公开(公告)号：US08870967B2

公开(公告)日：2014-10-28

申请号：US12608627

申请日：2009-10-29

申请人： Hugh M. Herr ,  Lee Harris Magnusson ,  Ken Endo

发明人： Hugh M. Herr ,  Lee Harris Magnusson ,  Ken Endo

IPC分类号： A61F2/70 ,  A61F2/64 ,  A61F2/66 ,  A61F5/00 ,  A61F2/60 ,  A61F2/68 ,  B62D57/032 ,  B25J19/00 ,  A61F2/50 ,  A61F2/76 ,  A61F2/72 ,  A61F2/74

CPC分类号： A61F2/64 ,  A61F2/60 ,  A61F2/605 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5075 ,  A61F2002/6657 ,  A61F2002/6818 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/741 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  B25J19/0008 ,  B62D57/032

摘要： Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.

摘要翻译： 像生物肢体和关节一样表现的人造四肢和关节采用合成执行器，当施加零力时消耗能量可忽略的功率，当输出恒定长度（等距）的力时消耗可忽略的功率，并且在执行耗散的非保守性工作时，能够独立地接合屈曲 延伸腱状串联弹簧能够独立地改变关节位置和刚度，并且利用系列弹性进行机械功率放大。

公开(公告)号：US08500823B2

公开(公告)日：2013-08-06

申请号：US12697894

申请日：2010-02-01

申请人： Hugh M. Herr ,  Ernesto C. Martinez-Villalpando ,  Jeff Anthony Weber

发明人： Hugh M. Herr ,  Ernesto C. Martinez-Villalpando ,  Jeff Anthony Weber

IPC分类号： A61F2/62

CPC分类号： A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/5003 ,  A61F2002/5075 ,  A61F2002/6657 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/741 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/7645 ,  B62D57/032

摘要： A knee prosthesis comprises an agonist-antagonist arrangement of two series-elastic actuators in parallel, including a knee joint, flexion and extension actuators connected to the joint in parallel with a leg member, and a controller for independently energizing the actuators to control the movement of the knee joint and leg. The flexion actuator comprises the series combination of a flexion motor and a flexion elastic element and the extension actuator comprises the series combination of an extension motor and an extension elastic element. Sensors provide feedback to the controller. The flexion actuator and the extension actuator may be unidirectional, with the flexion and extension elastic elements being series springs. The extension actuator may alternatively be bidirectional, with the extension elastic element being a set of pre-compressed series springs. Alternatively, the flexion elastic element may be a non-linear softening spring and the extension elastic element may be a non-linear hardening spring.

公开(公告)号：US20120283845A1

公开(公告)日：2012-11-08

申请号：US13417949

申请日：2012-03-12

申请人： Hugh M. Herr ,  Jeff A. Weber ,  David A. Garlow ,  Richard J. Casler, JR.

发明人： Hugh M. Herr ,  Jeff A. Weber ,  David A. Garlow ,  Richard J. Casler, JR.

IPC分类号： A61F2/70

CPC分类号： A61F2/68 ,  A61F2/605 ,  A61F2/64 ,  A61F2/66 ,  A61F2/6607 ,  A61F2002/6664 ,  A61F2002/6809 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625

摘要： In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.

摘要翻译： 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。

公开(公告)号：US20120209405A1

公开(公告)日：2012-08-16

申请号：US13348570

申请日：2012-01-11

申请人： Hugh M. Herr ,  Samuel K. Au ,  Peter Dilworth ,  Daniel Joseph Paluska

发明人： Hugh M. Herr ,  Samuel K. Au ,  Peter Dilworth ,  Daniel Joseph Paluska

IPC分类号： A61F2/66

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 consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the 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. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and 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： 人造足部和踝关节由具有脚跟末端和脚趾末端的弯曲的板簧构件组成，以及弹性弹性脚踝构件，其连接足部件以在踝关节处转动。 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。 带状离合器防止脚构件在一个方向上旋转超过预定极限位置。 采用可控阻尼器来锁定踝关节或根据需要吸收机械能。 控制器和感应机构在行走阶梯，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电动机和可控制的阻尼器。

公开(公告)号：USRE42903E1

公开(公告)日：2011-11-08

申请号：US11490508

申请日：2006-07-20

申请人： Bruce W. Deffenbaugh ,  Hugh M. Herr ,  Gill A. Pratt ,  Michael B. Wittig

发明人： Bruce W. Deffenbaugh ,  Hugh M. Herr ,  Gill A. Pratt ,  Michael B. Wittig

IPC分类号： A61F2/48

CPC分类号： F16F9/535 ,  A61F2/5046 ,  A61F2/64 ,  A61F2/68 ,  A61F2/70 ,  A61F2/80 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/5016 ,  A61F2002/5043 ,  A61F2002/607 ,  A61F2002/6614 ,  A61F2002/6863 ,  A61F2002/704 ,  A61F2002/74 ,  A61F2210/009 ,  A61F2250/0034

摘要： The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

摘要翻译： 本发明涉及一种可变扭矩磁流变动力学假肢膝盖，其利用多个散布的和交替的转子和定子来剪切在其间形成的间隙中的磁流变流体。 有利地，通过在“剪切模式”中操作，基本上没有或可忽略的流体压力积聚或改变。 此外，多个MR流体间隙或磁通界面期望地允许以低速产生大的扭矩 - 消除了对变速器的需要以及宽动态扭矩范围。 本发明的一个实施例允许转子和/或定子闭合它们之间的间隙以产生摩擦转矩分量，由此形成“混合”制动系统，其提供作为粘性转矩和摩擦转矩的组合的总扭矩或阻尼。

