公开(公告)号：US20230248548A1

公开(公告)日：2023-08-10

申请号：US17971314

申请日：2022-10-21

申请人： Otto Bock Healthcare Products GMBH

发明人： Roland AUBERGER ,  Harald SIMA ,  Martin SEYR

IPC分类号： A61F2/64 ,  F15B1/02 ,  F15B15/14 ,  A61F5/01 ,  A61H1/02 ,  A61F5/02

CPC分类号： A61F2/64 ,  A61F5/02 ,  A61F5/013 ,  A61F5/0123 ,  A61H1/0255 ,  A61H1/0277 ,  A61H1/0281 ,  F15B1/021 ,  F15B15/1423 ,  A61F2002/5006

摘要： An actuator-damper unit for use in orthotic or prosthetic devices. The actuator-damper unit includes a housing which may be fastened on the orthotic or prosthetic device and in which a cylinder is formed. A first piston is displaceably mounted in the cylinder and is coupled to a piston rod. The piston rod is disposed, via a first end, on the first piston and may be coupled, via a second end, to the orthotic or prosthetic device. The first piston separates two fluid chambers in the cylinder from each other and forms a piston-cylinder unit, wherein at least one further piston is coupled to the first piston in order to form at least one further, variable-volume fluid chamber.

公开(公告)号：US10034810B1

公开(公告)日：2018-07-31

申请号：US15359042

申请日：2016-11-22

申请人： John V. Howard

发明人： John V. Howard

IPC分类号： A61H1/02 ,  A61F5/042

CPC分类号： A61H1/0229 ,  A61F5/042 ,  A61H1/0222 ,  A61H1/0255 ,  A61H1/0292 ,  A61H33/00 ,  A61H33/02 ,  A61H2201/0111 ,  A61H2201/0115 ,  A61H2201/0157 ,  A61H2201/0192 ,  A61H2201/1215 ,  A61H2201/1253 ,  A61H2201/14 ,  A61H2201/1445 ,  A61H2201/149 ,  A61H2201/1623 ,  A61H2201/1635 ,  A61H2201/164 ,  A61H2201/1664 ,  A61H2201/1676 ,  A61H2203/02 ,  A61H2203/0406 ,  A61H2203/0443 ,  A61H2203/045 ,  A61H2205/081 ,  A61H2205/108

摘要： An apparatus for applying traction force to a spine of a user has a chassis with an upper surface. A user lies on the upper surface with the spine extending generally parallel to a longitudinal axis of the chassis. Two members extend from the chassis on opposing sides of the longitudinal axis, each member being positioned to engage an armpit. A lever is pivotally attached to the chassis for rotation about a lateral axis, and a pad coupled to the lever contacts a proximal portion of each upper leg when the leg is bent forward at a hip joint. A force applied to the lever is transmitted through the pad to each upper leg and opposed by the members, thereby applying traction force for decompressing the spine. The force may be applied by the arms of the user or by a motor.

公开(公告)号：US20180116898A1

公开(公告)日：2018-05-03

申请号：US15856117

申请日：2017-12-28

申请人： GAITTRONICS INC.

发明人： Aliasgar MORBI ,  Mojtaba AHMADI ,  Richard BERANEK

IPC分类号： A61H3/00

CPC分类号： A61H3/00 ,  A61G7/1019 ,  A61G7/1048 ,  A61G7/1053 ,  A61G7/1059 ,  A61G2203/10 ,  A61G2203/32 ,  A61G2203/38 ,  A61G2203/723 ,  A61H1/02 ,  A61H1/0255 ,  A61H1/0292 ,  A61H3/008 ,  A61H3/04 ,  A61H2003/043 ,  A61H2201/0165 ,  A61H2201/018 ,  A61H2201/163 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2203/0431 ,  A61H2230/625

摘要： Systems and methods for use with haptic devices. A control system for haptic devices determines a first course of action based on a user's motion. Prior to implementing the first course of action, the control system determines if the first course of action would lead to instability in the haptic device which could cause an unsafe situation such as failure of its components. If the first course of action would lead to instability, the control device determines a second course of action that would not lead to instability and implements this second course of action. To assist in this second course of action and to prevent potential oscillation in the haptic device, the control system also selectively dampens a projected action of the haptic device. A haptic device using such a control system is also disclosed.

公开(公告)号：US09956470B2

公开(公告)日：2018-05-01

申请号：US15650130

申请日：2017-07-14

申请人： Pulson, Inc.

