公开(公告)号：US10352334B2

公开(公告)日：2019-07-16

申请号：US14423302

申请日：2013-08-27

申请人： Ekso Bionics, Inc.

发明人： Kurt Reed Amundson ,  Russdon Angold ,  David Scheinman ,  Tim Swift ,  Daniel P Norboe ,  Robert Moore ,  Jonathan Beard ,  Kyle Edelberg

IPC分类号： F15B7/00 ,  F15B11/04 ,  A61H3/00 ,  A61H1/02 ,  F15B11/028 ,  F15B15/08 ,  F04C14/22

摘要： The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.

公开(公告)号：US20150226234A1

公开(公告)日：2015-08-13

申请号：US14423302

申请日：2013-08-27

申请人： Ekso Bionics, Inc

发明人： Kurt Reed Amundson ,  Russdon Angold ,  David Scheinman ,  Tim Swift ,  Daniel P Norboe ,  Robert Moore ,  Jonathan Beard ,  Kyle Edelberg

IPC分类号： F15B11/04 ,  F15B11/028 ,  F15B15/08

CPC分类号： F15B11/04 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1409 ,  A61H2201/1614 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5092 ,  F04C14/22 ,  F15B7/006 ,  F15B11/028 ,  F15B15/08 ,  F15B2211/205 ,  F15B2211/20515 ,  F15B2211/20546 ,  F15B2211/20561 ,  F15B2211/20576 ,  F15B2211/27 ,  F15B2211/6651 ,  F15B2211/6652 ,  F15B2211/6654 ,  F15B2211/71

摘要： The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.

摘要翻译： 本发明涉及控制具有至少一个自由度的液压致动系统，原动机，至少一个致动模块和控制器，每个致动模块包括：超中心可变排量泵，其具有配置的电力输入连接 从原动机和排量变化输入为泵供电，以改变泵的位移; 位移变化致动器，被配置为调节泵的位移变化输入; 与所述泵直接连通的输出致动器，所述输出致动器被配置为驱动相应的自由度; 以及建立表示输出致动器的力或运动的反馈测量的至少一个传感器。 基于每个反馈测量的值，通过控制原动机和输出致动器的位移致动器来调节输出致动器的力或运动。