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.

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.

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。