公开(公告)号：US20110257764A1

公开(公告)日：2011-10-20

申请号：US12157727

申请日：2008-06-12

申请人： Hugh M. Herr ,  Jeff A. Weber ,  Samuel K. Au ,  Bruce Wayne Deffenbaugh ,  Lee Harris Magnusson ,  Andreas G. Hoffman ,  Benjamin B. Aisen

发明人： Hugh M. Herr ,  Jeff A. Weber ,  Samuel K. Au ,  Bruce Wayne Deffenbaugh ,  Lee Harris Magnusson ,  Andreas G. Hoffman ,  Benjamin B. Aisen

IPC分类号： A61F2/48

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

摘要： A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

摘要翻译： 一种动力踝关节假体，与常规的被动弹性假体相比，能够在终端立场提供类似人的力量，增加截肢者代谢性行走经济。 动力假体包括与具有串联弹性的力可控致动器平行配置的单向弹簧。 控制假体以提供在正常人行走中观察到的高机械力和净正功。

公开(公告)号：US20100241242A1

公开(公告)日：2010-09-23

申请号：US12608627

申请日：2009-10-29

申请人： Hugh M. Herr ,  Lee Harris Magnusson ,  Ken Endo

发明人： Hugh M. Herr ,  Lee Harris Magnusson ,  Ken Endo

IPC分类号： A61F2/48

CPC分类号： A61F2/64 ,  A61F2/60 ,  A61F2/605 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5075 ,  A61F2002/6657 ,  A61F2002/6818 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/741 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  B25J19/0008 ,  B62D57/032

摘要： Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.

摘要翻译： 像生物肢体和关节一样表现的人造四肢和关节采用合成执行器，当施加零力时消耗能量可忽略的功率，当输出恒定长度（等距）的力时消耗可忽略的功率，并且在执行耗散的非保守性工作时，能够独立地接合屈曲 延伸腱状串联弹簧能够独立地改变关节位置和刚度，并且利用系列弹性进行机械功率放大。

公开(公告)号：US20100113980A1

公开(公告)日：2010-05-06

申请号：US12552036

申请日：2009-09-01

申请人： Hugh M. Herr ,  Rick Casler ,  Zhixiu Han

发明人： Hugh M. Herr ,  Rick Casler ,  Zhixiu Han

IPC分类号： A61B5/103

CPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/6607 ,  A61F2/72 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/5018 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5079 ,  A61F2002/5087 ,  A61F2002/6614 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/763 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/7665 ,  A61F2005/0155 ,  A61H3/00 ,  A61H2003/001 ,  B25J9/0006 ,  G01L5/0028 ,  G01L5/0061 ,  G01P21/00 ,  H02K7/06 ,  H02K7/116

摘要： Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

公开(公告)号：US20080114272A1

公开(公告)日：2008-05-15

申请号：US11868941

申请日：2007-10-08

申请人： Hugh M. Herr ,  Ari Wilkenfeld ,  Olaf Bleck

发明人： Hugh M. Herr ,  Ari Wilkenfeld ,  Olaf Bleck

IPC分类号： A61B5/103 ,  A61F2/38 ,  A61F2/48

CPC分类号： F16F9/535 ,  A61B5/1038 ,  A61B5/4528 ,  A61F2/64 ,  A61F2/68 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/6818 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/7645

摘要： The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.

摘要翻译： 本发明涉及用于膝关节假体的自动化速度适应和患者自适应控制方案和系统。 控制方案和系统使用在假体局部测量的感觉信息，以便在各种各样的运动活动下自动调节对特定佩戴者的姿态和摆动相位耐力。 有利的是，假肢或患者不需要将患者特定的信息预编程到假膝盖中。 一旦患者离开假肢的设施，该系统能够适应各种类型的干扰，因为它是患者适应性和速度适应性的。

公开(公告)号：US5367790A

公开(公告)日：1994-11-29

申请号：US47872

申请日：1993-04-15

申请人： Rustem I. Gamow ,  Hugh M. Herr

发明人： Rustem I. Gamow ,  Hugh M. Herr

IPC分类号： A43B5/06 ,  A43B13/18 ,  A61F2/50 ,  A61F2/66 ,  A43B13/28

CPC分类号： A43B13/183 ,  A43B13/18 ,  A43B5/06 ,  A61F2/66 ,  A61F2002/5003 ,  A61F2002/503 ,  A61F2002/5055 ,  A61F2002/5072 ,  A61F2002/6621 ,  A61F2002/6642 ,  A61F2002/6657 ,  A61F2002/6664 ,  A61F2002/6671

摘要： The invention relates to a sole system for use especially with an athletic shoe or prosthesis. The sole includes a coupled spring configuration that forms a collapsible, longitudinal arch to permit maximum storage and release of energy during the running cycle.

摘要翻译： 本发明涉及一种特别用于运动鞋或假体的鞋底系统。 鞋底包括联接的弹簧构造，其形成可折叠的纵向拱，以允许在运行循环期间最大程度地储存和释放能量。