公开(公告)号：US10682249B2

公开(公告)日：2020-06-16

申请号：US14641039

申请日：2015-03-06

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Homayoon Kazerooni ,  Wayne Tung ,  Don Jin Hyun ,  Stephen McKinley ,  Yoon Jung Jeong

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

Abstract: An exoskeleton (100) adapted to be coupled to a lower extremity of a person includes a thigh link (102), a shank link (104) and a knee joint (106) allowing flexion and extension between the thigh and shank links (102, 104). A torque generator (156) connected to the knee joint (106) includes a wrap spring (110) having a first end (112) coupled to the thigh link (102), and a second end (118) coupled to an electric actuator (116) capable of selectively positioning the second end (118) of the wrap spring (110). A controller (120) causes the electric actuator (116) to position the wrap spring (110) to provide a selective torque between the thigh and shank links (102, 104) based on a signal (212, 214, 216) produced by a sensor (164, 166, 168).