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    EXOSKELETON AND METHOD OF INCREASING THE FLEXIBILITY OF AN EXOSKELETON HIP JOINT
    1.
    发明申请
    EXOSKELETON AND METHOD OF INCREASING THE FLEXIBILITY OF AN EXOSKELETON HIP JOINT 审中-公开
    EXOSKELETON和增加EXOSKELETON HIP JOINT灵活性的方法

    公开(公告)号：WO2015195310A2

    公开(公告)日：2015-12-23

    申请号：PCT/US2015/033540

    申请日：2015-06-01

    Applicant: EKSO BIONICS, INC.

    Inventor： ANGOLD, Russdon ,  FLEMING, Nicholas

    IPC: A61F2/50

    CPC classification number: B25J17/00 ,  A61H1/0237 ,  A61H1/0244 ,  A61H3/00 ,  A61H2001/0248 ,  A61H2201/149 ,  A61H2201/1619 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

    Abstract: An exoskeleton (105) comprises a torso brace (120), configured to be coupled to a torso of a user (100), and a leg support (155), configured to be coupled to a leg (165) of the user (100). A plurality of links couples the torso brace (120) to the leg support (155). The plurality of links includes a first link (125), coupled to the torso brace (120) at a first pivot point (130), and a second link (145), coupled to the leg support (155) at a second pivot point (160). The first link (125) is coupled to the second link (145) through a third pivot point (150) located between the first (130) and second pivot points (160). The first pivot point (130) enables adduction of the leg support (155), and the third pivot point (150) enables abduction of the leg support (155).

    Abstract translation: 外骨骼（105）包括被配置为联接到使用者（100）的躯体的躯干支架（120）和腿部支撑件（155），所述腿部支撑件被配置为联接到使用者的腿部（165） ）。 多个连杆将躯干支架（120）连接到腿支撑件（155）。 所述多个连杆包括在第一枢转点（130）处联接到躯干支架（120）的第一连杆（125）和在第二枢转点处联接到腿部支撑件（155）的第二连杆（145） （160）。 第一连杆（125）通过位于第一（130）和第二枢转点（160）之间的第三枢转点（150）联接到第二连杆（145）。 第一枢转点（130）使得腿部支撑件（155）能够收缩，并且第三枢转点（150）能够牵引腿部支撑件（155）。

    NON-ANTHROPOMORPHIC HIP JOINT LOCATIONS FOR EXOSKELETONS
    2.
    发明申请
    NON-ANTHROPOMORPHIC HIP JOINT LOCATIONS FOR EXOSKELETONS 审中-公开
    非特异性臀部联合位置

    公开(公告)号：WO2014159608A1

    公开(公告)日：2014-10-02

    申请号：PCT/US2014/024403

    申请日：2014-03-12

    Applicant: EKSO BIONICS, INC.

    Inventor： GARRETT, Scott ,  MOORE, Robert ,  SWIFT, Tim ,  AMUNDSON, Kurt ,  ANGOLD, Russdon

    IPC: A61H3/00

    CPC classification number: B25J9/0006 ,  A61F5/0102 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/0192 ,  B25J9/1633 ,  B25J17/00 ,  Y10S901/01

    Abstract: An exoskeleton device (103; 113; 302; 402) provides for selectively adjusting an exoskeleton hip pivot/pivot position (109; 119; 306; 407; 408; 410) in the sagittal plane relative to the position of the hip pivot (133) of a wearer (101; 111; 301; 401) of the exoskeleton (103; 113; 302; 402). The exoskeleton hip pivots/pivot positions (109; 119; 306; 407; 408; 410) can be shifted forward or rearward relative to the hip pivots (133) of the wearer (101; 111; 301; 401) and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer (101; 111; 301; 401). The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.

    Abstract translation: 外骨骼装置（103; 113; 302; 402）提供相对于髋部枢轴（133）的位置选择性地调整矢状面中的外骨骼髋关节枢转/枢转位置（109; 119; 306; 407; 408; 410） ）所述外骨骼（103; 113; 302; 402）的佩戴者（101; 111; 301; 401）。 外骨骼髋关节枢轴/枢转位置（109; 119; 306; 407; 408; 410）可以相对于穿着者（101; 111; 301; 401）的髋部枢轴（133）向前或向后移动，并且可以是 由外骨骼控制系统自动启动或由外骨骼佩戴者（101; 111; 301; 401）手动调整。 本发明特别地允许差分髋部放置以补偿变化的负载或致动条件。

    DEVICES FOR THE SUPPORT OF TOOLS
    3.
    发明申请
    DEVICES FOR THE SUPPORT OF TOOLS 审中-公开
    用于支持工具的设备

    公开(公告)号：WO2018053063A1

    公开(公告)日：2018-03-22

    申请号：PCT/US2017/051451

    申请日：2017-09-14

    Applicant: EKSO BIONICS, INC.

