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公开(公告)号：US20190231574A1
公开(公告)日：2019-08-01
申请号：US16375231
申请日：2019-04-04
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
Abstract: An exoskeleton includes two torque generators, thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the torque generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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Patent Agency Ranking
公开(公告)号：US20160374836A1
公开(公告)日：2016-12-29
申请号：US15190920
申请日：2016-06-23
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Nicholas ERRICO , Homayoon KAZEROONI , Yoon Jung Jeong
CPC classification number: A61F2/76 , A61F2/605 , A61F2/64 , A61H1/0255 , A61H3/00 , A61H2201/1207 , A61H2201/1454 , A61H2201/1463 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676 , A61H2201/5007
Abstract: A manual apparatus of the present invention enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.
Abstract translation: 本发明的手动装置能够将外骨骼腿与外骨骼的剩余体快速连接和断开。 该装置包括由耦合到外骨骼的剩余体的壳体限定的空腔; 闩锁，其联接到所述外骨骼的剩余主体，所述闩锁包括闩锁特征; 夹体，其包括从其端部延伸的突出元件，所述夹子主体联接到所述外骨骼腿; 手柄，其可旋转地联接到夹子主体上的夹子基座; 以及可旋转地联接到手柄的钩。 当钩与闩锁特征接合并且手柄从第一解锁位置旋转到第二闩锁位置时，突起元件在空腔内移动。
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公开(公告)号：US12029674B2
公开(公告)日：2024-07-09
申请号：US16375231
申请日：2019-04-04
Applicant: suitX, Inc. , The Regents of the University of California
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
Abstract: An exoskeleton includes two torque generators, thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The torque generators may be active or passive torque generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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公开(公告)号：US09987151B2
公开(公告)日：2018-06-05
申请号：US15190920
申请日：2016-06-23
Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
Inventor： Nicholas Errico , Homayoon Kazerooni , Yoon Jung Jeong
CPC classification number: A61F2/76 , A61F2/605 , A61F2/64 , A61H1/0255 , A61H3/00 , A61H2201/1207 , A61H2201/1454 , A61H2201/1463 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/1676 , A61H2201/5007
Abstract: A manual apparatus of the present invention enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.
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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
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).
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公开(公告)号：US10357392B2
公开(公告)日：2019-07-23
申请号：US14704901
申请日：2015-05-05
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
IPC: A61F5/02
Abstract: An exoskeleton (100) includes two torque generators (116, 118), two thigh links (104,106), and a supporting trunk (112) rotatably coupled to the thigh links (104, 106). When a wearer bends forward in the sagittal plane such that the supporting trunk (112) extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators (116, 118) imposes a resisting torque between the supporting trunk (112) and a corresponding thigh link (104, 106), thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton (100) may include an active or passive means (116, 134) for actuating the torque generators (116, 118). When the supporting trunk (112) does not extend beyond the predetermined angle A, the torque generators (116, 118) do not impose resisting torques between the supporting trunk (112) and the thigh links (104, 106) during the entire range of motion of the thigh links (104, 106), thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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