公开(公告)号：US20130268090A1

公开(公告)日：2013-10-10

申请号：US13804263

申请日：2013-03-14

申请人： Michael Goldfarb ,  Amanda Shultz ,  Brian Lawson

发明人： Michael Goldfarb ,  Amanda Shultz ,  Brian Lawson

IPC分类号： A61F2/68

CPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2002/5003 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764

摘要： Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

摘要翻译： 提供了用于至少包括动力膝关节的下肢装置的运行控制器的系统和方法。 该方法包括：在包括运行模式的活动模式的有限状态模型中收集下肢装置的实时传感器信息并将下肢装置配置到第一状态。 该方法还包括基于传感器信息，当满足用于转换到后续状态的预定义标准时，检测模式的有限状态模型中将下肢装置从当前状态转换到后续状态，并且重复 过渡到活动模式改变。 在系统和方法中，有限状态模型包括至少一个姿势状态和至少一个摆动状态，其中至少一个姿势状态包括至少一个吸收状态和至少一个推进状态。

公开(公告)号：US09289317B2

公开(公告)日：2016-03-22

申请号：US13826069

申请日：2013-03-14

申请人： Michael Goldfarb ,  Brian Lawson

发明人： Michael Goldfarb ,  Brian Lawson

IPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/66 ,  A61F2/50 ,  A61F2/70 ,  A61F2/76

CPC分类号： A61F2/64 ,  A61F2/60 ,  A61F2/6607 ,  A61F2/68 ,  A61F2002/5083 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7615 ,  A61F2002/7635 ,  A61F2002/7685

摘要： Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.

摘要翻译： 提供用于操作自主的下肢装置的系统和方法，所述系统和方法包括至少一个可调节的关节并且构造成用于至少支撑身体。 一种方法包括收集与自主下肢装置相关联的实时传感器信息。 该方法还包括通过通信链路接收被配置为支持身体的至少一个其它下肢装置的远程数据。 该方法还包括产生用于使自主下肢装置从当前有限状态模型中的当前状态转换的控制数据，用于在当前有限状态模型中将自主下肢装置操作到不同的状态，其中基于 实时传感器信息和远程数据。

公开(公告)号：US20130310949A1

公开(公告)日：2013-11-21

申请号：US13832431

申请日：2013-03-15

申请人： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

发明人： Michael Goldfarb ,  Brian Lawson ,  Atakan Huseyin Varol

IPC分类号： A61F2/68

CPC分类号： A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635

摘要： Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

摘要翻译： 提供了操作具有至少一个动力接头的下肢装置的系统和方法。 一种方法包括在包括阶梯上升模式或阶梯下降模式的当前活动模式的有限状态模型中将该装置配置到第一状态。 该方法还包括基于实时传感器信息，在满足在不同状态之间转换的预定义标准的情况下，在有限状态模型中在不同状态之间转换设备。 在该方法中，楼梯上升的有限状态模型包括提升和摆动阶段，提升阶段包括动力膝盖伸展和动力踝关节推动。 用于楼梯下降的有限状态模型包括屈服状态和摆动状态，其中摆动状态包括提供动力踝关节的动力瘫痪，屈服状态包括提供动力踝关节的电阻和被动跖屈。

公开(公告)号：US20130274894A1

公开(公告)日：2013-10-17

申请号：US13826069

申请日：2013-03-14

申请人： Michael Goldfarb ,  Brian Lawson

发明人： Michael Goldfarb ,  Brian Lawson

IPC分类号： A61F2/68

CPC分类号： A61F2/64 ,  A61F2/60 ,  A61F2/6607 ,  A61F2/68 ,  A61F2002/5083 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7615 ,  A61F2002/7635 ,  A61F2002/7685

摘要： Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.