发明人： Jeffery L. Bleich ,  Paul Mannheimer

IPC分类号： A63B71/06 ,  A61B5/11 ,  A61B5/0205 ,  G06F19/00 ,  G09B19/00 ,  A63B22/02 ,  A63B15/00 ,  A63B69/00 ,  G09B23/28 ,  A61B5/0456 ,  A63B21/002 ,  A63B24/00 ,  A63B23/12 ,  A63B22/06 ,  A63B22/00 ,  A63B21/06 ,  A61H3/00 ,  A61H1/02

CPC分类号： A63B71/06 ,  A61B5/0205 ,  A61B5/0456 ,  A61B5/1118 ,  A61H1/0255 ,  A61H1/0274 ,  A61H3/00 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/5015 ,  A61H2201/5064 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2201/5092 ,  A61H2201/5097 ,  A61H2230/045 ,  A61H2230/065 ,  A61H2230/208 ,  A61H2230/305 ,  A61H2230/42 ,  A61H2230/50 ,  A61H2230/60 ,  A61H2230/805 ,  A63B15/00 ,  A63B21/002 ,  A63B21/0023 ,  A63B21/06 ,  A63B22/0023 ,  A63B22/0056 ,  A63B22/0076 ,  A63B22/0235 ,  A63B22/0605 ,  A63B22/0664 ,  A63B23/1218 ,  A63B23/1236 ,  A63B24/0062 ,  A63B24/0075 ,  A63B24/0087 ,  A63B69/0028 ,  A63B71/0686 ,  A63B2024/0093 ,  A63B2024/0096 ,  A63B2071/0625 ,  A63B2071/0655 ,  A63B2071/0663 ,  A63B2220/10 ,  A63B2220/17 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/56 ,  A63B2220/805 ,  A63B2220/806 ,  A63B2220/833 ,  A63B2220/836 ,  A63B2220/89 ,  A63B2225/50 ,  A63B2225/54 ,  A63B2230/045 ,  A63B2230/062 ,  A63B2230/207 ,  A63B2230/425 ,  A63B2230/50 ,  A63B2230/60 ,  A63B2230/75 ,  A63B2244/20 ,  G06F19/00 ,  G06F19/3481 ,  G09B19/00 ,  G09B19/0038 ,  G09B23/288 ,  G16H20/30

摘要： Described herein are methods for determining a target musculoskeletal activity cycle (MSKC) to cardiac cycle (CC) timing relationship. The method may include detecting a first characteristic of a signal responsive to a CC timing of a user that repeats at a frequency that corresponds to a heart rate of the user; detecting a second characteristic of a signal responsive to a rhythmic musculoskeletal cycle activity (MSKC) timing of the user that repeats at a frequency that corresponds to the MSKC rate of the user; determining a value representative of an actual timing relationship between the first characteristic and the second characteristic; detecting a third characteristic of a signal corresponding to a physiological metric that varies with the actual timing relationship between the first and second characteristics; and determining a target value representative of a preferred timing relationship between the first and second characteristics.

公开(公告)号：US20180092536A1

公开(公告)日：2018-04-05

申请号：US15566146

申请日：2016-04-14

申请人： Ekso Bionics, Inc.

发明人： Reuben Sandler ,  Katherine Strausser ,  Mark Fiedler ,  Kurt Amundson ,  Dan Brown ,  Renata Smith ,  Matthew D Sweeney ,  Russdon Angold ,  Niel McCaffrey ,  Duane Edmonds ,  Chris Meadows ,  Jared Jones ,  Kelly Mettler

IPC分类号： A61B5/00 ,  A61H3/00 ,  G08C17/00 ,  A61B5/11 ,  A61H1/02 ,  A61B5/22

CPC分类号： A61B5/0024 ,  A61B5/01 ,  A61B5/0402 ,  A61B5/0476 ,  A61B5/1112 ,  A61B5/1116 ,  A61B5/1117 ,  A61B5/112 ,  A61B5/14532 ,  A61B5/224 ,  A61B5/486 ,  A61B2505/09 ,  A61B2562/0247 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/02 ,  A61H3/04 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/501 ,  A61H2201/5012 ,  A61H2201/5043 ,  A61H2201/5058 ,  A61H2201/5064 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/04 ,  A61H2230/06 ,  A61H2230/202 ,  A61H2230/25 ,  A61H2230/30 ,  A61H2230/60 ,  G08C17/00 ,  G08C17/02

摘要： A first exoskeleton is in communication with a central server or a peripheral device. The first exoskeleton collects first data and transmits the first data to the central server or peripheral device. The central server or peripheral device generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

公开(公告)号：US20180079084A1

公开(公告)日：2018-03-22

申请号：US15562899

申请日：2016-04-07

申请人： SG ROBOTICS CO., LTD.

