公开(公告)号：US07120508B2

公开(公告)日：2006-10-10

申请号：US11179681

申请日：2005-07-13

申请人： Michael A. Peshkin ,  J. Edward Colgate ,  Julio Santos-Munne ,  David Meer ,  James Lipsey ,  Witaya Wannasuphroprasit ,  Stephen H. Klostermeyer

发明人： Michael A. Peshkin ,  J. Edward Colgate ,  Julio Santos-Munne ,  David Meer ,  James Lipsey ,  Witaya Wannasuphroprasit ,  Stephen H. Klostermeyer

IPC分类号： G05B19/42 ,  G06F19/00

CPC分类号： G05B19/41815 ,  G05B2219/32014 ,  G05B2219/36429 ,  G05B2219/40313 ,  Y02P90/08 ,  Y02P90/12 ,  Y02P90/18

摘要： A configuration system for an intelligent assist system is provided. The intelligent assist system includes a module, and a computational node on the module. The configuration system includes a host computer system capable of executing a stored program. The host computer system is in communication with the computational node via a communication link. The system also includes a graphical user interface enabling a user to manipulate objects related to the module or the computational node, and a plurality of visual indicators corresponding to a status of the module, the computational node, or the communication link.

摘要翻译： 提供了一种用于智能辅助系统的配置系统。 智能辅助系统包括模块和模块上的计算节点。 配置系统包括能够执行存储的程序的主计算机系统。 主计算机系统经由通信链路与计算节点通信。 该系统还包括使用户能够操纵与模块或计算节点相关的对象的图形用户界面，以及对应于模块状态，计算节点或通信链路的多个视觉指示符。

公开(公告)号：US07544172B2

公开(公告)日：2009-06-09

申请号：US10879604

申请日：2004-06-29

申请人： Julio Santos-Munne ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David A. Brown ,  J. Edward Colgate ,  James L. Patton ,  Benjamin L. Rush ,  Doug Schwandt

发明人： Julio Santos-Munne ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David A. Brown ,  J. Edward Colgate ,  James L. Patton ,  Benjamin L. Rush ,  Doug Schwandt

IPC分类号： A61H1/00

CPC分类号： A61H3/008 ,  A61H1/0292 ,  A61H3/00 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0157 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1614 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2230/62 ,  A61H2230/625

摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s). Wheel modules are independently powered to both rotate and steer, and, responsive to the control unit, are capable of rolling the exercise device in a direction of travel intended by the patient.

摘要翻译： 骨盆支撑单元通过动力垂直力致动器机构联接到基座。 独立于骨盆支撑单元固定在患者身上的躯干支撑单元通过一个或多个动力关节连接到基座上，这些关节可绕各自的运动轴线致动。 传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。 控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。 轮模块独立地被驱动以转动和转向，并且响应于控制单元能够沿着患者意图的行进方向滚动锻炼装置。

公开(公告)号：US06813542B2

公开(公告)日：2004-11-02

申请号：US09781801

申请日：2001-02-12

申请人： Michael A. Peshkin ,  J. Edward Colgate ,  Julio Santos-Munne ,  David Meer ,  James Lipsey ,  Witaya Wannasuphoprasit ,  Stephen H. Klostermeyer

发明人： Michael A. Peshkin ,  J. Edward Colgate ,  Julio Santos-Munne ,  David Meer ,  James Lipsey ,  Witaya Wannasuphoprasit ,  Stephen H. Klostermeyer

IPC分类号： G06F1900

CPC分类号： B66D3/20 ,  B66C13/18

摘要： An intelligent assist system having a modular architecture, coordinated by electronic communication links between the modules. Modules for motion, computation, interface, and programming are disclosed in exemplary embodiments.

摘要翻译： 具有模块化架构的智能辅助系统，通过模块之间的电子通信链路协调。 用于运动，计算，接口和编程的模块在示例性实施例中公开。

公开(公告)号：US20090275867A1

公开(公告)日：2009-11-05

申请号：US12481222

申请日：2009-06-09

申请人： Julio SANTOS-MUNNE ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David A. Brown ,  J. Edward Colgate ,  James L. Patton ,  Benjamin L. Rush ,  Doug Schwandt

发明人： Julio SANTOS-MUNNE ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David A. Brown ,  J. Edward Colgate ,  James L. Patton ,  Benjamin L. Rush ,  Doug Schwandt

IPC分类号： A61H1/00

CPC分类号： A61H3/008 ,  A61H1/0292 ,  A61H3/00 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0157 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1614 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2230/62 ,  A61H2230/625

摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s).