    Inventor： ANGOLD, Russdon ,  SOLANO, Mario ,  PARETICH, Chris ,  MASTALER, Thomas ,  JAEGER, Brett ,  FLEMING, Nicholas ,  CALVERT, Katherine ,  SWEENEY, Matthew, D.

    IPC: B25H1/00 ,  B25H1/04 ,  B25H1/06 ,  B25H1/08 ,  B25H1/10 ,  B25J1/00 ,  B25J1/02

    Abstract: A positionable tool support device (200; 300; 500; 600; 610; 700; 710; 800) is mounted near a work surface for supporting a tool (21 1; 31 1; 321; 341; 406; 412; 452; 462; 492; 574; 605; 635; 705) for a user. The tool support device includes a surface mount to secure the tool support device to a support surface. A gravity-balancing articulated arm assembly (201; 305; 325; 414; 502; 602; 702; 802) is coupled to and extends from the surface mount. The gravity-balancing articulated arm assembly (201; 301; 325; 414; 502; 602; 702; 802) is selectively adjustable about both vertical and horizontal axes. A rigid support extension (202; 302; 324; 340; 413; 418; 459; 469; 501; 603; 633; 703; 713; 803) is coupled to the gravity-balancing articulated arm assembly for selective rotation relative to the gravity-balancing articulated arm assembly. A flexible tensile member (208; 258; 308; 315; 330; 400; 450; 460; 470; 604; 634; 704; 714; 814; 815; 832) is coupled to and extends, in a relaxed state, vertically downward from the rigid support extension. The tensile member is coupled to the tool.

    Abstract translation: 可定位的工具支撑装置（200; 300; 500; 600; 610; 700; 710; 800）安装在工作表面附近，用于支撑工具（211; 311; 321; 341 ; 406; 412; 452; 462; 492; 574; 605; 635; 705）。 工具支撑装置包括表面安装件以将工具支撑装置固定到支撑表面。 重力平衡铰接臂组件（201; 305; 325; 414; 502; 602; 702; 802）联接到表面安装并从表面安装延伸。 重力平衡铰接臂组件（201; 301; 325; 414; 502; 602; 702; 802; 802）可围绕垂直轴和水平轴选择性地调节。 刚性支撑延伸部（202; 302; 324; 340; 413; 418; 459; 469; 501; 603; 633;​​ 703; 713; 803）联接至重力平衡铰接臂组件以相对于重力 平衡关节臂组件。 柔性承拉构件（208; 258; 308; 315; 330; 400; 450; 460; 470; 604; 634; 704; 714; 814; 815; 832）以松弛状态与垂直向下 来自刚性支持延伸。 拉伸构件连接到工具。

    GAIT ORTHOTIC DEVICE AND METHOD FOR PROTECTING GAIT ORTHOTIC DEVICE AND USER FROM DAMAGE
    6.
    发明申请
    GAIT ORTHOTIC DEVICE AND METHOD FOR PROTECTING GAIT ORTHOTIC DEVICE AND USER FROM DAMAGE 审中-公开

    公开(公告)号：WO2014164974A4

    公开(公告)日：2014-10-09

    申请号：PCT/US2014/023987

    申请日：2014-03-12

    Applicant: EKSO BIONICS, INC.

    Inventor： ANGOLD, Russdon ,  SANDLER, Reuben ,  MOORE, Robert

    IPC: A41D13/018

    Abstract: A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint; at least one actuator (125, 130; 135, 140) configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object; and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130; 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work.

    EXOSKELETON AND METHOD OF INCREASING THE FLEXIBILITY OF AN EXOSKELETON JOINT
    9.
    发明申请
    EXOSKELETON AND METHOD OF INCREASING THE FLEXIBILITY OF AN EXOSKELETON JOINT 审中-公开

    公开(公告)号：WO2015187258A3

    公开(公告)日：2015-12-10

    申请号：PCT/US2015/027523

    申请日：2015-04-24

    Applicant: EKSO BIONICS, INC.

    Inventor： ANGOLD, Russdon ,  PREUSS, Adam ,  FLEMING, Nicholas ,  SWEENEY, Matthew, D.

    IPC: A61H3/00

    Abstract: An exoskeleton (105; 205; 305; 405; 505) configured to be coupled to a user (100; 200; 300; 400; 500) includes a plurality of interconnected support elements (141, 150; 340, 341, 342, 350; 420, 450, 420', 450'; 515, 520, 535) constituted by rigid compression members interconnected through a tensegrity joint (155; 255; 355; 430, 430'; 570). The joint includes a tensile member (165; 360, 361, 362; 440, 440'; 530, 531; 545, 546) having a first end and a second end coupled to first and second ones of the support elements (141, 150; 340, 341, 342, 350; 420, 450, 420', 450'; 515, 520, 535) respectively.

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