公开(公告)号：US11967871B2

公开(公告)日：2024-04-23

申请号：US16647816

申请日：2018-09-17

Applicant: University of Utah Research Foundation

Inventor： Jacob J Abbott ,  Shad Roundy ,  Jacob Aman

IPC: H02K21/20 ,  A61F2/70 ,  A61H3/00 ,  H02K3/20 ,  H02K11/21 ,  H02K11/24 ,  A61F2/68 ,  A61F2/76

CPC classification number: H02K21/20 ,  A61F2/70 ,  A61H3/00 ,  H02K3/20 ,  H02K11/21 ,  H02K11/24 ,  A61F2002/6863 ,  A61F2002/704 ,  A61F2002/7635 ,  A61H2201/1215 ,  A61H2201/1659 ,  A61H2201/5061

Abstract: An electromagnetic actuator for non-continuous rotation (cogging-torque actuator (CTA)) (100) comprises a support structure (116), an output shaft (104) rotatable about and defining an axis of rotation (X), a permanent magnet rotor (106) comprising at least two magnetic poles (108a, 108b) attached to the output shaft (104), and a stator device (110) comprising a ferromagnetic pole body (112) attached to the support structure (116) and surrounding the at least two magnetic poles (108a, 108b). The ferromagnetic pole body (112) can have at least four ferromagnetic stator poles (112a-d) each wrapped in a conductive wire (114a-d) to define a stator coil. The at least four ferromagnetic stator poles (112a-d) are sized, and spaced radially from each other, so as to define a maximum cogging torque of the electromagnetic actuator (100). The CTA (100) can operate as an actuator, an elastic spring, a clutch, and/or a load support device.

公开(公告)号：US11918535B2

公开(公告)日：2024-03-05

申请号：US16847380

申请日：2020-04-13

Applicant: TOYOTA RESEARCH INSTITUTE, INC.

Inventor： Jonathan Decastro ,  Soon Ho Kong ,  Nikos Arechiga Gonzalez ,  Frank Permenter ,  Dennis Park

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H2201/0103 ,  A61H2201/0173 ,  A61H2201/165 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2230/625

Abstract: Systems and methods for a powered, robotic exoskeleton, or exosuit, for a user's limbs and body are provided. The exosuit may be equipped with airbag devices mounted at various locations on the suit. The exosuit may include on-board computing equipment that can sense, compute control commands in real-time, and actuate limbs and airbags to restore stability (fall prevention) and minimize injuries due to falls, should they happen (fall protection).

公开(公告)号：US20240017407A1

公开(公告)日：2024-01-18

申请号：US18036779

申请日：2022-08-09

Applicant: JAKA ROBOTICS CO., LTD.

Inventor： Xiong Xu ,  Bofeng Liu ,  Zhenxiang Qi ,  Fan Yang ,  Mingyang Li ,  Jiapeng Wang

IPC: B25J9/16 ,  B25J13/08 ,  A61H7/00

CPC classification number: B25J9/1633 ,  B25J13/085 ,  A61H7/004 ,  A61H2201/1659 ,  A61H2201/5061

Abstract: A control method of the composite robot includes acquiring multiple forces and multiple torques collected by the force sensor in the current motion when the robot arm is pulled to move; calculating multiple displacement value sets according to the multiple forces, the multiple torques, a preset desired force, a preset desired torque, and a preset model; calculating the optimal solution according to the multiple displacement value sets to obtain a first target displacement value corresponding to the robot arm and a second target displacement value corresponding to the motion mechanism; controlling the robot arm and the motion mechanism to move according to the first target displacement value and the second target displacement value; and repeating the operation of acquiring multiple forces and multiple torques collected by the force sensor in the current motion until the robot arm and the motion mechanism stop moving.

