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    Exoskeleton Load Handling System and Method of Use
    3.
    发明申请
    Exoskeleton Load Handling System and Method of Use 有权
    外骨骼负荷处理系统及使用方法

    公开(公告)号：US20130303950A1

    公开(公告)日：2013-11-14

    申请号：US13639984

    申请日：2011-04-08

    申请人： Russdon Angold ,  Adam Zoss ,  Homayoon Kazerooni ,  Jon Burns ,  Kurt Amundson ,  Nathan Harding

    发明人： Russdon Angold ,  Adam Zoss ,  Homayoon Kazerooni ,  Jon Burns ,  Kurt Amundson ,  Nathan Harding

    IPC分类号： A61H3/00

    CPC分类号： A61H3/00 ,  A61H3/008 ,  A61H2003/002 ,  A61H2201/1207 ,  A61H2201/5023 ,  A61H2203/0406 ,  B25J9/0006 ,  B66D3/18

    摘要： An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.

    摘要翻译： 可配置为耦合到人的外骨骼包括连接到相应髋关节处的第一和第二腿部支撑件的外骨骼躯干，其允许围绕相应髋部轴线的屈曲和伸展。 包括辅助物料的配重装置通过致动器连接到外骨骼躯干，使得辅助物质在外骨骼躯干后面的位置延伸。 外骨骼通过包括负载移动装置的负载支撑装置支撑前部负载，所述负载移动装置用于选择性地操作动力卷轴机构，以相对于外骨骼躯干提升或降低前部负载。 辅助质量可以相对于外骨骼躯干选择性地移动，以平衡由辅助质量围绕髋部轴线产生的力矩以及由承载装置上的负载的向下的力产生的力矩。

    Wearable Material Handling System
    5.
    发明申请
    Wearable Material Handling System 有权
    可穿戴材料处理系统

    公开(公告)号：US20110266323A1

    公开(公告)日：2011-11-03

    申请号：US13139933

    申请日：2009-12-17

    申请人： Homayoon Kazerooni ,  Nathan Harding ,  Russdon Angold ,  Kurt Amundson ,  Jon William Burns ,  Adam Zoss

    发明人： Homayoon Kazerooni ,  Nathan Harding ,  Russdon Angold ,  Kurt Amundson ,  Jon William Burns ,  Adam Zoss

    IPC分类号： A45F3/00

    CPC分类号： B25J9/0006

    摘要： An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

    摘要翻译： 被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿支撑件。 髋扭矩发生器在外骨骼躯干和各支腿支撑之间延伸。 优选地，负载保持机构可旋转地联接到外骨骼躯干，所述外骨骼躯干被配置为支撑人的前方的负载。 在使用中，髋扭矩发生器在姿态相位之间在外骨骼躯干和相应腿支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干与姿态中的第一和第二腿支撑之一之间产生第一扭矩 相对于在外骨骼上产生的由负载的重量产生的第二扭矩。 负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。

    Wearable material handling system
    6.
    发明授权
    Wearable material handling system 有权
    可穿戴材料处理系统

    公开(公告)号：US08968222B2

    公开(公告)日：2015-03-03

    申请号：US13139933

    申请日：2009-12-17

    申请人： Homayoon Kazerooni ,  Nathan Harding ,  Russdon Angold ,  Kurt Amundson ,  Jon William Burns ,  Adam Zoss

    发明人： Homayoon Kazerooni ,  Nathan Harding ,  Russdon Angold ,  Kurt Amundson ,  Jon William Burns ,  Adam Zoss

    IPC分类号： A61H1/00 ,  B25J9/00

    CPC分类号： B25J9/0006

    摘要： An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

    摘要翻译： 被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿支撑件。 髋扭矩发生器在外骨骼躯干和各支腿支撑之间延伸。 优选地，负载保持机构可旋转地联接到外骨骼躯干，所述外骨骼躯干被配置为支撑人的前方的负载。 在使用中，髋扭矩发生器在姿态相位之间在外骨骼躯干和相应腿支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干与姿态中的第一和第二腿支撑之一之间产生第一扭矩 相对于在外骨骼上产生的由负载的重量产生的第二扭矩。 负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。

    Power generating leg
    7.
    发明申请
    Power generating leg 有权
    发电腿

    公开(公告)号：US20070233279A1

    公开(公告)日：2007-10-04

    申请号：US11716135

    申请日：2007-03-09

    申请人： Homayoon Kazerooni ,  Adam Zoss ,  Nathan Harding ,  Russdon Angold

    发明人： Homayoon Kazerooni ,  Adam Zoss ,  Nathan Harding ,  Russdon Angold

    IPC分类号： A61F2/70 ,  A61F2/74 ,  A61F5/052

    CPC分类号： A61F2/68 ,  A61F2002/608 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/708 ,  A61F2002/741 ,  A61F2002/745 ,  A61F2002/748 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61H1/024 ,  A61H3/00 ,  A61H3/008 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1409 ,  A61H2201/1623 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676

    摘要： A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque. When said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.

    摘要翻译： 可配置为联接到人的下肢的发电腿，包括大腿连杆，柄连杆，膝盖机构，扭矩发生器和动力单元。 膝盖机构连接到所述大腿连杆和所述柄连杆，并且构造成允许所述大腿连杆和所述柄连杆相对于彼此的弯曲和伸展运动。 扭矩发生器构造成在所述柄连杆和所述大腿连杆之间产生扭矩。 动力单元联接到所述扭矩发生器，并且构造成使所述扭矩发生器产生扭矩。 当所述动力单元处于动力再生模式时，所述动力单元使所述扭矩发生器产生与所述大腿连杆和所述柄连杆相对于彼此的角速度相对的转矩，并且所述动力单元将一部分相关联的动力 其中所述扭矩和所述柄连杆和大腿连杆的所述角速度的乘积相对于彼此成为要被存储在存储装置中的电力的乘积。

    Exoskeleton load handling system and method of use
    10.
    发明授权
    Exoskeleton load handling system and method of use 有权
    外骨骼负荷处理系统及使用方法

    公开(公告)号：US09504623B2

    公开(公告)日：2016-11-29

    申请号：US13639984

    申请日：2011-04-08

    申请人： Russdon Angold ,  Adam Zoss ,  Jon Burns ,  Kurt Amundson ,  Nathan Harding

    发明人： Russdon Angold ,  Adam Zoss ,  Homayoon Kazerooni ,  Jon Burns ,  Kurt Amundson ,  Nathan Harding

    IPC分类号： A61H3/00 ,  B25J9/00 ,  B66D3/18

    CPC分类号： A61H3/00 ,  A61H3/008 ,  A61H2003/002 ,  A61H2201/1207 ,  A61H2201/5023 ,  A61H2203/0406 ,  B25J9/0006 ,  B66D3/18

    摘要： An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.

    摘要翻译： 可配置为耦合到人的外骨骼包括连接到相应髋关节处的第一和第二腿部支撑件的外骨骼躯干，其允许围绕相应髋部轴线的屈曲和伸展。 包括辅助物料的配重装置通过致动器连接到外骨骼躯干，使得辅助物质在外骨骼躯干后面的位置延伸。 外骨骼通过包括负载移动装置的负载支撑装置支撑前部负载，所述负载移动装置用于选择性地操作动力卷轴机构，以相对于外骨骼躯干提升或降低前部负载。 辅助质量可以相对于外骨骼躯干选择性地移动，以平衡由辅助质量围绕髋部轴线产生的力矩以及由承载装置上的负载的向下的力产生的力矩。