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    Actuator system with a multi-motor assembly for extending and flexing a joint
    2.
    发明授权
    Actuator system with a multi-motor assembly for extending and flexing a joint 有权
    具有多马达组件的执行器系统，用于延伸和弯曲接头

    公开(公告)号：US08058823B2

    公开(公告)日：2011-11-15

    申请号：US12191837

    申请日：2008-08-14

    申请人： Robert W. Horst ,  Kern Bhugra ,  Robert L. Jardine

    发明人： Robert W. Horst ,  Kern Bhugra ,  Robert L. Jardine

    IPC分类号： H02P5/00

    CPC分类号： A61H1/0237 ,  A61H1/024 ,  A61H1/0266 ,  A61H1/0274 ,  A61H1/0277 ,  A61H1/0281 ,  A61H2201/1215 ,  A61H2201/1445 ,  A61H2201/1463 ,  A61H2201/149 ,  A61H2201/5061 ,  A61H2201/5064 ,  F16H25/20 ,  F16H2025/2081

    摘要： An actuator system for extending and flexing a joint, including a multi-motor assembly for providing a rotational output, a rotary-to-linear mechanism for converting the rotational output from the multi-motor assembly into an extension and flexion of the joint, and a controller for operating the actuator system in several operational modes. The multi-motor assembly preferably combines power from two different sources, such that the multi-motor assembly can supply larger forces at slower speeds (“Low Gear”) and smaller forces at higher speeds (“High Gear”). The actuator has been specifically designed for extending and flexing a joint (such as an ankle, a knee, an elbow, or a shoulder) of a human. The actuator system may, however, be used to move any suitable object through any suitable movement (linear, rotational, or otherwise).

    摘要翻译： 一种用于延伸和弯曲接头的致动器系统，包括用于提供旋转输出的多电机组件，用于将来自多电动机组件的旋转输出转换成接头的伸展和弯曲的旋转到线性机构，以及 用于以多种操作模式操作致动器系统的控制器。 多电动机组件优选地组合来自两个不同源的动力，使得多电动机组件可以以较低速度（“低齿轮”）和较高速度（“高齿轮”）下的较小力提供较大的力。 致动器专门设计用于伸展和弯曲人体的关节（例如脚踝，膝盖，肘部或肩部）。 然而，致动器系统可以用于通过任何合适的运动（线性，旋转或其他方式）移动任何合适的物体。

    HIGH-TORQUE MOTOR
    3.
    发明申请
    HIGH-TORQUE MOTOR 审中-公开
    高扭矩电机

    公开(公告)号：US20080203841A1

    公开(公告)日：2008-08-28

    申请号：US12047148

    申请日：2008-03-12

    申请人： Robert W. Horst ,  Richard R. Marcus

    发明人： Robert W. Horst ,  Richard R. Marcus

    IPC分类号： H02K7/10

    CPC分类号： H02K99/20

    摘要： A motor that delivers high force linear motion or high torque rotary motion to a moving element. The motor may include a driving brake, a driver, a holding brake and a flexible moving element. Operation of the motor may involve activating the holding brake, activating the driver to flex the moving element, activating the holding brake to maintain the position of a portion of the moving element, releasing the driving brake, and restoring the moving element to an unflexed position. The elements are arranged to provide linear motion, belt-driven rotary motion, or directly-coupled rotary motion using brakes and drivers arranged in linear or circular fashion. Drivers may be linear or rotary actuators or motors based on electrostatic, piezoelectric, magnetic, or electrostrictive properties. The brakes may be applied through electrostatic forces, magnetic forces, or mechanical gears engaged with a linear or rotary driving mechanism.

    摘要翻译： 一种向移动元件提供高力直线运动或高扭矩旋转运动的电机。 马达可以包括驱动制动器，驱动器，保持制动器和柔性移动元件。 电动机的操作可以包括启动保持制动器，启动驾驶员以弯曲移动元件，启动保持制动器以保持移动元件的一部分的位置，释放驱动制动器，并将移动元件恢复到未弯曲的位置 。 这些元件被布置成使用以线性或圆形方式布置的制动器和驱动器提供线性运动，皮带驱动的旋转运动或直接耦合的旋转运动。 驱动器可以是基于静电，压电，磁性或电致伸缩特性的线性或旋转致动器或电动机。 制动器可以通过与线性或旋转驱动机构接合的静电力，磁力或机械齿轮施加。

    Electrostatic actuator with fault tolerant electrode structure
    4.
    发明授权
    Electrostatic actuator with fault tolerant electrode structure 失效
    具有容错电极结构的静电致动器

