公开(公告)号：US20070123997A1

公开(公告)日：2007-05-31

申请号：US11600291

申请日：2006-11-15

申请人： Hugh Herr ,  Conor Walsh ,  Daniel Paluska ,  Andrew Valiente ,  Kenneth Pasch ,  William Grand

发明人： Hugh Herr ,  Conor Walsh ,  Daniel Paluska ,  Andrew Valiente ,  Kenneth Pasch ,  William Grand

IPC分类号： A61F2/74

CPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/6607 ,  A61F5/0102 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5073 ,  A61F2002/5075 ,  A61F2002/5093 ,  A61F2002/607 ,  A61F2002/6614 ,  A61F2002/6818 ,  A61F2002/6845 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/7695 ,  B25J9/0006 ,  B25J19/0008 ,  B62D57/032

摘要： An exoskeleton worn by a human user consisting of a rigid pelvic harness worn about the waist of the user and exoskeleton leg structures each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and said human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arresting the movement of the knee joint at controllable times during the walking cycle, and spring located at the ankle and foot member stores and releases energy during walking.

摘要翻译： 用户使用的外骨骼由围绕使用者腰部的刚性骨盆线束和外骨骼腿结构组成，每个骨骼腿结构沿着人类用户的腿部之一向下延伸。 腿部结构包括通过可调节长度的大腿和胫骨构件连接的髋关节，膝盖和踝关节。 将大腿结构附接到骨盆线束的髋关节包括被动弹簧或主动致动器，以帮助相对于使用者在其上行走的地面提升外骨骼和所述人类用户并且推动外骨骼和人类使用者 前锋。 可操作的阻尼器在步行循环期间的可控制时间操作地阻止膝关节的运动，以及位于脚踝和脚部构件的弹簧存储并在行走期间释放能量。

公开(公告)号：US20070043449A1

公开(公告)日：2007-02-22

申请号：US11495140

申请日：2006-07-29

申请人： Hugh Herr ,  Samuel Au ,  Peter Dilworth ,  Daniel Paluska

发明人： Hugh Herr ,  Samuel Au ,  Peter Dilworth ,  Daniel Paluska

IPC分类号： A61F2/48

CPC分类号： A61F2/6607 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/68 ,  A61F2002/5004 ,  A61F2002/5006 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5073 ,  A61F2002/5075 ,  A61F2002/5079 ,  A61F2002/509 ,  A61F2002/6657 ,  A61F2002/6678 ,  A61F2002/6818 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  B25J19/0008 ,  B62D57/032

摘要： An artificial foot and ankle joint consisting of a curved leaf spring foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position, and a controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and a sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent and stair descent.

摘要翻译： 由弯曲的板簧构件构成的人造脚和踝关节，其限定脚跟末端和脚趾末端，以及柔性弹性脚踝构件，其连接所述脚构件以在踝关节处旋转。 致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。 带状离合器防止脚部件在一个方向上旋转超过预定的极限位置，并且采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和传感机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器马达和可控制的阻尼器。

公开(公告)号：US20060249315A1

公开(公告)日：2006-11-09

申请号：US11395448

申请日：2006-03-31

申请人： Hugh Herr ,  Daniel Paluska ,  Peter Dilworth

发明人： Hugh Herr ,  Daniel Paluska ,  Peter Dilworth

IPC分类号： B62D51/06 ,  A61F2/64

CPC分类号： A61F2/604 ,  A61F2/60 ,  A61F2/605 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5072 ,  A61F2002/5075 ,  A61F2002/6818 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  B25J19/0008 ,  B62D57/032

摘要： Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.

摘要翻译： 用于生物启发肌肉骨骼结构的仿生混合动作器采用电动机来从人造关节或肢体以及诸如弹簧的弹性元件和可控制的可变阻尼器部件提供正能量并且存储负能量，用于被动存储和释放 能量并提供适应性刚度以适应水平地面行走以及在具有不同斜率的楼梯和表面上的运动。