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公开(公告)号：US11458064B2
公开(公告)日：2022-10-04
申请号：US16538746
申请日：2019-08-12
Applicant: President and Fellows of Harvard College
Inventor： Alan Thomas Asbeck , Ye Ding , Ignacio Galiana Bujanda , Sangjun Lee , Diana Wagner , Conor J. Walsh
Abstract: Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.
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公开(公告)号：US11464700B2
公开(公告)日：2022-10-11
申请号：US15097744
申请日：2016-04-13
Applicant: President and Fellows of Harvard College
Inventor： Alan Thomas Asbeck , Ye Ding , Robert Joseph Dyer , Ignacio Galiana Bujanda , Arnar Freyr Larusson , Brendan Thomas Quinlivan , Kai Schmidt , Diana Wagner , Conor J. Walsh , Michael Wehner
Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.
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公开(公告)号：US20160107309A1
公开(公告)日：2016-04-21
申请号：US14893934
申请日：2014-05-30
Applicant: PRESIDENT AND FELLOWS OF HARVARD COLLEGE
Inventor： Conor Walsh , Alan Thomas Asbeck , Ye Ding , Ignacio Galiana Bujanda , Stefano Marco Maria De Rossi
Abstract: A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.
Abstract translation: 运动控制系统包括具有致动构件的致动器，所述致动构件具有在接头的第一侧附接到致动器的近端，以及附接到接头第二侧上的锚固件附接点的远端。 第一传感器被配置为输出限定步态循环的信号，并且第二传感器被配置为输出表示所述至少一个致动构件中的张力的信号。 控制器接收来自传感器的输出信号，并且在步态周期的第一部分期间致动致动器，以通过致动构件将大于预定阈值拉力的力施加到锚固元件附接点，以产生有益的时刻 关节并自动启动执行机构。
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公开(公告)号：US10427293B2
公开(公告)日：2019-10-01
申请号：US14660704
申请日：2015-03-17
Applicant: President and Fellows of Harvard College
Inventor： Alan Thomas Asbeck , Ignacio Galiana Bujanda , Ye Ding , Robert Joseph Dyer , Arnar Freyr Larusson , Brendan Thomas Quinlivan , Kai Schmidt , Diana Wagner , Conor J. Walsh , Michael Wehner
Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.
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公开(公告)号：US20150173993A1
公开(公告)日：2015-06-25
申请号：US14371675
申请日：2013-09-17
Applicant: President and Fellows of Harvard College
Inventor： Conor Walsh , Alan Thomas Asbeck , Ignacio Galiana Bujanda , Ye Ding , Robert Joseph Dyer , Arnar Freyr Larusson , Brendan Thomas Quinlivan , Kai Schmidt , Diana Wagner , Michael Wehner
CPC classification number: A61H3/00 , A61F2/68 , A61F2002/745 , A61F2002/747 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H2201/1215 , A61H2201/1238 , A61H2201/1246 , A61H2201/1261 , A61H2201/1481 , A61H2201/149 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1652 , A61H2201/1664 , A61H2201/1671 , A61H2201/5002 , A61H2201/5007 , A61H2201/501 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , A61H2201/5097 , A61H2230/60 , A61H2230/605 , A63B21/0414 , B25J9/0006 , F03G7/08
Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.
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Patent Agency Ranking
公开(公告)号：US20240225940A1
公开(公告)日：2024-07-11
申请号：US17880409
申请日：2022-08-03
Applicant: President and Fellows of Harvard College
Inventor： Alan Thomas Asbeck , Ye Ding , Robert Joseph Dyer , Ignacio Galiana Bujanda , Arnar Freyr Larusson , Brendan Thomas Quinlivan , Kai Schmidt , Diana Wagner , Conor J. Walsh , Michael Wehner
CPC classification number: A61H3/00 , A61F2/70 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H2201/1215 , A61H2201/1238 , A61H2201/1246 , A61H2201/1261 , A61H2201/1481 , A61H2201/149 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1652 , A61H2201/1664 , A61H2201/1671 , A61H2201/5002 , A61H2201/5007 , A61H2201/501 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , A61H2201/5097 , A61H2230/60 , A61H2230/605 , B25J9/0006
Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.
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公开(公告)号：US20230201066A1
公开(公告)日：2023-06-29
申请号：US17880570
申请日：2022-08-03
Applicant: President and Fellows of Harvard College
Inventor： Alan Thomas Asbeck , Ye Ding , Ignacio Galiana Bujanda , Sangjun Lee , Diana Wagner , Conor J. Walsh
CPC classification number: A61H3/00 , A61F5/01 , A61H1/0266 , A61H1/0262 , A61H2003/007 , A61H2201/165 , A61H2201/1659 , A61H2201/1695 , A61H2201/501 , A61H2201/503 , A61H2201/5038 , A61H2201/5061 , A61H2201/5069 , A61H2201/5071 , A61H2201/5079 , A61H2201/5084 , A61H2201/5097 , A61H2205/106
Abstract: Systems and methods for providing assistance with human motion, including hip and ankle motion, are disclosed. Sensor feedback is used to determine an appropriate profile for actuating a wearable robotic system to deliver desired joint motion assistance. Variations in user kinetics and kinematics, as well as construction, materials, and fit of the wearable robotic system, are considered in order to provide assistance tailored to the user and current activity.
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公开(公告)号：US11324655B2
公开(公告)日：2022-05-10
申请号：US15102694
申请日：2014-12-03
Inventor： Stefano Marco Maria De Rossi , Kathleen Elizabeth O'Donnell , Jaehyun Bae , Alan Thomas Asbeck , Kenneth G. Holt , Conor J. Walsh
IPC: A61H3/00 , A61H1/00 , A61F5/00 , A61B5/11 , A61F5/01 , A61H1/02 , A61B5/00 , A61F13/08 , A61F2/72
Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.
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9.发明申请公开(公告)号：US20170202724A1
公开(公告)日：2017-07-20
申请号：US15102694
申请日：2014-12-03
Applicant: President and Fellows of Harvard College
Inventor： Stefano Marco Maria De Rossi , Kathleen Elizabeth O'Donnell , Jaehyun Bae , Alan Thomas Asbeck , Kenneth G. Holt , Conor James Walsh
CPC classification number: A61H3/00 , A61B5/04888 , A61B5/112 , A61B5/4851 , A61B5/6811 , A61F5/0102 , A61F5/0127 , A61F13/08 , A61F2005/0155 , A61F2005/0158 , A61F2005/0179 , A61F2005/0188 , A61H1/024 , A61H1/0244 , A61H1/0266 , A61H2201/1207 , A61H2201/14 , A61H2201/1623 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/169 , A61H2201/501 , A61H2201/5028 , A61H2201/5061 , A61H2201/5064 , A61H2201/5079 , A61H2201/5084 , A61H2230/60
Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.
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公开(公告)号：US20220362094A1
公开(公告)日：2022-11-17
申请号：US17712578
申请日：2022-04-04
Inventor： Stefano Marco Maria De Rossi , Kathleen E. O'Donnell , Jaehyun Bae , Alan Thomas Asbeck , Kenneth G. Holt , Conor J. Walsh
Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.
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