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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。
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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
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。
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公开(公告)号：US09011354B2
公开(公告)日：2015-04-21
申请号：US13119075
申请日：2009-09-24
CPC分类号： A61H3/008 , A61H1/024 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2201/123 , A61H2201/1238 , A61H2201/1246 , A61H2201/14 , A61H2201/1642 , A61H2201/165 , A61H2201/1676
摘要： A lower limb orthotic device includes a thigh link connected to a hip link through a hip joint, a hip torque generator including a hip actuator and a first mechanical transmission mechanism interposed between the thigh link and the hip link, a shank link connected to the thigh link through a knee joint, a knee torque generator including a knee actuator and a second mechanical transmission mechanism interposed between the thigh link and the shank link, and a controller, such as for a common motor and pump connected to the hip and knee torque generators, for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators can produce a non-zero torque.
摘要翻译： 下肢矫正装置包括通过髋关节连接到髋关节的大腿连接件，包括髋部致动器的髋扭矩发生器和插入在大腿连杆和髋关节之间的第一机械传动机构，连接到大腿的小腿连杆 通过膝关节连接的膝关节扭力发生器，包括膝盖致动器的膝盖扭矩发生器和介于大腿连杆和柄连杆之间的第二机械传动机构，以及控制器，例如连接到髋部和膝部扭矩发生器的公共电动机和泵 ，用于调节各种部件的相对位置，以便通过自然的步行动作为使用者提供动力，第一和第二机械传动机构有助于在运动范围内的傍晚扭矩，同时还增加了转矩范围 发电机可以产生非零转矩。
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公开(公告)号：US20110166489A1
公开(公告)日：2011-07-07
申请号：US13119075
申请日：2009-09-24
IPC分类号： A61H1/02
CPC分类号： A61H3/008 , A61H1/024 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2201/123 , A61H2201/1238 , A61H2201/1246 , A61H2201/14 , A61H2201/1642 , A61H2201/165 , A61H2201/1676
摘要： A lower limb orthotic device includes a thigh link connected to a hip link through a hip joint, a hip torque generator including a hip actuator and a first mechanical transmission mechanism interposed between the thigh link and the hip link, a shank link connected to the thigh link through a knee joint, a knee torque generator including a knee actuator and a second mechanical transmission mechanism interposed between the thigh link and the shank link, and a controller, such as for a common motor and pump connected to the hip and knee torque generators, for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators can produce a non-zero torque.
摘要翻译： 下肢矫正装置包括通过髋关节连接到髋关节的大腿连接件，包括髋部致动器的髋扭矩发生器和插入在大腿连杆和髋关节之间的第一机械传动机构，连接到大腿的小腿连杆 通过膝关节连接的膝关节扭力发生器，包括膝盖致动器的膝盖扭矩发生器和介于大腿连杆和柄连杆之间的第二机械传动机构，以及控制器，例如连接到髋部和膝部扭矩发生器的公共电动机和泵 ，用于调节各种部件的相对位置，以便通过自然的步行动作为使用者提供动力，第一和第二机械传动机构有助于在运动范围内的傍晚扭矩，同时还增加了转矩范围 发电机可以产生非零转矩。
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