发明人： Han-Seung WOO ,  Byeong-Hun NA ,  Kyoung-Chul KONG ,  Hyuck-Bae KIM

IPC分类号： B25J13/04 ,  B25J9/08

CPC分类号： B25J13/04 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0255 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1463 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1671 ,  A61H2201/50 ,  A61H2201/5053 ,  A61H2201/5058 ,  A61H2203/0406 ,  A61H2205/10 ,  B25J9/0006 ,  B25J9/08 ,  B25J9/102 ,  B25J17/0208 ,  B25J19/00 ,  F16H3/20

摘要： The present invention relates to a joint actuator, and a joint structure of a leg-supporting robot using the joint actuator. The joint actuator can reduce or control mechanical friction which a user can feel during use thereof, and is designed so as to be able to be flexibly driven since selective engagement of a gear part is possible.

公开(公告)号：US20170246740A1

公开(公告)日：2017-08-31

申请号：US15597213

申请日：2017-05-17

申请人： Lockheed Martin Corporation

发明人： Gavin A. Barnes

IPC分类号： B25J9/00 ,  A61H1/02 ,  B25J9/16 ,  B25J19/00 ,  B25J13/08

CPC分类号： B25J9/0006 ,  A61H1/0255 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  B25J13/085 ,  B25J19/0016

摘要： An adjustable force exoskeleton hip joint system. The system includes a hip joint. The hip joint includes a first member rotatable about a hip joint rotation axis, the first member configured to be coupled to one of a lower body link or an upper body link. The hip joint further includes a second member rotatable about the hip joint rotation axis, the second member configured to be coupled to the other of the lower body link or the upper body link. The system further includes an adjustable force mechanism coupled to at least one of the first member and the second member. The adjustable force mechanism includes an actuator coupled to the first member, the actuator comprising a motor configured to selectively apply an adjustable force to the second member to inhibit rotation of the first member with respect to the second member.

公开(公告)号：US09707466B2

公开(公告)日：2017-07-18

申请号：US15384268

申请日：2016-12-19

申请人： Pulson, Inc.

发明人： Jeffery L. Bleich ,  Paul Mannheimer

IPC分类号： A63B71/06 ,  G09B19/00 ,  A63B22/00 ,  A63B22/02 ,  A63B22/06 ,  A63B24/00 ,  A63B69/00 ,  A61B5/0205 ,  A61B5/0456 ,  A61B5/11 ,  G06F19/00

CPC分类号： A63B71/06 ,  A61B5/0205 ,  A61B5/0456 ,  A61B5/1118 ,  A61H1/0255 ,  A61H1/0274 ,  A61H3/00 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/5015 ,  A61H2201/5064 ,  A61H2201/5071 ,  A61H2201/5084 ,  A61H2201/5092 ,  A61H2201/5097 ,  A61H2230/045 ,  A61H2230/065 ,  A61H2230/208 ,  A61H2230/305 ,  A61H2230/42 ,  A61H2230/50 ,  A61H2230/60 ,  A61H2230/805 ,  A63B15/00 ,  A63B21/002 ,  A63B21/0023 ,  A63B21/06 ,  A63B22/0023 ,  A63B22/0056 ,  A63B22/0076 ,  A63B22/0235 ,  A63B22/0605 ,  A63B22/0664 ,  A63B23/1218 ,  A63B23/1236 ,  A63B24/0062 ,  A63B24/0075 ,  A63B24/0087 ,  A63B69/0028 ,  A63B71/0686 ,  A63B2024/0093 ,  A63B2024/0096 ,  A63B2071/0625 ,  A63B2071/0655 ,  A63B2071/0663 ,  A63B2220/10 ,  A63B2220/17 ,  A63B2220/30 ,  A63B2220/40 ,  A63B2220/56 ,  A63B2220/805 ,  A63B2220/806 ,  A63B2220/833 ,  A63B2220/836 ,  A63B2220/89 ,  A63B2225/50 ,  A63B2225/54 ,  A63B2230/045 ,  A63B2230/062 ,  A63B2230/207 ,  A63B2230/425 ,  A63B2230/50 ,  A63B2230/60 ,  A63B2230/75 ,  A63B2244/20 ,  G06F19/00 ,  G06F19/3481 ,  G09B19/00 ,  G09B19/0038 ,  G09B23/288 ,  G16H20/30

