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    STAIR ASCENT AND DESCENT CONTROL FOR POWERED LOWER LIMB DEVICES
    1.
    发明申请
    STAIR ASCENT AND DESCENT CONTROL FOR POWERED LOWER LIMB DEVICES 审中-公开
    动力下肢装置的平台和底盘控制

    公开(公告)号：WO2013172968A1

    公开(公告)日：2013-11-21

    申请号：PCT/US2013/031849

    申请日：2013-03-15

    Applicant: VANDERBILT UNIVERSITY ,  GOLDFARB, Michael ,  LAWSON, Brian, E. ,  VAROL, Atakan, Huseyin

    Inventor： GOLDFARB, Michael ,  LAWSON, Brian, E. ,  VAROL, Atakan, Huseyin

    IPC: A61F2/60 ,  A61F2/68 ,  A61F2/64 ,  A61F2/66 ,  A61F2/70 ,  A61F2/76

    CPC classification number: A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635

    Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

    Abstract translation: 提供了操作具有至少一个动力接头的下肢装置的系统和方法。 一种方法包括在包括阶梯上升模式或阶梯下降模式的当前活动模式的有限状态模型中将该装置配置到第一状态。 该方法还包括基于实时传感器信息，在满足在不同状态之间转换的预定义标准的情况下，在有限状态模型中在不同状态之间转换设备。 在该方法中，楼梯上升的有限状态模型包括提升和摆动阶段，提升阶段包括动力膝盖伸展和动力踝关节推动。 用于楼梯下降的有限状态模型包括屈服状态和摆动状态，其中摆动状态包括提供动力踝关节的动力瘫痪，屈服状态包括提供动力踝关节的电阻和被动跖屈。

    SYSTEM AND METHOD FOR PROVIDING BIOMECHANICALLY SUITABLE RUNNING GAIT IN POWERED LOWER LIMB DEVICES
    3.
    发明申请
    SYSTEM AND METHOD FOR PROVIDING BIOMECHANICALLY SUITABLE RUNNING GAIT IN POWERED LOWER LIMB DEVICES 审中-公开
    用于提供动力下肢装置中的生物适应性运行测量的系统和方法

    公开(公告)号：WO2013138579A1

    公开(公告)日：2013-09-19

    申请号：PCT/US2013/031286

    申请日：2013-03-14

    Applicant: VANDERBILT UNIVERSITY ,  GOLDFARB, Michael ,  SHULTZ, Amanda ,  LAWSON, Brian

    Inventor： GOLDFARB, Michael ,  SHULTZ, Amanda ,  LAWSON, Brian

    IPC: A61F2/60 ,  A61F2/68 ,  A61F2/64 ,  A61F2/66 ,  A61F2/50 ,  A61F2/70 ,  A61F2/76

    CPC classification number: A61F2/68 ,  A61F2/60 ,  A61F2/64 ,  A61F2/6607 ,  A61F2002/5003 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764

    Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

    Abstract translation: 提供了用于至少包括动力膝关节的下肢装置的运行控制器的系统和方法。 该方法包括：在包括运行模式的活动模式的有限状态模型中收集下肢装置的实时传感器信息并将下肢装置配置到第一状态。 该方法还包括基于传感器信息，当满足用于转换到后续状态的预定义标准时，检测模式的有限状态模型中将下肢装置从当前状态转换到后续状态，并且重复 过渡到活动模式改变。 在系统和方法中，有限状态模型包括至少一个姿势状态和至少一个摆动状态，其中至少一个姿势状态包括至少一个吸收状态和至少一个推进状态。

    CONTROL SYSTEM FOR JOINTED MECHANICAL DEVICES
    5.
    发明申请
    CONTROL SYSTEM FOR JOINTED MECHANICAL DEVICES 审中-公开
    接合机械装置的控制系统

    公开(公告)号：WO2011022572A1

    公开(公告)日：2011-02-24

    申请号：PCT/US2010/046054

    申请日：2010-08-20

    Applicant: VANDERBILT UNIVERSITY ,  GOLDFARB, Michael ,  DALLEY, Skyler A. ,  VAROL, Huseyin Atakan ,  WISTE, Tuomas Emory

    Inventor： GOLDFARB, Michael ,  DALLEY, Skyler A. ,  VAROL, Huseyin Atakan ,  WISTE, Tuomas Emory

    IPC: A61F2/58 ,  A61F2/72 ,  A61F2/70 ,  A61F2/76

    CPC classification number: A61F2/72 ,  A61F2/583 ,  A61F2002/704 ,  A61F2002/7615 ,  A61F2002/7645 ,  B25J9/1612 ,  B25J15/0009

    Abstract: Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.

    Abstract translation: 提供了用于控制接合的机械装置的系统和方法，其中基于具有一个或多个运动轴（D1，D2）并且并行地定义多个姿态和多个转变的地形状态（300）图来控制装置 其中一个运动轴在地图中，每个运动轴与装置中的互补运动类型相关联，并且每个转换与至少两个姿势相关联。 一种方法包括以下步骤：接收控制信号并确定在地形状态图内的装置的机械状态。 该方法还包括基于地形状态图来识别与机械状态相关联的潜在转变。 该方法还包括如果控制信号与所识别的转换之一相关联的运动类型相关联，则基于控制信号调整机械状态。

    JOINTED MECHANICAL DEVICES
    6.
    发明申请
    JOINTED MECHANICAL DEVICES 审中-公开
    接合机械装置

    公开(公告)号：WO2011022569A1

    公开(公告)日：2011-02-24

    申请号：PCT/US2010/046050

    申请日：2010-08-20

    Applicant: VANDERBILT UNIVERSITY ,  GOLDFARB, Michael ,  DALLEY, Skyler, A. ,  VAROL, Huseyin, Atakan ,  WISTE, Tuomas, Emory