摘要翻译： 提供用于操作自主的下肢装置的系统和方法，所述系统和方法包括至少一个可调节的关节并且构造成用于至少支撑身体。 一种方法包括收集与自主下肢装置相关联的实时传感器信息。 该方法还包括通过通信链路接收被配置为支持身体的至少一个其它下肢装置的远程数据。 该方法还包括产生用于使自主下肢装置从当前有限状态模型中的当前状态转换的控制数据，用于在当前有限状态模型中将自主下肢装置操作到不同的状态，其中基于 实时传感器信息和远程数据。

公开(公告)号：US09693926B2

公开(公告)日：2017-07-04

申请号：US13876228

申请日：2011-09-27

申请人： Michael Goldfarb ,  Ryan J. Farris ,  Hugo A. Quintero

发明人： Michael Goldfarb ,  Ryan J. Farris ,  Hugo A. Quintero

IPC分类号： A61H3/00 ,  A61F5/01 ,  A61H1/02 ,  B25J9/00

CPC分类号： A61H3/00 ,  A61F5/0102 ,  A61H1/024 ,  A61H1/0244 ,  A61H2201/0107 ,  A61H2201/0176 ,  A61H2201/165 ,  A61H2201/5002 ,  A61H2201/5015 ,  A61H2201/5023 ,  A61H2201/5043 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  B25J9/0006

摘要： A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

公开(公告)号：US20140195007A1

公开(公告)日：2014-07-10

申请号：US14148085

申请日：2014-01-06

申请人： Michael Goldfarb ,  Huseyin Atakan Varol ,  Frank Charles Sup, IV ,  Jason E. Mitchell ,  Thomas J. Withrow

发明人： Michael Goldfarb ,  Huseyin Atakan Varol ,  Frank Charles Sup, IV ,  Jason E. Mitchell ,  Thomas J. Withrow

IPC分类号： A61F2/68 ,  A61F2/66 ,  A61F2/64

CPC分类号： A61F2/66 ,  A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/30359 ,  A61F2002/5073 ,  A61F2002/6642 ,  A61F2002/665 ,  A61F2002/6657 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/768 ,  A61F2220/0033

摘要： A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.

公开(公告)号：US20120330439A1

公开(公告)日：2012-12-27

申请号：US13537530

申请日：2012-06-29

申请人： Michael Goldfarb ,  Huseyin Atakan Varol ,  Frank Charles Sup, IV ,  Jason Mitchell ,  Thomas J. Withrow

发明人： Michael Goldfarb ,  Huseyin Atakan Varol ,  Frank Charles Sup, IV ,  Jason Mitchell ,  Thomas J. Withrow

IPC分类号： A61F2/70

CPC分类号： A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/30359 ,  A61F2002/5073 ,  A61F2002/6642 ,  A61F2002/665 ,  A61F2002/6657 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/705 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/768 ,  A61F2220/0033

摘要： A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including an ankle joint and an ankle motor unit to deliver power to the ankle joint, a prosthetic foot coupled to the ankle joint, a plurality of sensors for measuring a real-time input, and controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.

摘要翻译： 一种动力腿假体，其包括具有膝关节的动力膝关节和用于向膝关节递送动力的膝盖电动机单元，联接到膝关节的动力踝关节，包括踝关节和脚踝马达单元以向踝部输送动力 关节，联接到踝关节的假脚，用于测量实时输入的多个传感器，以及用于基于实时输入来控制假体的运动的控制器。 在动力腿假体中，膝关节运动器单元或脚踝马达单元中的至少一个包括至少一个驱动台，其中驱动平台包括用于产生扭矩的旋转元件和固定在旋转元件周围的至少一个环形元件， 用于将扭矩传递到联接到待致动的接头的另一旋转元件。

公开(公告)号：US20120150321A1

公开(公告)日：2012-06-14

申请号：US13391558

申请日：2010-08-20

申请人： Michael Goldfarb ,  Skyler Ashton Dalley ,  Huseyin Atakan Varol ,  Tuomas Emory Wiste

发明人： Michael Goldfarb ,  Skyler Ashton Dalley ,  Huseyin Atakan Varol ,  Tuomas Emory Wiste

IPC分类号： A61F2/68

CPC分类号： A61F2/72 ,  A61F2/583 ,  A61F2002/704 ,  A61F2002/7615 ,  A61F2002/7645 ,  B25J9/1612 ,  B25J15/0009

摘要： Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.

