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公开(公告)号：US11213408B2
公开(公告)日：2022-01-04
申请号：US17144418
申请日：2021-01-08
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Harrison Bartlett , Brian Lawson
IPC: F15B1/02 , A61F2/68 , A61F2/66 , A61F2/70 , F15B11/10 , F15B15/08 , F15B15/14 , F15B15/20 , F16H25/20 , A61F2/74
Abstract: An asymmetric linear actuator is provided which integrates a hydraulic dissipater and an electric motor and power screw which generates small forces. The actuator is configured so that an electric motor drives a power screw which drives a rod through a cylinder to provide linear actuation. The cylinder is fluid-filled and incorporates a piston that separates the cylinder into a first and second fluid chamber which are filled with a first and second volume of working fluid. Movement of the piston and rod assembly results in fluid movement between the first and second volumes of working fluid and through the fluidic restriction. The fluidic restriction can be proportionally controllable via an electric motor which enables controllable power dissipation via control of the fluidic restriction motor and controllable power generation via control of the power screw motor.
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2.发明申请公开(公告)号：US20220331130A1
公开(公告)日：2022-10-20
申请号：US17731563
申请日：2022-04-28
Applicant: Vanderbilt University
Inventor： Michael GOLDFARB , Amanda Shultz , Brian Lawson
Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.
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3.发明授权公开(公告)号：US10646358B2
公开(公告)日：2020-05-12
申请号：US13804263
申请日：2013-03-14
Applicant: Vanderbilt University
Inventor： Michael Goldfarb , Amanda Shultz , Brian Lawson
Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.
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公开(公告)号：US20190388247A1
公开(公告)日：2019-12-26
申请号：US16502914
申请日：2019-07-03
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Brian Lawson , Atakan Huseyin Varol
IPC: A61F2/68
Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.
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公开(公告)号：US10441439B2
公开(公告)日：2019-10-15
申请号：US13832431
申请日：2013-03-15
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Brian Lawson , Atakan Huseyin Varol
Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.
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Patent Agency Ranking
公开(公告)号：US11865723B2
公开(公告)日：2024-01-09
申请号：US17040075
申请日：2019-04-30
Applicant: Vanderbilt University
Inventor： Michael Goldfarb , Andres Martinez-Guerra , Brian Lawson
CPC classification number: B25J9/1664 , B25J9/1633 , B25J9/1651 , B25J9/1653 , B25J9/0006
Abstract: An exemplary robotic system includes a plurality of controllable joints and a controller. An exemplary control method provides for controlling the controllable joints by the controller. The control method provides for determining a configuration space for the robotic system and determining a reference movement path within the configuration space. The control method then provides for assigning a plurality of streamlines in the configuration space to yield a flow field based on the reference movement path. The control method then provides for measuring actual velocity vectors of the robotic system in the configuration space. The control method then provides for determining an error velocity vector based on a difference between the actual velocity vector and the desired velocity vector given by the flow field corresponding to the current robot configuration. The control method then provides for applying a total control vector at the plurality of controllable joints, by the controller, based on the error velocity vector.
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7.发明授权公开(公告)号：US11318028B2
公开(公告)日：2022-05-03
申请号：US16383052
申请日：2019-04-12
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Amanda Shultz , Brian Lawson
Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.
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公开(公告)号：US10137010B2
公开(公告)日：2018-11-27
申请号：US15054381
申请日：2016-02-26
Applicant: Vanderbilt University
Inventor： Michael Goldfarb , Brian Lawson
Abstract: Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.
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公开(公告)号：US11666463B2
公开(公告)日：2023-06-06
申请号：US17499287
申请日：2021-10-12
Applicant: Vanderbilt University
Inventor： Michael Goldfarb , Brian Lawson , Atakan Huseyin Varol
CPC classification number: A61F2/70 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F2002/607 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635
Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.
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公开(公告)号：US20220054285A1
公开(公告)日：2022-02-24
申请号：US17499287
申请日：2021-10-12
Applicant: Vanderbilt University
Inventor： Michael Goldfarb , Brian Lawson , Atakan Huseyin Varol
Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.
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