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    And use of a leg support exoskeleton
    1.
    发明授权
    And use of a leg support exoskeleton 有权

    公开(公告)号：US11241355B2

    公开(公告)日：2022-02-08

    申请号：US15972419

    申请日：2018-05-07

    Applicant: U.S. Bionics, Inc.

    Inventor： Wayne Tung ,  Minerva Pillai ,  Homayoon Kazerooni

    IPC: A61H3/00 ,  A61H1/02

    Abstract: A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.

    Trunk supporting exoskeleton and method of use
    2.
    发明授权
    Trunk supporting exoskeleton and method of use 有权

    公开(公告)号：US10357392B2

    公开(公告)日：2019-07-23

    申请号：US14704901

    申请日：2015-05-05

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

    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.

    Trunk Supporting Exoskeleton and Method of Use
    3.
    发明申请
    Trunk Supporting Exoskeleton and Method of Use 审中-公开
    中继线支持外骨骼和使用方法

    公开(公告)号：US20150230964A1

    公开(公告)日：2015-08-20

    申请号：US14704901

    申请日：2015-05-05

    Applicant: U.S. Bionics, Inc.

    Inventor： Homayoon Kazerooni ,  Wayne Tung ,  Michael McKinley ,  Yoon Jung Jeong

    IPC: A61F5/02

    CPC classification number: A61F5/02 ,  A61F5/01 ,  A61H3/00

    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.

    Abstract translation: 外骨骼（100）包括两个扭矩发生器（116,118），两个大腿连杆（104,106）和可旋转地联接到大腿连杆（104,106）的支撑躯干（112）。 当穿戴者在矢状平面中向前弯曲，使得支撑躯干（112）相对于垂直方向延伸超过预定角度A时，至少一个扭矩发生器（116,118）在支撑躯干（112）之间施加阻力矩， ）和相应的大腿连杆（104,106），从而将力施加到穿着者的躯干上，并且大腿以帮助将佩戴者支撑在弯曲位置。 外骨骼（100）可以包括用于致动扭矩发生器（116,118）的主动或被动装置（116,134）。 当支撑躯干（112）不延伸超过预定角度A时，扭矩发生器（116,118）在整个范围内不会在支撑躯干（112）和大腿连杆（104,106）之间施加阻力转矩 大腿连杆（104,106）的运动，从而使得佩戴者能够在大致直立位置时无限制地行走，跑步和坐着。

    TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE
    5.
    发明申请
    TRUNK SUPPORTING EXOSKELETON AND METHOD OF USE 审中-公开

    公开(公告)号：US20190231574A1

    公开(公告)日：2019-08-01

    申请号：US16375231

    申请日：2019-04-04

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

    Inventor： Homayoon Kazerooni ,  Wayne Tung ,  Michael McKinley ,  Yoon Jung Jeong

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

    CPC classification number: A61F5/02 ,  A61F5/01 ,  A61H3/00

    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.

    Design and Use of a Leg Support Exoskeleton
    8.
    发明申请
    Design and Use of a Leg Support Exoskeleton 有权
    腿支架外骨骼的设计与使用

    公开(公告)号：US20160374888A1

    公开(公告)日：2016-12-29

    申请号：US15194489

    申请日：2016-06-27

    Applicant: U.S. Bionics, Inc.

    Inventor： Wayne Tung ,  Minerva Pillai ,  Homayoon Kazerooni

    IPC: A61H3/00 ,  A61H1/02

    CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H2201/1207 ,  A61H2201/1246 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2203/0406 ,  A61H2203/0418 ,  A61H2205/102

    Abstract: A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.

    Abstract translation: 腿支撑外骨骼被捆绑作为可穿戴设备，以在蹲下支持其用户。 外骨骼包括连接到第一线的膝关节和第二连杆，其构造成允许第一连杆和第二连杆之间的屈曲和伸展运动。 力发生器具有可旋转地连接到第一连杆的第一端。 约束机构连接到第二连杆并具有至少两个操作位置。 在第一操作位置，力发生器的第二端接合约束机构，其中第一连杆和第二连杆相对于彼此弯曲。 在第二操作位置，力发生器的第二端不接合约束机构; 第一连杆和第二连杆可相对于彼此自由弯曲和延伸。

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