公开(公告)号：US11872176B2

公开(公告)日：2024-01-16

申请号：US16611255

申请日：2018-05-07

Applicant: SCUOLA SUPERIORE DI STUDI UNIVERSITARI E DI PERFEZIONAMENTO SANT'ANNA

Inventor： Andrea Baldoni ,  Matteo Moisé ,  Simona Crea ,  Emilio Trigili ,  Mario Cortese ,  Nicola Vitiello ,  Francesco Giovacchini

IPC: A61H1/02 ,  B25J9/00 ,  B25J9/06

CPC classification number: A61H1/0281 ,  A61H1/0274 ,  B25J9/0006 ,  B25J9/0045 ,  A61H2201/0149 ,  A61H2201/149 ,  A61H2201/1659 ,  A61H2201/1673 ,  B25J9/0048 ,  B25J9/06

Abstract: A rotational joint of intra-extra rotation for assistance of the movement of intra-extra rotation of a shoulder of a user. The rotational joint features a first circular guide arranged to rotate about a first rotation axis and a second circular guide arranged to rotate about a second rotation axis that is parallel to the first rotation axis. A support element is arranged to support the first and the second circular guides. The first and the second circular guide are pivotally connected by a conical wheel having a third rotation axis perpendicular to the first rotation axes and said conical wheel being pivotally constrained to the support element.

公开(公告)号：US11696865B2

公开(公告)日：2023-07-11

申请号：US16782447

申请日：2020-02-05

Applicant: LG ELECTRONICS INC.

Inventor： Dongseon Jang

IPC: A61H1/02 ,  B25J9/10 ,  H05B3/00

CPC classification number: A61H1/02 ,  A61H1/0292 ,  B25J9/1075 ,  A61H2201/123 ,  A61H2201/165 ,  A61H2201/1659 ,  H05B3/0014

Abstract: Provided is an artificial muscle device, including a plurality of heat transfer modules including a thermal conductive body in which a plurality of tunnels parallel to each other and a thermoelectric element contacting an outer surface of the thermal conductive body, a connection member connecting a first heat transfer module to a second heat transfer module, the connection member being folded or unfolded according to a distance between the first heat transfer module and the second heat transfer module, a thermal reaction driving member passing through each of the tunnels, the thermal reaction driving member being stretched or contracted in a longitudinal direction of the tunnel according to a temperature of the thermal reaction driving member, and a power transmission part connected to an end of the thermal reaction driving member.

公开(公告)号：US11690773B2

公开(公告)日：2023-07-04

申请号：US16969198

申请日：2020-06-12

Applicant: SOUTHEAST UNIVERSITY

Inventor： Aiguo Song ,  Yiting Mo ,  Huanhuan Qin ,  Huijun Li ,  Baoguo Xu

IPC: A61H1/00 ,  A61H1/02

CPC classification number: A61H1/0274 ,  A61H2201/1207 ,  A61H2201/165 ,  A61H2201/1628 ,  A61H2201/1635 ,  A61H2201/1659 ,  A61H2201/5061

Abstract: A wearable upper limb rehabilitation training robot with precise force control includes a wearable belt, a multi-degree-of-freedom robot arm, and a control box. The robot is worn on the waist of a person by using a belt, and driven by active actuators, to implement active and passive rehabilitation training in such degrees of freedom as adduction/abduction/anteflexion/extension of left and right shoulder joints and anteflexion/extension of left and right elbow joints. In addition, a force/torque sensor is mounted on a tip of the robot arm, to obtain a force between the tip of the robot arm and the human hand during rehabilitation training as a feedback signal, to adjust an operating state of the robot, thereby realizing the precise force control during the rehabilitation training.

公开(公告)号：US20180361570A1

公开(公告)日：2018-12-20

申请号：US15579941

申请日：2016-06-07

Applicant: Hangzhou Qisu Technology Co., Ltd.

