公开(公告)号：US20140257519A1

公开(公告)日：2014-09-11

申请号：US14283323

申请日：2014-05-21

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66

CPC classification number: 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

Abstract: 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.

Abstract translation: 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：US20190321201A1

公开(公告)日：2019-10-24

申请号：US16458421

申请日：2019-07-01

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66 ,  B25J19/00 ,  A61F2/68 ,  A61F2/60 ,  B62D57/032

Abstract: 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.

公开(公告)号：US20160228265A1

公开(公告)日：2016-08-11

申请号：US15098725

申请日：2016-04-14

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/60 ,  A61F2/66 ,  A61F2/70 ,  A61F2/64

CPC classification number: 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

Abstract: It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.

Abstract translation: 应当理解，上面已经描述的方法和装置仅仅是本发明原理的说明性应用。 在不脱离本发明的真实精神和范围的情况下，本领域技术人员可以进行许多修改。

公开(公告)号：US08734528B2

公开(公告)日：2014-05-27

申请号：US13723743

申请日：2012-12-21

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66 ,  A61F2/70

CPC classification number: 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

Abstract: 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.

Abstract translation: 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：US20160338857A1

公开(公告)日：2016-11-24

申请号：US15091895

申请日：2016-04-06

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66

CPC classification number: 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

Abstract: 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.

Abstract translation: 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：US09339397B2

公开(公告)日：2016-05-17

申请号：US14283323

申请日：2014-05-21

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/70 ,  A61F2/66 ,  A61F2/60 ,  A61F2/68 ,  B25J19/00 ,  B62D57/032 ,  A61F2/64 ,  A61F2/50 ,  A61F2/76

CPC classification number: 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

Abstract: 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.

Abstract translation: 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：US20130110256A1

公开(公告)日：2013-05-02

申请号：US13723743

申请日：2012-12-21

Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66

CPC classification number: 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

Abstract: 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.

Abstract translation: 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：US11273060B2

公开(公告)日：2022-03-15

申请号：US16458421

申请日：2019-07-01

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/68 ,  A61F2/70 ,  A61F2/66 ,  A61F2/60 ,  B25J19/00 ,  B62D57/032 ,  A61F2/50 ,  A61F2/64 ,  A61F2/76

Abstract: 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.

公开(公告)号：US10588759B2

公开(公告)日：2020-03-17

申请号：US15098725

申请日：2016-04-14

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/64 ,  A61F2/68 ,  A61F2/60 ,  A61F2/66 ,  B25J19/00 ,  B62D57/032 ,  A61F2/70 ,  A61F2/50 ,  A61F2/76

Abstract: It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.

公开(公告)号：US10342681B2

公开(公告)日：2019-07-09

申请号：US15091895

申请日：2016-04-06

Applicant: Massachusetts Institute of Technology

Inventor： Hugh M. Herr ,  Kwok Wai Samuel Au ,  Daniel Joseph Paluska ,  Peter Dilworth

IPC: A61F2/66 ,  A61F2/68 ,  A61F2/60 ,  B25J19/00 ,  B62D57/032 ,  A61F2/64 ,  A61F2/50 ,  A61F2/70 ,  A61F2/76

Abstract: 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.