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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：US20120259430A1
公开(公告)日：2012-10-11
申请号：US13349216
申请日：2012-01-12
申请人： Zhixiu Han , Christopher E. Barnhart , David A. Garlow , Adrienne Bolger , Hugh M. Herr , Gary Girzon , Richard J. Casler, JR. , Jennifer T. McCarthy
发明人： Zhixiu Han , Christopher E. Barnhart , David A. Garlow , Adrienne Bolger , Hugh M. Herr , Gary Girzon , Richard J. Casler, JR. , Jennifer T. McCarthy
IPC分类号： A61F2/48
CPC分类号： A61F2/68 , A61F2/60 , A61F2/66 , A61F2/78 , A61F5/01 , A61F2002/6827 , A61F2002/705 , A61F2002/707 , A61F2002/7625 , A61F2002/7635 , A61F2002/7645 , G05B13/0205
摘要： In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device.
摘要翻译： 在用于控制供电的人类增加装置的通信系统中，通过向其中无线地发送控制信号来在步态周期内调整供电装置的参数，由此调整的参数落入对应于该参数的目标范围内。 选择目标范围，并且控制设备参数，使得动力设备可以响应于佩戴者的活动来归一化或增加人的生物力学功能，而不管速度和地形如何，并且实际上至少提供对穿着者的仿生反应 动力装置。
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公开(公告)号：US09345592B2
公开(公告)日：2016-05-24
申请号：US12552013
申请日：2009-09-01
申请人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexander S. Margolin , Kristin J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timothy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
发明人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexander S. Margolin , Kristin J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timothy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
IPC分类号： A61F2/72 , A61F2/60 , A61F2/66 , A61F2/68 , H02K7/06 , G01P21/00 , B25J9/00 , A61F2/76 , A61F2/50 , A61F2/70 , H02K7/116
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.
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公开(公告)号：US20160296348A1
公开(公告)日：2016-10-13
申请号：US15095616
申请日：2016-04-11
申请人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexaner S. Margolin , Kristen J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timonthy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
发明人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexaner S. Margolin , Kristen J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timonthy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
IPC分类号： A61F2/66
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.
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公开(公告)号：US20100179668A1
公开(公告)日：2010-07-15
申请号：US12552013
申请日：2009-09-01
申请人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexander S. Margolin , Kristin J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timothy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
发明人： Hugh M. Herr , Rick Casler , Christopher M. Nook , Alexander S. Margolin , Kristin J. Size , Matthew T. Kowalczyk , Robert W. Spaller , Gregory K. Thompson , Timothy M. Dalrymple , Seth S. Kessler , David W. Murray , Christopher E. Barnhart
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.
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公开(公告)号：US20100114329A1
公开(公告)日：2010-05-06
申请号：US12552021
申请日：2009-09-01
CPC分类号： A61F2/60 , A61F2/605 , A61F2/64 , A61F2/6607 , 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 , B62D57/032
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.
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公开(公告)号：US10080672B2
公开(公告)日：2018-09-25
申请号：US12552021
申请日：2009-09-01
IPC分类号： A61F2/66 , A61F2/68 , A61F2/60 , B25J19/00 , B62D57/032 , A61F2/64 , A61F2/50 , A61F2/70 , A61F2/76
CPC分类号： A61F2/60 , A61F2/605 , A61F2/64 , A61F2/6607 , 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 , B62D57/032
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.
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