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公开(公告)号：US09839552B2
公开(公告)日：2017-12-12
申请号：US13347443
申请日：2012-01-10
申请人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, Jr.
发明人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, Jr.
CPC分类号： A61F5/0127 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/149 , A61H2201/1647 , A61H2201/165 , A61H2201/5038 , A61H2201/5069 , A61H2201/5084 , A61H2201/5097 , A61H2205/106 , A61H2205/12
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
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公开(公告)号：US20120259429A1
公开(公告)日：2012-10-11
申请号：US13347443
申请日：2012-01-10
申请人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, JR.
发明人： Zhixiu Han , Christopher E. Barnhart , Hugh M. Herr , Christopher Williams , Jeff A. Weber , Richard J. Casler, JR.
IPC分类号： A61F2/48
CPC分类号： A61F5/0127 , A61H3/008 , A61H2201/1215 , A61H2201/123 , A61H2201/149 , A61H2201/1647 , A61H2201/165 , A61H2201/5038 , A61H2201/5069 , A61H2201/5084 , A61H2201/5097 , A61H2205/106 , A61H2205/12
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
摘要翻译： 动力装置在步态循环期间使用提供增加扭矩，阻抗或两者的动力致动器来增加人的关节功能，所述动力致动器向关节提供增益扭矩，阻抗或两者，以及控制器，所述控制器调制增加扭矩，阻抗和关节平衡， 到步态循环的阶段以提供至少一种仿生反应。 因此，无论速度和地形如何，该装置能够对穿着者的活动进行响应，使人的生物力学功能正常化或增加。
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公开(公告)号：US09687377B2
公开(公告)日：2017-06-27
申请号：US13356230
申请日：2012-01-23
申请人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, Jr.
发明人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, Jr.
CPC分类号： A61F5/0125 , A61H1/024 , A61H3/00 , A61H2003/001 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5064 , A61H2201/5084 , A61H2201/5097 , A61H2205/10 , A61H2205/102
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
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公开(公告)号：US20120259431A1
公开(公告)日：2012-10-11
申请号：US13356230
申请日：2012-01-23
申请人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, JR.
发明人： Zhixiu Han , Christopher Williams , Jeff A. Weber , Christopher E. Barnhart , Hugh M. Herr , Richard J. Casler, JR.
IPC分类号： A61F2/48
CPC分类号： A61F5/0125 , A61H1/024 , A61H3/00 , A61H2003/001 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5064 , A61H2201/5084 , A61H2201/5097 , A61H2205/10 , A61H2205/102
摘要： A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
摘要翻译： 动力装置在步态周期中增加人的关节功能，使用向关节提供增大扭矩，阻抗或两者的动力致动器。 控制器估计地形坡度并且根据步态周期的相位和估计的地形坡度来调制增加扭矩和阻抗，以提供至少一种仿生响应。 控制器也可以调节关节平衡。 因此，无论速度和地形如何，该装置能够对穿着者的活动进行响应而对人体生物力学功能进行归一化或增强，并且可用于例如膝关节矫形器，假体或外骨骼。
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公开(公告)号：US20120283845A1
公开(公告)日：2012-11-08
申请号：US13417949
申请日：2012-03-12
IPC分类号： A61F2/70
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F2002/6664 , A61F2002/6809 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625
摘要： In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
摘要翻译： 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。
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公开(公告)号：US09060883B2
公开(公告)日：2015-06-23
申请号：US13417949
申请日：2012-03-12
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F2002/6664 , A61F2002/6809 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625
摘要： In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
摘要翻译： 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。
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公开(公告)号：US20100174384A1
公开(公告)日：2010-07-08
申请号：US12552028
申请日：2009-09-01
申请人： Hugh M. Herr , Jeff A. Weber , Rick Casler
发明人： Hugh M. Herr , Jeff A. Weber , Rick Casler
CPC分类号： A61F2/68 , A61F2/60 , A61F2/6607 , A61F2/72 , A61F2002/5003 , A61F2002/5007 , A61F2002/5018 , A61F2002/503 , A61F2002/5033 , A61F2002/5079 , A61F2002/5087 , A61F2002/6614 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/7665 , A61F2005/0155 , A61H3/00 , A61H2003/001 , B25J9/0006 , G01L5/0028 , G01L5/0061 , G01P21/00 , H02K7/06 , H02K7/116
摘要： Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
摘要翻译： 混合地形自适应下肢装置和方法，通过检测正在穿过的地形，并适应检测到的地形，在各种不同的情况下执行。 在一些实施例中，对于这些情况中的每一个控制装置的能力建立在五个基本能力上：（1）确定正在执行的活动; （2）基于正在执行的活动来动态地控制装置的特性; （3）基于正在执行的活动来动态地驱动装置; （4）确定地形纹理不规则（例如，地形如何粘性，地形滑溜，地形粗糙或平滑，地形是否有障碍物，如岩石）和（5）设备的机械设计 这可以响应动态控制和动态驱动。
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公开(公告)号：US20110257764A1
公开(公告)日：2011-10-20
申请号：US12157727
申请日：2008-06-12
申请人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hoffman , Benjamin B. Aisen
发明人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hoffman , Benjamin B. Aisen
IPC分类号： A61F2/48
CPC分类号： A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008
摘要： A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.
摘要翻译： 一种动力踝关节假体，与常规的被动弹性假体相比，能够在终端立场提供类似人的力量，增加截肢者代谢性行走经济。 动力假体包括与具有串联弹性的力可控致动器平行配置的单向弹簧。 控制假体以提供在正常人行走中观察到的高机械力和净正功。
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公开(公告)号：US08512415B2
公开(公告)日：2013-08-20
申请号：US12157727
申请日：2008-06-12
申请人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
发明人： Hugh M. Herr , Jeff A. Weber , Samuel K. Au , Bruce Wayne Deffenbaugh , Lee Harris Magnusson , Andreas G. Hofmann , Benjamin B. Aisen
CPC分类号： A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008
摘要： A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.
摘要翻译： 一种动力踝关节假体，与常规的被动弹性假体相比，能够在终端立场提供类似人的力量，增加截肢者代谢性行走经济。 动力假体包括与具有串联弹性的力可控致动器平行配置的单向弹簧。 控制假体以提供在正常人行走中观察到的高机械力和净正功。
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公开(公告)号：US5802729A
公开(公告)日：1998-09-08
申请号：US589201
申请日：1996-01-22
申请人： Patrick D. O'Brien , Jeff A. Weber
发明人： Patrick D. O'Brien , Jeff A. Weber
IPC分类号： G01C9/28
CPC分类号： G01C9/28
摘要： A leveling device for assisting in properly orienting picture frames and other hanging articles on a vertical wall surface. Preferably, the device includes a planar body having a bubble level and a suction cup for temporarily affixing the device to a smooth surface of the frame, i.e. a glass pane. A foot surface and planar hooking structure provide alternative affixing structure such that the device can be used on a wide variety of frames and the like.
摘要翻译： 一种调平装置，用于帮助在垂直的墙壁表面上正确定向相框和其他悬挂物品。 优选地，该装置包括具有气泡高度的平面主体和用于将装置临时固定在框架的平滑表面即玻璃板上的吸盘。 脚部表面和平面钩形结构提供替代的固定结构，使得该装置可以用于各种框架等上。
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