公开(公告)号：US20100174384A1

公开(公告)日：2010-07-08

申请号：US12552028

申请日：2009-09-01

申请人： Hugh M. Herr ,  Jeff A. Weber ,  Rick Casler

发明人： Hugh M. Herr ,  Jeff A. Weber ,  Rick Casler

IPC分类号： A61F2/60 ,  A61F2/64

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.

摘要翻译： 混合地形自适应下肢装置和方法，通过检测正在穿过的地形，并适应检测到的地形，在各种不同的情况下执行。 在一些实施例中，对于这些情况中的每一个控制装置的能力建立在五个基本能力上：（1）确定正在执行的活动; （2）基于正在执行的活动来动态地控制装置的特性; （3）基于正在执行的活动来动态地驱动装置; （4）确定地形纹理不规则（例如，地形如何粘性，地形滑溜，地形粗糙或平滑，地形是否有障碍物，如岩石）和（5）设备的机械设计 这可以响应动态控制和动态驱动。

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：US09554922B2

公开(公告)日：2017-01-31

申请号：US12551845

申请日：2009-09-01

申请人： Rick Casler ,  Hugh M. Herr

发明人： Rick Casler ,  Hugh M. Herr

IPC分类号： A61F2/70 ,  A61F2/72 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  H02K7/06 ,  G01P21/00 ,  B25J9/00 ,  A61F2/76 ,  A61F2/50 ,  A61F5/01 ,  A61H3/00 ,  H02K7/116

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.

摘要翻译： 混合地形自适应下肢装置和方法，通过检测正在穿过的地形，并适应检测到的地形，在各种不同的情况下执行。 在一些实施例中，对于这些情况中的每一个控制装置的能力建立在五个基本能力上：（1）确定正在执行的活动; （2）基于正在执行的活动来动态地控制装置的特性; （3）基于正在执行的活动来动态地驱动装置; （4）确定地形纹理不规则（例如，地形如何粘性，地形滑溜，地形粗糙或平滑，地形是否有障碍物，如岩石）和（5）设备的机械设计 这可以响应动态控制和动态驱动。

公开(公告)号：US09345592B2

公开(公告)日：2016-05-24

申请号：US12552013

申请日：2009-09-01

申请人： Hugh M. Herr ,  Rick Casler ,  Christopher M. Nook ,  Alexander S. Margolin ,  Kristin J. Size ,  Matthew T. Kowalczyk ,  Robert W. Spaller ,  Gregory K. Thompson ,  Timothy M. Dalrymple ,  Seth S. Kessler ,  David W. Murray ,  Christopher E. Barnhart

发明人： Hugh M. Herr ,  Rick Casler ,  Christopher M. Nook ,  Alexander S. Margolin ,  Kristin J. Size ,  Matthew T. Kowalczyk ,  Robert W. Spaller ,  Gregory K. Thompson ,  Timothy M. Dalrymple ,  Seth S. Kessler ,  David W. Murray ,  Christopher E. Barnhart

IPC分类号： A61F2/72 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  H02K7/06 ,  G01P21/00 ,  B25J9/00 ,  A61F2/76 ,  A61F2/50 ,  A61F2/70 ,  H02K7/116

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：US20100179668A1

公开(公告)日：2010-07-15

申请号：US12552013

申请日：2009-09-01

申请人： Hugh M. Herr ,  Rick Casler ,  Christopher M. Nook ,  Alexander S. Margolin ,  Kristin J. Size ,  Matthew T. Kowalczyk ,  Robert W. Spaller ,  Gregory K. Thompson ,  Timothy M. Dalrymple ,  Seth S. Kessler ,  David W. Murray ,  Christopher E. Barnhart

发明人： Hugh M. Herr ,  Rick Casler ,  Christopher M. Nook ,  Alexander S. Margolin ,  Kristin J. Size ,  Matthew T. Kowalczyk ,  Robert W. Spaller ,  Gregory K. Thompson ,  Timothy M. Dalrymple ,  Seth S. Kessler ,  David W. Murray ,  Christopher E. Barnhart

IPC分类号： A61F2/68 ,  A61F2/74 ,  A61F2/66

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：US20100174385A1

公开(公告)日：2010-07-08

申请号：US12551845

申请日：2009-09-01

申请人： Rick Casler ,  Hugh M. Herr

发明人： Rick Casler ,  Hugh M. Herr

IPC分类号： A61F2/68

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.

摘要翻译： 混合地形自适应下肢装置和方法，通过检测正在穿过的地形，并适应检测到的地形，在各种不同的情况下执行。 在一些实施例中，对于这些情况中的每一个控制装置的能力建立在五个基本能力上：（1）确定正在执行的活动; （2）基于正在执行的活动来动态地控制装置的特性; （3）基于正在执行的活动来动态地驱动装置; （4）确定地形纹理不规则（例如，地形如何粘性，地形滑溜，地形粗糙或平滑，地形是否有障碍物，如岩石）和（5）设备的机械设计 这可以响应动态控制和动态驱动。

公开(公告)号：US20160296348A1

公开(公告)日：2016-10-13

申请号：US15095616

申请日：2016-04-11

申请人： Hugh M. Herr ,  Rick Casler ,  Christopher M. Nook ,  Alexaner S. Margolin ,  Kristen J. Size ,  Matthew T. Kowalczyk ,  Robert W. Spaller ,  Gregory K. Thompson ,  Timonthy M. Dalrymple ,  Seth S. Kessler ,  David W. Murray ,  Christopher E. Barnhart

发明人： Hugh M. Herr ,  Rick Casler ,  Christopher M. Nook ,  Alexaner S. Margolin ,  Kristen J. Size ,  Matthew T. Kowalczyk ,  Robert W. Spaller ,  Gregory K. Thompson ,  Timonthy M. Dalrymple ,  Seth S. Kessler ,  David W. Murray ,  Christopher E. Barnhart

IPC分类号： A61F2/66

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：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：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：US09060883B2

公开(公告)日：2015-06-23

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： A61F2/48 ,  A61F2/62 ,  A61F2/68 ,  A61F2/64 ,  A61F2/66 ,  A61F2/70 ,  A61F2/76

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。