公开(公告)号：US10226395B2

公开(公告)日：2019-03-12

申请号：US13900570

申请日：2013-05-23

Applicant: ReWalk Robotics Ltd.

Inventor： Amit Goffer ,  Chaya Zilberstein

IPC: A61H3/00 ,  B25J9/00 ,  A61H1/02 ,  A61F5/01

Abstract: An exoskeleton bracing system includes: a trunk support for affixing to the trunk of a disabled person and leg braces for connecting to the legs of the person, each leg brace including limb segment braces. Motorized joints are adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support. One or more ground force sensors are designed to sense ground force exerted on each of the leg braces. The system also includes a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance.

公开(公告)号：US09526668B2

公开(公告)日：2016-12-27

申请号：US13893342

申请日：2013-05-14

Applicant: ReWalk Robotics Ltd.

Inventor： Amit Goffer ,  Chaya Zilberstein

IPC: A61F5/00 ,  A61H3/00 ,  B25J9/00 ,  A61H1/02 ,  A61F5/01

CPC classification number: A61H3/00 ,  A61F5/0102 ,  A61H1/0255 ,  A61H1/0266 ,  A61H3/008 ,  A61H2003/001 ,  A61H2201/1207 ,  A61H2201/1621 ,  A61H2201/163 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5097 ,  B25J9/0006

Abstract: An exoskeleton bracing system includes: a trunk support for affixing to the trunk of a disabled person and leg braces for connecting to the legs of the person, each leg brace including limb segment braces. Motorized joints are adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support. One or more ground force sensors are designed to sense ground force exerted on each of the leg braces. The system also includes a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance.

Abstract translation: 外骨骼支撑系统包括：用于固定到残疾人的躯干的躯干支撑件和用于连接到人的腿的腿支撑，每个支腿包括肢体支架。 电动接头适于在腿支架的肢节支架之间以及腿支架和躯干支架之间提供相对角运动。 一个或多个地面力传感器被设计成感测施加在每个支撑撑杆上的地面力。 该系统还包括用于从所述一个或多个地面力传感器接收感测信号的控制器，具有用于从所感测的信号中识别姿态的算法，并且基于所识别的姿态来致动电动接头以执行与模式相关的动作 从与所识别的立场相对应的一组预定动作中选择的运动。