公开(公告)号：US20110040216A1

公开(公告)日：2011-02-17

申请号：US12859765

申请日：2010-08-19

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

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

IPC分类号： A61H1/00

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 consists 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 the 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 arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking.

摘要翻译： 由用户佩戴的外骨骼由围绕使用者的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使用者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，以帮助相对于用户在其上行走的地面提升外骨骼和人类使用者，并且推动外骨骼和人类使用者 前锋。 可控制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，并且位于脚踝和脚部构件的弹簧在行走期间存储和释放能量。

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：US20090190248A1

公开(公告)日：2009-07-30

申请号：US12236269

申请日：2008-09-23

申请人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

发明人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G11B15/46

CPC分类号： G11B5/5556

摘要： Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.

摘要翻译： 本文提供了用于减少动态系统的各种模式的振动的技术。 一种这样的技术包括将振动限制和灵敏度约束结合到系统的部分分数展开方程模型中，以便将振动减小到特定水平。 另一种技术包括使用部分分数展开方程模型确定的命令成形以产生期望的输出。 整个命令可以是成形的或只是其产生振动的选择的部分。 另一种技术涉及指示电流产生电压饱和。 通过这样做可以指定电压开关。 可以设置开关发生的时间以减少系统振动。 还提供其他技术。 这些包括在移动的开始，中间和/或结束处以及使用Posicast输入等变化的瞬态部分。

公开(公告)号：US20100309490A1

公开(公告)日：2010-12-09

申请号：US12857931

申请日：2010-08-17

申请人： Neil C. Singer ,  Kenneth Pasch ,  Mark Tanquary

发明人： Neil C. Singer ,  Kenneth Pasch ,  Mark Tanquary

IPC分类号： G06K15/10

CPC分类号： H04N1/00811 ,  B41J19/202 ,  B41J29/08 ,  H04N1/00795 ,  H04N1/00822 ,  H04N1/2307 ,  H04N1/2338 ,  H04N1/2369

摘要： Method and apparatus for altering the operation of printers and scanners to reduce vibration and/or acoustics. The technology involves altering the mode of operation of the printer or scanner to be in either “quick”, “quiet” or an intermediate mode. Additionally, means for achieving the different modes of operation are also disclosed.

摘要翻译： 用于改变打印机和扫描仪的操作以减少振动和/或声学的方法和装置。 该技术涉及将打印机或扫描仪的操作模式改变为“快速”，“安静”或中间模式。 此外，还公开了用于实现不同操作模式的手段。

公开(公告)号：US20090154001A1

公开(公告)日：2009-06-18

申请号：US12360398

申请日：2009-01-27

申请人： NEIL SINGER ,  Mark Tanquary ,  Kenneth Pasch

发明人： NEIL SINGER ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G11B15/18 ,  G11B33/14

CPC分类号： G11B5/5556

摘要： Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this, it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.

摘要翻译： 本文提供了用于减少动态系统的各种模式的振动的技术。 一种这样的技术包括将振动限制和灵敏度约束结合到系统的部分分数展开方程模型中，以便将振动减小到特定水平。 另一种技术包括使用部分分数展开方程模型确定的命令成形以产生期望的输出。 整个命令可以是成形的或只是其产生振动的选择的部分。 另一种技术涉及指示电流产生电压饱和。 通过这样做，可以指定电压开关。 可以设置开关发生的时间以减少系统振动。 还提供其他技术。 这些包括在移动的开始，中间和/或结束处以及使用Posicast输入等变化的瞬态部分。

公开(公告)号：US20120176875A1

公开(公告)日：2012-07-12

申请号：US13427975

申请日：2012-03-23

申请人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

发明人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G11B19/02

CPC分类号： G11B5/5556

摘要： A method of controlling a dynamic system including selecting at least one fundamental limiting parameter; selecting an input parameter of the dynamic system; generating a command for the input parameter causing the dynamic system to follow an output trajectory such that the fundamental limiting parameter does not substantially saturate during the output trajectory duration; and commanding the dynamic system with the command.

摘要翻译： 一种控制动态系统的方法，包括选择至少一个基本限制参数; 选择动态系统的输入参数; 生成用于所述输入参数的命令，使得所述动态系统遵循输出轨迹，使得所述基本限制参数在所述输出轨迹持续时间期间基本上不饱和; 并用命令命令动态系统。

公开(公告)号：US06560658B2

公开(公告)日：2003-05-06

申请号：US09873464

申请日：2001-06-04

申请人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

发明人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G06F300

CPC分类号： G11B5/5556

摘要： Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this, it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.

摘要翻译： 本文提供了用于减少动态系统的各种模式的振动的技术。 一种这样的技术包括将振动限制和灵敏度约束结合到系统的部分分数展开方程模型中，以便将振动减小到特定水平。 另一种技术包括使用部分分数展开方程模型确定的命令成形以产生期望的输出。 整个命令可以是成形的或只是其产生振动的选择的部分。 另一种技术涉及指示电流产生电压饱和。 通过这样做，可以指定电压开关。 可以设置开关发生的时间以减少系统振动。 还提供其他技术。 这些包括在移动的开始，中间和/或结束处以及使用Posicast输入等变化的瞬态部分。

公开(公告)号：US06314473B1

公开(公告)日：2001-11-06

申请号：US09262781

申请日：1999-03-04

申请人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

发明人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G06F300

CPC分类号： G11B5/5556

摘要： Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this, it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.

摘要翻译： 本文提供了用于减少动态系统的各种模式的振动的技术。 一种这样的技术包括将振动限制和灵敏度约束结合到系统的部分分数展开方程模型中，以便将振动减小到特定水平。 另一种技术包括使用部分分数展开方程模型确定的命令成形以产生期望的输出。 整个命令可以是成形的或只是其产生振动的选择的部分。 另一种技术涉及指示电流产生电压饱和。 通过这样做，可以指定电压开关。 可以设置开关发生的时间以减少系统振动。 还提供其他技术。 这些包括在移动的开始，中间和/或结束处以及使用Posicast输入等变化的瞬态部分。

公开(公告)号：US07620739B2

公开(公告)日：2009-11-17

申请号：US10267332

申请日：2002-10-09

申请人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

发明人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G11B21/02 ,  G06F3/00

CPC分类号： G11B5/5556

摘要： Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this, it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.

公开(公告)号：US07483232B2

公开(公告)日：2009-01-27

申请号：US09779875

申请日：2001-02-08

申请人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

发明人： Neil Singer ,  Mark Tanquary ,  Kenneth Pasch

IPC分类号： G11B21/02 ,  G06F3/00

CPC分类号： G11B5/5556

摘要： Techniques are provided herein for reducing vibrations in various modes of a dynamic system. One such technique comprises incorporating vibration limiting and sensitivity constraints into a partial fraction expansion equation model of the system so as to reduce vibrations to specific levels. Another technique comprises shaping a command determined using the partial fraction expansion equation model to produce a desired output. The entire command may be shaped or only selected portions thereof which produce vibrations. Another technique involves commanding in current to produce saturation in voltage. By doing this, it is possible to command voltage switches. The times at which the switches occur can be set to reduce system vibrations. Other techniques are also provided. These include varying transient portions at the beginning, middle and/or end of a move and using Posicast inputs, among others.