    公开(公告)号：US07239065B2

    公开(公告)日：2007-07-03

    申请号：US10874986

    申请日：2004-06-22

    申请人： Robert W. Horst

    发明人： Robert W. Horst

    IPC分类号： H02N1/00

    CPC分类号： H02N1/004

    摘要： A high-power electrostatic actuator comprising rotor and stator layers with fault-tolerant electrode structures, a housing to contain the electrodes and dielectric fluid, and electronic circuitry driving a plurality of high-voltage phases. The actuator is constructed from multiple rotor and stator films separated by spacing elements. The electrode structure provides self-alignment for precise assembly. The actuator assembly includes built-in fine-position sensors to allow optimal timing in powering phases, and a coarse position sensor for feedback control. The electrode structure has a large region of linear force to provide low torque-ripple allowing simple high/low voltage pulsing instead of analog high voltage waveforms. Single or double sided flexible circuit manufacturing techniques are used to fabricate the rotor and stator films at low cost.

    摘要翻译： 包括具有容错电极结构的转子和定子层的高功率静电致动器，容纳电极和电介质流体的外壳以及驱动多个高压相的电子电路。 致动器由多个由间隔元件分隔的转子和定子膜构成。 电极结构提供自对准以进行精确的组装。 致动器组件包括内置的精细位置传感器，以允许在供电阶段的最佳定时，以及用于反馈控制的粗略位置传感器。 电极结构具有大的线性力区域，以提供低转矩脉动，允许简单的高/低电压脉冲而不是模拟高电压波形。 单或双面柔性电路制造技术用于以低成本制造转子和定子膜。

    Active muscle assistance device and method
    5.
    发明授权
    Active muscle assistance device and method 有权
    主动肌肉辅助装置及方法

    公开(公告)号：US06966882B2

    公开(公告)日：2005-11-22

    申请号：US10704483

    申请日：2003-11-06

    申请人： Robert W. Horst

    发明人： Robert W. Horst

    IPC分类号： A61H3/00 ,  A61H1/02

    CPC分类号： A61H1/0237 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H1/0274 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/0165 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5035 ,  A61H2201/5061 ,  A61H2201/5071 ,  A61H2230/60 ,  Y10S601/23

    摘要： A method for controlling movement using an active powered device including an actuator, joint position sensor, muscle stress sensor, and control system. The device provides primarily muscle support although it is capable of additionally providing joint support (hence the name “active muscle assistance device”). The device is designed for operation in several modes to provide either assistance or resistance to a muscle for the purpose of enhancing mobility, preventing injury, or building muscle strength. The device is designed to operate autonomously or coupled with other like device(s) to provide simultaneous assistance or resistance to multiple muscles.

    摘要翻译： 一种使用包括致动器，关节位置传感器，肌肉应力传感器和控制系统的主动动力装置来控制运动的方法。 该装置主要提供肌肉支撑，尽管它能够另外提供联合支撑（因此命名为“主动肌肉辅助装置”）。 该装置设计用于在多种模式中操作以提供对肌肉的辅助或抗性，以增强运动性，防止损伤或建立肌肉力量。 该设备被设计为自主地操作或与其他类似设备耦合以提供同时辅助或抵抗多个肌肉。

    Use of activity bins to increase the performance of disk arrays
    6.
    发明授权
    Use of activity bins to increase the performance of disk arrays 失效
    使用活动箱来增加磁盘阵列的性能

    公开(公告)号：US06775794B1

    公开(公告)日：2004-08-10

    申请号：US09863523

    申请日：2001-05-23

    申请人： Robert W. Horst ,  Christophe Therene

    发明人： Robert W. Horst ,  Christophe Therene

    IPC分类号： G06F1100

    CPC分类号： G06F11/1092 ,  G06F2211/104

    摘要： A disk array controller reliably improves performance in RAID configurations without the need for a battery backup. Write completion interrupts are queued until a write cache flush has been performed and are then sent to a host system. States of ranges of disk addresses (activity bins) are stored in nonvolatile storage elements associated with the ranges. The states allow rebuild times to be reduced after power failures and drive failures. A range is in a Changing state if at least one of the addresses is the target of a write operation that has been initiated but not completed. The range is in a Stable state if no addresses are the target of an uncompleted write operation. Two additional states are used to identify ranges of disk addresses that have been zeroed or never been written to. The additional states allow substantial reductions in RAID volume creation times.

