所述线施加张力，并且设置并适于将所述拉力的至少一部分传递到所述行李箱盖; 机械地联接到所述线并且适于将拉力和操作者力传递到所述物体并用于产生操作者力测量的末端执行器; 以及适于从操作者力测量产生致动器指令的控制器。

公开(公告)号：US06681638B2

公开(公告)日：2004-01-27

申请号：US10101157

申请日：2002-03-20

申请人： Homayoon Kazerooni ,  Dylan Miller Fairbanks ,  Albert Chen ,  Gene Shin

发明人： Homayoon Kazerooni ,  Dylan Miller Fairbanks ,  Albert Chen ,  Gene Shin

IPC分类号： B66D148

CPC分类号： B65G43/00

摘要： The invention provides a device and method for wireless material handling systems. The invention further provides an instrumented glove device worn by an operator. A sensory system within the glove device measures the contact force the operator is exerting on either an object to be moved or the material handling system and generates a set of contact signals representing the contact force. The contact signals are transmitted, via a transmitter circuitry, to a controller in another location. The controller receives and processes the signals and generates a set of command signals. The command signals control the speed and mechanical assistance required of an actuator, as a function of the operator contact force, to move the material handling system.

摘要翻译： 本发明提供一种用于无线材料处理系统的装置和方法。 本发明还提供了由操作者佩戴的仪表化手套装置。 手套装置内的感官系统测量操作者对要移动的物体或材料处理系统施加的接触力，并产生表示接触力的一组接触信号。 接触信号通过发射机电路传输到另一位置的控制器。 控制器接收并处理信号并产生一组命令信号。 命令信号控制致动器所需的速度和机械辅助作为操作者接触力的函数来移动材料处理系统。

公开(公告)号：US20130184626A1

公开(公告)日：2013-07-18

申请号：US13807456

申请日：2011-06-28

申请人： Homayoon Kazerooni ,  Kibeum Ryoo ,  Han Woong Bae ,  Daniel Merala

发明人： Homayoon Kazerooni ,  Kibeum Ryoo ,  Han Woong Bae ,  Daniel Merala

IPC分类号： A61F5/02

CPC分类号： A61F5/02 ,  A61F2005/0188

摘要： A trunk support device (100) is configurable to be worn by a person to reduce the muscle forces in the person's back during forward bending. The device (100), among other things, includes: a waist strap (102) which is configurable to be coupled to the person waist; a chest support (104) which is configurable to be coupled to the person's chest and capable of pushing against the person chest; and first and second torque generators (106) coupled to the chest support (104) and the waist strap (102) and capable of providing a resistance torque between them. In operation, when a person wearing the device (100) bends forward, at least one of the torque generators (106) imposes a torque between the chest support (104) and the waist strap (102), causing the chest support (104) to impose a force onto the person's chest backwardly and the waist strap (102) to impose a force onto the person's hip.

摘要翻译： 躯干支撑装置（100）可配置成由人员佩戴，以在向前弯曲期间减少人背部的肌肉力量。 装置（100）尤其包括：可配置为联接到人的腰部的腰带（102）; 胸部支撑件（104），其可配置为联接到所述人的胸部并能够推靠所述人的胸部; 以及耦合到胸部支撑件（104）和腰带（102）并且能够在它们之间提供阻力扭矩的第一和第二扭矩发生器（106）。 在操作中，当穿戴设备（100）的人向前弯曲时，扭矩发生器（106）中的至少一个在胸部支撑件（104）和腰带（102）之间施加扭矩，使得胸部支撑件（104） 将力施加在人的胸部和腰带（102）上以对人的臀部施加力。