Inventor： Nan XIA

IPC: B25J9/10 ,  A61H3/00 ,  B25J9/00 ,  B25J9/12 ,  B25J9/14

CPC classification number: B25J9/101 ,  A61H1/0237 ,  A61H1/0274 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/123 ,  A61H2201/1246 ,  A61H2201/1659 ,  A61H2201/1676 ,  A61H2201/5066 ,  B25J9/0006 ,  B25J9/12 ,  B25J9/144

Abstract: A follow-up control device for an exoskeleton robot includes an upper arm and a lower arm, and the lower end of the upper arm and the upper end of the lower arm are connected via a rotatable joint. An active press block capable of sliding in a direction perpendicular to an axis is arranged on the upper arm or the lower arm, the active press block is bonded with a human body, two micro switches are arranged on the upper arm or the lower arm in correspondence to the active press block, a power device for driving the rotation is arranged between the upper arm and the lower arm, and the two micro switches respectively control the forward and backward motion of the power device.

公开(公告)号：US20180326243A1

公开(公告)日：2018-11-15

申请号：US15778901

申请日：2016-11-24

Applicant: École de technologie supérieure ,  THE ROYAL INSTITUTION FOR THE ADVANCEMENT OF LEARNING/MCGILL UNIVERSITY

Inventor： Abdelhak BADI ,  Maarouf SAAD ,  Guy GAUTHIER ,  Philippe ARCHAMBAULT

IPC: A63B21/00 ,  A61H1/02 ,  A63B21/005 ,  A63B22/02 ,  A63B24/00

CPC classification number: A63B21/00181 ,  A61H1/0262 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/14 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1659 ,  A61H2201/5007 ,  A61H2201/5038 ,  A61H2203/0406 ,  A61H2203/0456 ,  A63B21/00178 ,  A63B21/0058 ,  A63B21/153 ,  A63B21/4015 ,  A63B21/4034 ,  A63B22/02 ,  A63B24/0075 ,  A63B24/0087 ,  A63B2208/0204 ,  A63B2208/0252

Abstract: A limb rehabilitation device, control method and kit having a platform, a frame, at least three cables and at least three actuators. The platform is for receiving thereon at least a portion of a limb and has at least three fixed cable positioning attachments. Each of actuator end. The cables are directly connected to a corresponding one of the cable positioning attachments at the platform connection end. The actuators are mounted to the frame and are adapted to retract or extend a corresponding one of the cables from the actuator end in a straight line between the platform connection end and the actuator end in order to provide at least three degrees of freedom movement to the platform, according to a rehabilitation protocol.

公开(公告)号：US20180193217A1

公开(公告)日：2018-07-12

申请号：US15741719

申请日：2016-07-01

Applicant: ECOLE POLYTECHNIQUE FEDERALE DE LAUSANNE (EPFL)

Inventor： Joachim VON ZITZEWITZ ,  Heike VALLERY ,  Gregoire COURTINE

IPC: A61H3/00

CPC classification number: A61H3/008 ,  A61H2201/1481 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1659 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5092

Abstract: The present invention relates to a robotic system useful to unload the object/person from its weight. The robotic system is useful in locomotor rehabilitation programs and allows the manipulation of forces in a three-dimensional space with far lower actuator requirements and a much higher precision than prior-art systems. The apparatus combines passive and active elements to minimize actuation requirements while still keeping inertia to a minimum and control precision to a maximum. It requires minimal actuators and at the same time has a low inertia.

公开(公告)号：US20170281387A1

公开(公告)日：2017-10-05

申请号：US15477566

申请日：2017-04-03

Applicant: Blake A. MATHIE

Inventor： Blake A. MATHIE

IPC: A61F5/01

CPC classification number: A61F5/013 ,  A61F2/50 ,  A61F5/01 ,  A61F5/0102 ,  A61H1/02 ,  A61H1/0274 ,  A61H1/0277 ,  A61H3/00 ,  A61H2201/0192 ,  A61H2201/1638 ,  A61H2201/165 ,  A61H2201/1659

Abstract: An apparatus may include a wearable component having an interior surface and an exterior surface, with a slip-resistant material adhered to the interior surface, the wearable component separably attached to a connecting portion having a receiving element, and the receiving element separably attached to an attachment element removably affixed to an external support structure. A method of stabilization may include obtaining the apparatus, applying the wearable component to a portion of a body, attaching the attachment element to the external support structure, and separably attaching the connecting portion to the attachment element.