摘要翻译： 骨盆支撑单元通过动力垂直力致动器机构联接到基座。 独立于骨盆支撑单元固定在患者身上的躯体支撑单元通过一个或多个动力关节连接到基座，该关节可围绕各自的运动轴线致动。 传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。 控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。

公开(公告)号：US20080081728A1

公开(公告)日：2008-04-03

申请号：US11849953

申请日：2007-09-04

申请人： Eric Faulring ,  Thomas Moyer ,  Julio Santos-Munne ,  Alexander Makhlin ,  J. Colgate ,  Michael Peshkin

发明人： Eric Faulring ,  Thomas Moyer ,  Julio Santos-Munne ,  Alexander Makhlin ,  J. Colgate ,  Michael Peshkin

IPC分类号： F16H15/00

CPC分类号： F16H15/40 ,  Y10T74/20305

摘要： A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.

摘要翻译： 传动装置或致动器提供多个旋转输出，速度与公共旋转输入速度成比例，每个输出根据其自身的比例。 这些比率在正值和负值之间连续变化，包括零，并且可以在计算机控制下由机电致动器改变。 传输在计算机控制下将输出速度相互关联，从而使传输输出与运动学连接的多维工作空间中建立虚拟表面和其他触觉效果成为可能。 这样的工作空间的一个例子是机器人或假肢的手。

公开(公告)号：US07185774B2

公开(公告)日：2007-03-06

申请号：US10431582

申请日：2003-05-08

申请人： J. Edward Colgate ,  Paul F. Decker ,  Stephen H. Klostermeyer ,  Alexander Makhlin ,  David Meer ,  Julio Santos-Munne ,  Michael A. Peshkin ,  Michael Robie

发明人： J. Edward Colgate ,  Paul F. Decker ,  Stephen H. Klostermeyer ,  Alexander Makhlin ,  David Meer ,  Julio Santos-Munne ,  Michael A. Peshkin ,  Michael Robie

IPC分类号： G06F19/00

CPC分类号： B66D3/18 ,  B66C17/00

摘要： An intelligent assist method and apparatus are disclosed. The intelligent assist method includes imparting a manual force to a suspended object, determining an angle at which the suspended object is manually forced, generating motorized power to move the object in accordance with the angle at which the suspended object is forced, and inputting a signal to continue the motorized power and enable the object to continue moving on accordance with the angle at which the suspended object is manually forced.

摘要翻译： 公开了一种智能辅助方法和装置。 所述智能辅助方法包括：将手动力施加到悬挂物体上，确定手动强制被悬挂物体的角度，根据被迫物体被强迫的角度产生电动动力来移动物体，并输入信号 继续电动动力，并使物体能够根据手动强制悬挂物体的角度继续移动。

公开(公告)号：US20050288157A1

公开(公告)日：2005-12-29

申请号：US10879604

申请日：2004-06-29

申请人： Julio Santos-Munne ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David Brown ,  J. Colgate ,  James Patton ,  Benjamin Rush ,  Doug Schwandt

发明人： Julio Santos-Munne ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David Brown ,  J. Colgate ,  James Patton ,  Benjamin Rush ,  Doug Schwandt

IPC分类号： A61H3/00 ,  A61H3/04

CPC分类号： A61H3/008 ,  A61H1/0292 ,  A61H3/00 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0157 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1614 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2230/62 ,  A61H2230/625

摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s). Wheel modules are independently powered to both rotate and steer, and, responsive to the control unit, are capable of rolling the exercise device in a direction of travel intended by the patient.

