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：US20100312363A1

公开(公告)日：2010-12-09

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.

摘要翻译： 膝假体包括并联的两个串联弹性致动器的激动剂 - 拮抗剂装置，包括膝关节，与腿部构件平行地连接到关节的屈曲和伸展致动器，以及用于独立地激励致动器以控制运动的控制器 的膝关节和腿部。 屈曲致动器包括屈曲马达和屈曲弹性元件的串联组合，延伸致动器包括延伸马达和延伸弹性元件的串联组合。 传感器向控制器提供反馈。 屈曲致动器和延伸致动器可以是单向的，其中屈曲和延伸弹性元件是串联弹簧。 延伸致动器可以是双向的，延伸弹性元件是一组预压缩的串联弹簧。 或者，弯曲弹性元件可以是非线性软化弹簧，并且延伸弹性元件可以是非线性硬化弹簧。