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    CONTROLLING TORQUE IN A PROSTHESIS OR ORTHOSIS BASED ON A DEFLECTION OF SERIES ELASTIC ELEMENT
    6.
    发明申请
    CONTROLLING TORQUE IN A PROSTHESIS OR ORTHOSIS BASED ON A DEFLECTION OF SERIES ELASTIC ELEMENT 审中-公开
    根据系列弹性元件的偏差控制扭矩或矫正

    公开(公告)号：US20110295385A1

    公开(公告)日：2011-12-01

    申请号：US13079571

    申请日：2011-04-04

    申请人： Hugh M. Herr ,  Richard J. Casler, JR. ,  Zhixiu Han ,  Chris Barnhart ,  Gary Girzon ,  David Garlow

    发明人： Hugh M. Herr ,  Richard J. Casler, JR. ,  Zhixiu Han ,  Chris Barnhart ,  Gary Girzon ,  David Garlow

    IPC分类号： A61F2/48 ,  A61F2/66

    CPC分类号： A61F2/70 ,  A61F2/6607 ,  A61F2/68 ,  A61F5/0127 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/5018 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/607 ,  A61F2002/6685 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/745 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/7645 ,  A61F2002/7695 ,  A61F2005/0155

    摘要： In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

    摘要翻译： 在假肢或矫形踝/脚的一些实施例中，预测在即将到来的步骤中步行速度将是什么。 当预测的步行速度慢时，该装置的特性随后被修改，使得在该步骤期间执行的较少的网络工作（与预测步行速度快的时间相比）。 这可以使用可以预测步行速度的一个传感器和可以确定踝扭矩的第二传感器来实现。 控制器接收来自这些传感器的输入，并控制电机的转矩，使慢行走速度的转矩低于快速行走速度的转矩。 这减少了执行器在步态周期中执行的工作以及在步态循环期间传递的峰值执行器功率。 在一些实施例中，串联弹性元件与可以驱动脚踝的马达串联连接，并且至少一个传感器设置有可以确定串联弹性元件偏转的输出。 控制器基于输出确定期望的转矩，并且基于所确定的期望转矩来控制电动机的转矩。

    BIOMIMETIC JOINT ACTUATORS
    7.
    发明申请
    BIOMIMETIC JOINT ACTUATORS 有权
    生物联合执行器

    公开(公告)号：US20120283845A1

    公开(公告)日：2012-11-08

    申请号：US13417949

    申请日：2012-03-12

    申请人： Hugh M. Herr ,  Jeff A. Weber ,  David A. Garlow ,  Richard J. Casler, JR.

    发明人： Hugh M. Herr ,  Jeff A. Weber ,  David A. Garlow ,  Richard J. Casler, JR.

    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。

    CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME
    10.
    发明申请
    CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME 审中-公开
    根据预测的跑步速度或同步进行预测控制功率

    公开(公告)号：US20110295384A1

    公开(公告)日：2011-12-01

    申请号：US13079564

    申请日：2011-04-04

    申请人： Hugh M. Herr ,  Richard J. Casler ,  Zhixiu Han ,  Chris Barnhart ,  Gary Girzon

    发明人： Hugh M. Herr ,  Richard J. Casler ,  Zhixiu Han ,  Chris Barnhart ,  Gary Girzon

    IPC分类号： A61F2/48 ,  A61F2/66

    CPC分类号： A61F2/70 ,  A61F2/6607 ,  A61F2/68 ,  A61F5/0127 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/5018 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/607 ,  A61F2002/6685 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/745 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/7645 ,  A61F2002/7695 ,  A61F2005/0155

    摘要： In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

    摘要翻译： 在假肢或矫形踝/脚的一些实施例中，预测在即将到来的步骤中步行速度将是什么。 当预测的步行速度慢时，该装置的特性随后被修改，使得在该步骤期间执行的较少的网络工作（与预测步行速度快的时间相比）。 这可以使用可以预测步行速度的一个传感器和可以确定踝扭矩的第二传感器来实现。 控制器接收来自这些传感器的输入，并控制电机的转矩，使慢行走速度的转矩低于快速行走速度的转矩。 这减少了执行器在步态周期中执行的工作以及在步态循环期间传递的峰值执行器功率。 在一些实施例中，串联弹性元件与可以驱动脚踝的马达串联连接，并且至少一个传感器设置有可以确定串联弹性元件偏转的输出。 控制器基于输出确定期望的转矩，并且基于所确定的期望转矩来控制电动机的转矩。