    Inventor： GOLDFARB, Michael ,  DALLEY, Skyler, A. ,  VAROL, Huseyin, Atakan ,  WISTE, Tuomas, Emory

    IPC: A61F2/58 ,  A61F2/68

    CPC classification number: A61F2/586 ,  A61F2/583 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/587 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7615 ,  Y10T74/20317 ,  Y10T74/20329

    Abstract: A jointed mechanical device is provided. The device includes at least one element (204) having a fixed end and a deflectable end. The device also includes at least one actuating structure (206) having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element (214) in series with at least one non-elastic element. The device further includes at least one force actuator (202) configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system (315) for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

    Abstract translation: 提供了一种接合的机械装置。 该装置包括具有固定端和可偏转端的至少一个元件（204）。 该装置还包括至少一个致动结构（206），其具有联接到元件的至少可偏转端的第一端，其中致动结构包括与至少一个非弹性元件串联的至少一个弹性元件（214） 。 该装置还包括至少一个力致动器（202），其构造成将致动器力施加到致动结构的第二端。 另外，该装置包括控制系统（315），用于根据至少一个致动输入，致动器力的量和由力致动器产生的位移量来调节力致动器的操作。

    FOUR-WAY CONTROL VALVE FOR PNEUMATIC CHARGING AND DISCHARGING OF WORKING VESSEL
    8.
    发明申请
    FOUR-WAY CONTROL VALVE FOR PNEUMATIC CHARGING AND DISCHARGING OF WORKING VESSEL 审中-公开
    用于工作容器的气动充排放的四路控制阀

    公开(公告)号：WO2017127678A1

    公开(公告)日：2017-07-27

    申请号：PCT/US2017/014337

    申请日：2017-01-20

    Applicant: NEXMATIX LLC ,  MELL, Ellen ,  MELL, Dennis ,  GOLDFARB, Michael

    Inventor： MELL, Ellen ,  MELL, Dennis ,  GOLDFARB, Michael

    IPC: F16B15/00 ,  F15B1/02 ,  F15B1/04 ,  F15B1/26 ,  F15B11/024 ,  F15B11/042

    CPC classification number: F15B11/064 ,  F15B1/265 ,  F15B13/0402 ,  F15B2013/0412 ,  F15B2211/21 ,  F15B2211/265 ,  F15B2211/3057 ,  F15B2211/31582 ,  F15B2211/7052 ,  F15B2211/7053 ,  F15B2211/8855

    Abstract: A control valve comprises a body. A diverter is disposed within the body. The diverter is movably positionable within the body such that the diverter can assume a first position, second position and third position. The body includes one or more exhaust ports, a supply port, a first outlet port and a second outlet port. The body and diverter are configured such that: when the diverter is in the first position, the supply port and first outlet port fluidly communicate and the one or more exhaust ports and second outlet port are fluidly isolated; when the diverter is in the second position, the first outlet port and one of the one or more exhaust ports fluidly communicate and the supply port and second outlet port are fluidly isolated; and when the diverter is in the third position, the first outlet port and second outlet port fluidly communicate and the supply port and the one or more exhaust ports are fluidly isolated.

    Abstract translation: 控制阀包括主体。 分流器设置在体内。 分流器可移动地定位在主体内，使得分流器可以呈现第一位置，第二位置和第三位置。 主体包括一个或多个排气口，供应口，第一出口和第二出口。 主体和分流器构造成使得：当分流器处于第一位置时，供应端口和第一出口端口流体连通并且一个或多个排出端口和第二出口端口流体隔离; 当分流器处于第二位置时，第一出口端口和一个或多个排气端口中的一个流体连通并且供应端口和第二出口端口流体隔离; 并且当分流器处于第三位置时，第一出口端口和第二出口端口流体连通并且供应端口和一个或多个排出端口流体隔离。

    MOVEMENT ASSISTANCE DEVICE
    9.
    发明申请
    MOVEMENT ASSISTANCE DEVICE 审中-公开
    运动辅助装置

    公开(公告)号：WO2012044621A1

    公开(公告)日：2012-04-05

    申请号：PCT/US2011/053501

    申请日：2011-09-27

    Applicant: VANDERBILT UNIVERSITY ,  FARRIS, Ryan, J. ,  QUINTERO, Hugo, A. ,  GOLDFARB, Michael

    Inventor： FARRIS, Ryan, J. ,  QUINTERO, Hugo, A. ,  GOLDFARB, Michael

    IPC: A61F5/01 ,  A61H3/00 ,  B25J9/00

    CPC classification number: A61H3/00 ,  A61F5/0102 ,  A61H1/024 ,  A61H1/0244 ,  A61H2201/0107 ,  A61H2201/0176 ,  A61H2201/165 ,  A61H2201/5002 ,  A61H2201/5015 ,  A61H2201/5023 ,  A61H2201/5043 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5097 ,  B25J9/0006

    Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.

    Abstract translation: 一种装置包括具有多个传感器的外骨骼系统，用于产生指示当前运动的信号和至少外骨骼系统，髋部段和至少一个下肢的当前布置。 下肢包括用于联接到使用者腿部的侧表面的大腿和柄段。 大腿段包括将大腿段联接到髋部段的第一动力接头，将大腿段连接到柄段的第二动力接头，以及耦合到传感器，第一动力接头和第二动力接头的控制器。 控制器被配置为基于该信号来确定外骨骼系统的当前状态和用户的当前意图，并且基于当前状态和当前意图产生用于第一和第二动力关节的控制信号。

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