公开(公告)号：US09744066B2

公开(公告)日：2017-08-29

申请号：US14944635

申请日：2015-11-18

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Homayoon Kazerooni ,  Erich Hacker ,  Lee-Huang Chen ,  Wayne Tung ,  Nathan Poon ,  Theerapat Yangyuenthanasan

IPC: A61F5/02 ,  A61H1/02 ,  A61F5/01

CPC classification number: A61F5/026 ,  A61F5/028 ,  A61F2005/0179 ,  A61H1/0244 ,  A61H1/0292 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1619 ,  A61H2201/164 ,  A61H2201/165

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.

公开(公告)号：US20190142682A1

公开(公告)日：2019-05-16

申请号：US16243942

申请日：2019-01-09

Applicant: The Regents of the University of California

Inventor： Wayne Yi-Wey Tung ,  Nathan Poon ,  Theerapat Yangyuenthanasan ,  Homayoon Kazerooni

IPC: A61H3/00 ,  A61H1/02

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.

公开(公告)号：US20200171648A1

公开(公告)日：2020-06-04

申请号：US16691414

申请日：2019-11-21

Applicant: The Regents of the University of California ,  U.S. Bionics, Inc.

Inventor： Wayne Yi-Wei Tung ,  Nathan Poon ,  Theerapat Yangyuenthanasan ,  Homayoon Kazerooni

IPC: B25J9/00 ,  A61H3/00

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.

公开(公告)号：US10524974B2

公开(公告)日：2020-01-07

申请号：US16243942

申请日：2019-01-09

Applicant: The Regents of the University of California ,  U.S. Bionics, Inc.

Inventor： Wayne Yi-Wei Tung ,  Nathan Poon ,  Theerapat Yangyuenthanasan ,  Homayoon Kazerooni

IPC: A61H3/00 ,  A61H1/02 ,  A61H1/00

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.