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1.发明申请Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components 有权具有弹簧，可变阻尼和串联弹性致动器部件的人造踝足系统公开(公告)号：US20140257519A1
公开(公告)日：2014-09-11
申请号：US14283323
申请日：2014-05-21
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。
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2.发明申请公开(公告)号：US20190321201A1
公开(公告)日：2019-10-24
申请号：US16458421
申请日：2019-07-01
IPC分类号： A61F2/66 , B25J19/00 , A61F2/68 , A61F2/60 , 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.
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3.发明授权Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components 有权具有弹簧，可变阻尼和串联弹性致动器部件的人造脚踝系统公开(公告)号：US08734528B2
公开(公告)日：2014-05-27
申请号：US13723743
申请日：2012-12-21
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。
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公开(公告)号：US10137011B2
公开(公告)日：2018-11-27
申请号：US13970094
申请日：2013-08-19
发明人： Hugh M. Herr , Jeff A. Weber , Kwok Wai Samuel Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
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.
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5.发明申请ARTIFICIAL ANKLE-FOOT SYSTEM WITH SPRING, VARIABLE-DAMPING, AND SERIES-ELASTIC ACTUATOR COMPONENTS 审中-公开具有弹簧，可变阻尼和系列弹性致动器部件的人造角系统公开(公告)号：US20160338857A1
公开(公告)日：2016-11-24
申请号：US15091895
申请日：2016-04-06
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。
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6.发明授权Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components 有权具有弹簧，可变阻尼和串联弹性致动器部件的人造脚踝系统公开(公告)号：US09339397B2
公开(公告)日：2016-05-17
申请号：US14283323
申请日：2014-05-21
IPC分类号： A61F2/70 , A61F2/66 , A61F2/60 , A61F2/68 , B25J19/00 , B62D57/032 , A61F2/64 , A61F2/50 , A61F2/76
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。
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7.发明申请Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components 有权具有弹簧，可变阻尼和串联弹性致动器部件的人造踝足系统公开(公告)号：US20130110256A1
公开(公告)日：2013-05-02
申请号：US13723743
申请日：2012-12-21
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。
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公开(公告)号：US11278433B2
公开(公告)日：2022-03-22
申请号：US16182298
申请日：2018-11-06
发明人： Hugh M. Herr , Jeff A. Weber , Kwok Wai Samuel Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
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.
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9.发明授权公开(公告)号：US11273060B2
公开(公告)日：2022-03-15
申请号：US16458421
申请日：2019-07-01
IPC分类号： A61F2/68 , A61F2/70 , A61F2/66 , A61F2/60 , B25J19/00 , B62D57/032 , A61F2/50 , A61F2/64 , A61F2/76
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.
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10.发明授权公开(公告)号：US10342681B2
公开(公告)日：2019-07-09
申请号：US15091895
申请日：2016-04-06
IPC分类号： A61F2/66 , A61F2/68 , A61F2/60 , B25J19/00 , B62D57/032 , A61F2/64 , A61F2/50 , A61F2/70 , A61F2/76
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.
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