摘要翻译： 提供了用于控制接合的机械装置的系统和方法，其中基于具有一个或多个运动轴（D1，D2）并且并行地定义多个姿态和多个转变的地形状态（300）图来控制装置 其中一个运动轴在地图中，每个运动轴与装置中的互补运动类型相关联，并且每个转换与至少两个姿势相关联。 一种方法包括以下步骤：接收控制信号并确定在地形状态图内的装置的机械状态。 该方法还包括基于地形状态图来识别与机械状态相关联的潜在转变。 该方法还包括如果控制信号与所识别的转换之一相关联的运动类型相关联，则基于控制信号调整机械状态。

公开(公告)号：US20060094933A1

公开(公告)日：2006-05-04

申请号：US11263818

申请日：2005-11-01

申请人： Michael Goldfarb ,  Eric Goldfarb

发明人： Michael Goldfarb ,  Eric Goldfarb

IPC分类号： A61B1/32

CPC分类号： A61B17/02 ,  A61B17/0218 ,  A61B17/2833 ,  A61B46/17 ,  A61B2017/003 ,  A61B2017/00323 ,  A61B2017/00336 ,  A61B2017/00367 ,  A61B2017/2905 ,  A61B2017/2927 ,  A61B2017/2947 ,  A61B2017/320044

摘要： A surgical probe includes an articulated digit located at a distal end of a positioning shaft having a longitudinal axis. An actuator is located at a proximal end of the positioning shaft that is operatively connected to the articulated digit so as to move it between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon's finger engaging the actuator and the articulated digit. Preferably, the surgeons finger position and shape directly correspond to the position and shape of the articulated digit. A method is provided for probing, dissecting, and retracting anatomical structures.

摘要翻译： 手术探针包括位于具有纵向轴线的定位轴的远端处的铰接位置。 致动器位于定位轴的近端处，其可操作地连接到铰接位置，以便将其在从延伸位置到基本上弯曲的位置的连续的位置范围内移动，同时保持外科医生的手指接合之间的动觉关系 执行器和铰接数字。 优选地，外科医生的手指位置和形状直接对应于铰接数字的位置和形状。 提供一种用于探测，解剖和缩回解剖结构的方法。

公开(公告)号：US07021247B1

公开(公告)日：2006-04-04

申请号：US10919185

申请日：2004-08-16

申请人： Eva Marie Seeno ,  Michael Goldfarb

发明人： Eva Marie Seeno ,  Michael Goldfarb

IPC分类号： A01K27/00

CPC分类号： A01K27/009 ,  A01K15/02 ,  A01K15/021

摘要： An apparatus for a collar 12 incorporating various decorative elements used to personalize the collar having means for mounting a behavioral modification apparatus 22 thereto. The collar 12 has at least one aperture 30 for the passage therethrough of the behavioral modification electrode(s) 26 along with means for releasably securing the behavioral apparatus whereby the user can vary or replace the collar. While the collar 12 is designed to incorporate a receptacle for known behavioral modification apparatuses 22, it can also be used for various other products without departing from the concept of providing a receptacle 14 for the placement therein of a behavioral modification apparatus, the receptacle forming an integral part of a strap 12 having one of a mating closure member 18 positioned on each distal end and a ring-like fastener 16 for mounting accessory elements usually associated with pets such as license, identification and contact information.

摘要翻译： 一种用于衣领12的装置，其包括用于个性化衣领的各种装饰元件，其具有用于将行为修改装置22安装到其上的装置。 轴环12具有用于行为修改电极26的通过的至少一个孔30，以及用于可释放地固定行为装置的装置，由此使用者可以改变或更换衣领。 虽然套环12被设计成结合用于已知行为修改装置22的容器，但是它也可以用于各种其他产品，而不脱离提供用于在其中放置行为修改装置的容器14的概念，容器形成 具有定位在每个远端上的配合封闭构件18中的一个的带12的整体部分和用于安装通常与宠物相关联的辅助元件的环状紧固件16，例如许可证，识别和联系信息。