摘要： Described herein are methods for determining a target musculoskeletal activity cycle (MSKC) to cardiac cycle (CC) timing relationship. The method may include detecting a first characteristic of a signal responsive to a CC timing of a user that repeats at a frequency that corresponds to a heart rate of the user; detecting a second characteristic of a signal responsive to a rhythmic musculoskeletal cycle activity (MSKC) timing of the user that repeats at a frequency that corresponds to the MSKC rate of the user; determining a value representative of an actual timing relationship between the first characteristic and the second characteristic; detecting a third characteristic of a signal corresponding to a physiological metric that varies with the actual timing relationship between the first and second characteristics; and determining a target value representative of a preferred timing relationship between the first and second characteristics.

公开(公告)号：US09545353B2

公开(公告)日：2017-01-17

申请号：US13562131

申请日：2012-07-30

申请人： Jon Smith ,  Kern Bhugra

发明人： Jon Smith ,  Kern Bhugra

IPC分类号： A61H3/00 ,  B25J9/00 ,  B25J9/10 ,  A63B71/06 ,  A61H1/02 ,  A63B21/00 ,  A63B21/005 ,  A63B23/035 ,  A63B23/04

CPC分类号： A61H3/00 ,  A61H1/0255 ,  A61H2201/0107 ,  A61H2201/0184 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1445 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/5023 ,  A61H2201/5046 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5082 ,  A61H2201/5084 ,  A61H2201/5092 ,  A61H2201/5097 ,  A61H2230/00 ,  A61H2230/06 ,  A61H2230/207 ,  A63B21/0004 ,  A63B21/00178 ,  A63B21/00181 ,  A63B21/0058 ,  A63B21/4009 ,  A63B21/4011 ,  A63B21/4025 ,  A63B21/4047 ,  A63B23/03541 ,  A63B23/0405 ,  A63B71/0622 ,  A63B2208/0204 ,  A63B2220/16 ,  A63B2220/40 ,  A63B2220/51 ,  A63B2220/72 ,  A63B2220/805 ,  A63B2220/836 ,  A63B2225/20 ,  A63B2225/50 ,  A63B2230/00 ,  A63B2230/06 ,  A63B2230/207 ,  B25J9/0006 ,  B25J9/104 ,  G05B2219/40305

摘要： A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.

摘要翻译： 操作外骨骼装置的方法包括：接收传感器信息; 将离合器系统连接到滑轮系统; 基于所述传感器信息确定是否将传动系齿轮啮合到所述离合器系统; 当确定为啮合传动系齿轮时，将传动系齿轮啮合通过离合器系统; 以及为第一马达供电以驱动传动系齿轮以控制外骨骼装置的关节或段。

公开(公告)号：US20160374836A1

公开(公告)日：2016-12-29

申请号：US15190920

申请日：2016-06-23

申请人： THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

发明人： Nicholas ERRICO ,  Homayoon KAZEROONI ,  Yoon Jung Jeong

IPC分类号： A61F2/76 ,  A44B13/00 ,  A61H3/00 ,  A61F2/60 ,  A61F2/64

CPC分类号： A61F2/76 ,  A61F2/605 ,  A61F2/64 ,  A61H1/0255 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1454 ,  A61H2201/1463 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007

摘要： A manual apparatus of the present invention enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.

摘要翻译： 本发明的手动装置能够将外骨骼腿与外骨骼的剩余体快速连接和断开。 该装置包括由耦合到外骨骼的剩余体的壳体限定的空腔; 闩锁，其联接到所述外骨骼的剩余主体，所述闩锁包括闩锁特征; 夹体，其包括从其端部延伸的突出元件，所述夹子主体联接到所述外骨骼腿; 手柄，其可旋转地联接到夹子主体上的夹子基座; 以及可旋转地联接到手柄的钩。 当钩与闩锁特征接合并且手柄从第一解锁位置旋转到第二闩锁位置时，突起元件在空腔内移动。