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公开(公告)号：US11673253B2
公开(公告)日：2023-06-13
申请号：US16491091
申请日：2018-03-07
Applicant: Ekso Bionics, Inc.
Inventor： Aaron Julin
CPC classification number: B25J9/0006 , A61H3/00 , B25J9/102 , B25J9/126 , F16H25/20 , A61H2003/007 , A61H2201/1215 , A61H2201/163 , A61H2201/165 , A61H2201/1638 , A61H2201/1642 , A61H2201/1671 , F16H2025/2043
Abstract: An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.
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公开(公告)号：US10342723B2
公开(公告)日：2019-07-09
申请号：US15564497
申请日：2016-04-06
Applicant: Ekso Bionics, Inc.
Inventor： Aaron Julin
Abstract: An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.
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公开(公告)号：US10702441B2
公开(公告)日：2020-07-07
申请号：US15499078
申请日：2017-04-27
Applicant: Ekso Bionics, Inc.
Inventor： Aaron Julin , Mike Hughes
Abstract: An exoskeleton includes first and second supports coupled to an exoskeleton wearer, a joint connecting the first support to the second support and an actuator. The actuator includes a ball screw, a ball nut assembly coupled to the ball screw and first and second tensile members. The ball nut assembly has first and second cord reactors. The first tensile member is routed through the first cord reactor, and the second tensile member is routed through the second cord reactor. Movement of the ball nut assembly along the ball screw in a first direction causes the second support to move relative to the first support in a first rotational direction about the joint. Movement of the ball nut assembly along the ball screw in a second direction causes the second support to move relative to the first support in a second rotational direction about the joint.
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Patent Agency Ranking
公开(公告)号：US20150351995A1
公开(公告)日：2015-12-10
申请号：US14649822
申请日：2013-12-11
Applicant: EKSO BIONICS, INC.
Inventor： Adam Zoss , Jonathan Evans , Reuben Sandler , Nathan Harding , Aaron Julin , James Lubin , Taylor Heanue , Dylan Fairbanks , James Stryker
IPC: A61H3/00
CPC classification number: A61H1/024 , A61H1/0244 , A61H1/0266 , A61H3/00 , A61H2201/0107 , A61H2201/165 , A61H2201/50 , A61H2201/5002 , A61H2201/5007 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5084 , B25J9/0006
Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.
Abstract translation: 外部骨骼可以在飞行中重新配置，调整和/或控制，利用分为三类的装置，特别是包括可切换未致动腿，可锁定横向和冠状髋关节旋转以及软件控制的自由关节。 更具体地，第一装置允许创建模块化关节系统，其中可以改变或交换单个外骨骼关节或四肢以优化特定使用者的外骨骼。 第二装置涉及机械控制，例如锁定和解锁接合，从而允许例如外骨骼腿在未被致动的轴线上枢转或不枢转。 第三装置允许使用软件在飞行中调节致动的外骨骼关节以模拟自由旋转的关节。 各种装置可以单独使用或组合使用，以使得任何给定的外骨骼被适当地重新配置，例如当患者在治疗期间前进时。
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公开(公告)号：US10327975B2
公开(公告)日：2019-06-25
申请号：US14649822
申请日：2013-12-11
Applicant: Ekso Bionics, Inc.
Inventor： Adam Zoss , Jonathan Evans , Reuben Sandler , Nathan Harding , Aaron Julin , James Lubin , Taylor Heanue , Dylan Fairbanks , James Stryker
Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.
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公开(公告)号：US20180085277A1
公开(公告)日：2018-03-29
申请号：US15564497
申请日：2016-04-06
Applicant: Ekso Bionics, Inc.
Inventor： Aaron Julin
IPC: A61H1/02
CPC classification number: A61H1/0262 , A61F5/0102 , A61F2005/0155 , A61H2201/0176 , A61H2201/1215 , A61H2201/1472 , A61H2201/165 , A61H2201/5069 , F16H19/0654
Abstract: An exoskeleton includes first and second support structures configured to be coupled to a wearer of the exoskeleton. A joint connects the first and second support structures, the joint enabling relative movement between the first and second structures. First and second cord loops connect the first and second support structures. At least one motor twists and thereby shortens the first and second cord loops, wherein shortening of the first cord loop causes relative movement of the first and second support structures about the joint in a first direction, and shortening of the second cord loop causes relative movement of the first and second support structures about the joint in a second, opposite direction. A brake mechanism prevents relative movement of the first and second support structures about the joint in at least one of the first and second directions if one of the first and second cord loops breaks.
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公开(公告)号：US09662261B2
公开(公告)日：2017-05-30
申请号：US14157052
申请日：2014-01-16
Applicant: Ekso Bionics, Inc.
Inventor： Aaron Julin , Reuben Sandler , Tom Smith , Adam Zoss
CPC classification number: A61H3/00 , A61H1/0262 , A61H2201/0173 , A61H2201/1616 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/50
Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.
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公开(公告)号：US20140200491A1
公开(公告)日：2014-07-17
申请号：US14157052
申请日：2014-01-16
Applicant: Ekso Bionics, Inc.
Inventor： Aaron Julin , Reuben Sandler , Tom Smith , Adam Zoss
IPC: A61H3/00
CPC classification number: A61H3/00 , A61H1/0262 , A61H2201/0173 , A61H2201/1616 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/50
Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.
Abstract translation: 矫正系统包括一个控制器，一个关节和一个用于关节的故障安全系统。 在优选实施例中，矫形系统是外骨骼，关节是膝关节，并且故障保护系统是由控制器控制的正常啮合的制动器。 控制器出现故障或外骨骼关闭时，制动器接合。 外骨骼还包括与控制器分离的电气或机械制动器分离机构，使得外骨骼使用者可以在需要时脱离制动器。 外骨骼还可以包括超控机构，当外骨骼通电并且控制器未发生故障时，防止制动器分离机构发挥作用。 此外，外骨骼可以包括在一个位置处的用户界面，其中制动器分离机构位于不同的有限的进入位置，使得用户不能意外地启动制动器分离机构。
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