摘要翻译： 骨盆支撑单元通过动力垂直力致动器机构联接到基座。 独立于骨盆支撑单元固定在患者身上的躯体支撑单元通过一个或多个动力关节连接到基座，该关节可围绕各自的运动轴线致动。 传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。 控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。 轮模块独立地被驱动以转动和转向，并且响应于控制单元能够沿着患者意图的行进方向滚动锻炼装置。

公开(公告)号：US08251863B2

公开(公告)日：2012-08-28

申请号：US11849953

申请日：2007-09-04

申请人： Eric L. Faulring ,  Thomas Moyer ,  Julio Santos-Munne ,  Alexander Makhlin ,  J. Edward Colgate ,  Michael Peshkin

发明人： Eric L. Faulring ,  Thomas Moyer ,  Julio Santos-Munne ,  Alexander Makhlin ,  J. Edward Colgate ,  Michael Peshkin

IPC分类号： F16H15/40

CPC分类号： F16H15/40 ,  Y10T74/20305

摘要： A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.

摘要翻译： 传动装置或致动器提供多个旋转输出，速度与公共旋转输入速度成比例，每个输出根据其自身的比例。 这些比率在正值和负值之间连续变化，包括零，并且可以在计算机控制下由机电致动器改变。 传输在计算机控制下将输出速度相互关联，从而使传输输出与运动学连接的多维工作空间中建立虚拟表面和其他触觉效果成为可能。 这样的工作空间的一个例子是机器人或假肢的手。

公开(公告)号：US07803125B2

公开(公告)日：2010-09-28

申请号：US12481222

申请日：2009-06-09

申请人： Julio Santos-Munne ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David A. Brown ,  J. Edward Colgate ,  James L. Patton ,  Benjamin L. Rush ,  Doug Schwandt

发明人： Julio Santos-Munne ,  Alex Makhlin ,  Ela Lewis ,  Michael Peshkin ,  David A. Brown ,  J. Edward Colgate ,  James L. Patton ,  Benjamin L. Rush ,  Doug Schwandt

IPC分类号： A61H1/00

CPC分类号： A61H3/008 ,  A61H1/0292 ,  A61H3/00 ,  A61H3/04 ,  A61H2003/043 ,  A61H2003/046 ,  A61H2201/0157 ,  A61H2201/1215 ,  A61H2201/149 ,  A61H2201/1614 ,  A61H2201/1616 ,  A61H2201/1621 ,  A61H2201/1623 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2230/62 ,  A61H2230/625

摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s).

摘要翻译： 骨盆支撑单元通过动力垂直力致动器机构联接到基座。 独立于骨盆支撑单元固定在患者身上的躯体支撑单元通过一个或多个动力关节连接到基座，该关节可围绕各自的运动轴线致动。 传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。 控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。

公开(公告)号：US20080200994A1

公开(公告)日：2008-08-21

申请号：US11677564

申请日：2007-02-21

申请人： J. Edward Colgate ,  Julio Santos-Munne ,  Keehoon Kim ,  Alex Makhlin ,  Michael Peshkin ,  Doug Schwandt

发明人： J. Edward Colgate ,  Julio Santos-Munne ,  Keehoon Kim ,  Alex Makhlin ,  Michael Peshkin ,  Doug Schwandt

IPC分类号： A61F2/00

CPC分类号： A61F2/68 ,  A61F2/54 ,  A61F2/586 ,  A61F2/72 ,  A61F2002/5059 ,  A61F2002/5061 ,  A61F2002/5063 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/7665

摘要： An apparatus and method for conveying sensory information from a distal location on a prosthetic limb, to a proximal location on the body of the wearer. The apparatus comprises a detector for mounting in a prosthesis and a stimulator for engaging the skin of the prosthesis wearer. Tactile, haptic and other information including surface-normal force, shear force, vibration, and/or temperature are sensed, conveyed, processed, and displayed, such that the wearer of the prosthetic has improved sensation and awareness from distal parts of a prosthetic, such as a fingertip.

摘要翻译： 一种用于将感觉信息从假肢的远端位置传送到佩戴者身体上的近端位置的装置和方法。 该装置包括用于安装在假体中的检测器和用于接合假体佩戴者的皮肤的刺激器。 感觉，传送，处理和显示包括表面法向力，剪切力，振动和/或温度的触觉，触觉和其他信息，使得假肢的佩戴者改善了来自假肢的远端部分的感觉和意识， 如指尖。