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    Controls Optimization for Wearable Systems
    7.
    发明申请
    Controls Optimization for Wearable Systems 审中-公开

    公开(公告)号：US20200276698A1

    公开(公告)日：2020-09-03

    申请号：US16317845

    申请日：2017-07-15

    Applicant: President and Fellows of Harvard College

    Inventor： Ye Ding ,  Ignacio Galiana Bujanda ,  Jinsoo Kim ,  Myunghee Kim ,  Scott Kuindersma ,  Sangjun Lee ,  Kathleen E. O'Donnell ,  Christopher J. Siviy ,  Conor J. Walsh

    IPC: B25J9/00 ,  B25J9/16 ,  G05B19/042

    Abstract: A wearable system comprising an exosuit or exoskeleton; an actuator(s) configured to generate force in the exosuit or exoskeleton; a sensor(s) configured to measure information for evaluating an objective function associated with providing physical assistance to the wearer, an interaction between the wearer and the exosuit or exoskeleton, and/or an operation of the exosuit or exoskeleton; and a controller(s) configured to: actuate the actuator(s) according to an actuation profile(s), evaluate the objective function based on the information measured by the at least one sensor to determine a resulting change in the objective function, adjust a parameter(s) of the actuation profile(s) based on the resulting change in the objective function, and continue to actuate, evaluate, and adjust to optimize the actuation parameter(s) for maximizing or minimizing the objective function. Wearable systems configured to assist or promote an improvement in the wearer's gait and optimized using a gradient descent or Bayesian approach.

    Soft Exosuit for Assistance with Human Motion
    8.
    发明申请
    Soft Exosuit for Assistance with Human Motion 审中-公开
    软运动协助人体运动

    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

    IPC: B25J9/00 ,  B25J9/10 ,  B25J9/16 ,  A61H3/00

    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。

    SOFT EXOSUIT FOR ASSISTANCE WITH HUMAN MOTION
    9.
    发明申请
    SOFT EXOSUIT FOR ASSISTANCE WITH HUMAN MOTION 有权

    公开(公告)号：US20210039248A1

    公开(公告)日：2021-02-11

    申请号：US16992298

    申请日：2020-08-13

    Applicant: President and Fellows of Harvard College

    Inventor： Conor Walsh ,  Alan Thomas Asbeck ,  Ye Ding ,  Ignacio Galiana Bujanda ,  Stefano Marco Maria De Rossi

    IPC: B25J9/00 ,  A61H3/00 ,  A63B21/005 ,  A61H1/02 ,  G09B19/00 ,  A61B5/11 ,  A61B5/00 ,  B25J9/10 ,  B25J9/16

    Abstract: In one aspect, 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 first and second sensors and, responsive thereto, automatically 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, during at least a second portion of the gait cycle, to reduce a tensile force at the anchor element attachment point to a level at or below the predetermined threshold tensile force to avoid generating a detrimental moment about the joint.

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