    摘要翻译： 磁盘阵列控制器可靠地提高RAID配置的性能，无需电池备份。 写入完成中断排队，直到执行写缓存刷新，然后发送到主机系统。 磁盘地址范围（活动箱）的状态存储在与范围相关联的非易失性存储元件中。 状态允许在电源故障和驱动器故障后重建时间减少。 如果至少一个地址是已启动但未完成的写操作的目标，则范围处于“更改”状态。 如果没有地址是未完成的写入操作的目标，则范围处于稳定状态。 两个附加状态用于标识已被归零或从未写入的磁盘地址的范围。 额外的状态允许大大减少RAID卷创建时间。

    Use of deferred write completion interrupts to increase the performance of disk operations
    7.
    发明授权
    Use of deferred write completion interrupts to increase the performance of disk operations 失效
    使用延迟写入完成中断来增加磁盘操作的性能

    公开(公告)号：US06549977B1

    公开(公告)日：2003-04-15

    申请号：US09863520

    申请日：2001-05-23

    申请人： Robert W. Horst ,  Christophe Therene

    发明人： Robert W. Horst ,  Christophe Therene

    IPC分类号： G06F1300

    CPC分类号： G06F3/0659 ,  G06F3/061 ,  G06F3/0689 ,  G06F12/0804 ,  G06F12/0866 ,  Y02D10/13

    摘要： A disk array controller reliably improves performance in RAID configurations without the need for a battery backup. Write completion interrupts are queued until a write cache flush has been performed and are then sent to a host system. States of ranges of disk addresses (activity bins) are stored in nonvolatile storage elements associated with the ranges. The states allow rebuild times to be reduced after power failures and drive failures. A range is in a Changing state if at least one of the addresses is the target of a write operation that has been initiated but not completed. The range is in a Stable state if no addresses are the target of an uncompleted write operation. Two additional states are used to identify ranges of disk addresses that have been zeroed or never been written to. The additional states allow substantial reductions in RAID volume creation times.

    摘要翻译： 磁盘阵列控制器可靠地提高RAID配置的性能，无需电池备份。 写入完成中断排队，直到执行写缓存刷新，然后发送到主机系统。 磁盘地址范围（活动箱）的状态存储在与范围相关联的非易失性存储元件中。 状态允许在电源故障和驱动器故障后重建时间减少。 如果至少一个地址是已启动但未完成的写操作的目标，则范围处于“更改”状态。 如果没有地址是未完成的写入操作的目标，则范围处于稳定状态。 两个附加状态用于标识已被归零或从未写入的磁盘地址的范围。 额外的状态允许大大减少RAID卷创建时间。

    Methods and systems for accessing disks using forward and reverse seeks
    8.
    发明授权
    Methods and systems for accessing disks using forward and reverse seeks 失效
    使用正向和反向寻址访问磁盘的方法和系统

    公开(公告)号：US06487633B1

    公开(公告)日：2002-11-26

    申请号：US09392358

    申请日：1999-09-08

    申请人： Robert W. Horst ,  William J. Alessi ,  James A. McDonald ,  Rod S. Thompson

    发明人： Robert W. Horst ,  William J. Alessi ,  James A. McDonald ,  Rod S. Thompson

    IPC分类号： G06F1202

    CPC分类号： G06F3/061 ,  G06F3/064 ,  G06F3/0689 ,  G06F11/2056 ,  G06F11/2066 ,  G11B20/1252 ,  G11B27/002 ,  G11B2020/10916 ,  G11B2220/415

    摘要： The present invention is related to methods and systems for accessing multimedia data stored on a disk array to ensure that the transfer rate does not fall below a selected minimum transfer rate independent of where the multimedia data is stored on the disk array. In one embodiment, the sizes of blocks accessed are varied and the direction of access is selected to enhance read performance. A plurality of blocks are read whose sizes vary linearly as data is being read from a first disk in a backward direction, from an inner diameter side of the first disk, towards an outer diameter of the first disk. Blocks are read from a second disk in a forward direction, towards an inner diameter of the second disk.

    摘要翻译： 本发明涉及用于访问存储在磁盘阵列上的多媒体数据的方法和系统，以确保传输速率不会低于选定的最小传输速率，而与多媒体数据存储在磁盘阵列上的位置无关。 在一个实施例中，访问的块的大小是变化的，并且选择访问的方向以增强读取性能。 读取多个块，其尺寸随着从第一盘的内径侧朝向第一盘的外径从向后方向的第一盘读取的数据线性变化。 从第二盘向前的方向，朝向第二盘的内径读取块。