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公开(公告)号：WO2010101595A4
公开(公告)日：2010-12-09
申请号：PCT/US2009068533
申请日：2009-12-17
Applicant: BERKELEY BIONICS , UNIV CALIFORNIA , KAZEROONI HOMAYOON , HARDING NATHAN , ANGOLD RUSSDON , AMUNDSON KURT , BURNS JON WILLIAM , ZOSS ADAM
Inventor： KAZEROONI HOMAYOON , HARDING NATHAN , ANGOLD RUSSDON , AMUNDSON KURT , BURNS JON WILLIAM , ZOSS ADAM
IPC: A61G15/00
CPC classification number: B25J9/0006
Abstract: An exoskeleton ( 100) configured to be coupled to a person (187) includes an exoskeleton trunk (109) and leg supports (101, 102) adapted to contact the ground. Hip torque generators ( 145, 146) extend between the exoskeleton trunk (109) and respective leg supports (101, 102). A load holding mechanism (221 ) is rotatably coupled to the exoskeleton trunk (109), preferably via over-shoulder members (138) configured to support a load (154) in front of the person (187). In use, hip torque generators (145, 146) create torque between the exoskeleton trunk (109) and respective leg supports (101, 102) in the stance phase, wherein at least one torque generator (145 or 146) is configured to create a first torque between the exoskeleton trunk (109) and one of the first and second leg supports (101, 102) in the stance phase opposing a second torque generated on the exoskeleton ( 100) by a weight of the load (154). Load bearing sensors (236, 303) may be utilized to determine the torque generated by the load (154) and communicate with a controller (137) to control power to the torque generators (145, 146).
Abstract translation: 被构造成联接到人（187）的外骨骼（100）包括外骨骼躯干（109）和适于接触地面的腿支撑件（101,102）。 髋部扭矩发生器（145,146）在外骨骼躯干（109）和相应的腿部支撑件（101,102）之间延伸。 载荷保持机构（221）优选经由构造成支撑人（187）前方的负载（154）的肩上构件（138）可旋转地联接至外骨骼躯干（109）。 在使用中，髋部扭矩发生器（145,146）在站立阶段在外骨骼躯干（109）和各个腿部支撑件（101,102）之间产生扭矩，其中至少一个扭矩发生器（145或146）被配置为产生 所述外骨骼躯干（109）与所述第一和第二腿部支撑件（101,102）中的一个之间的第一扭矩与所述负载（154）的重量在所述外骨骼（100）上产生的第二扭矩相反。 承载传感器（236,303）可用于确定由负载（154）产生的转矩并与控制器（137）通信以控制到转矩发生器（145,146）的功率。
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公开(公告)号：EP2373276A4
公开(公告)日：2014-07-02
申请号：EP09841267
申请日：2009-12-17
Applicant: BERKELEY BIONICS , UNIV CALIFORNIA
Inventor： KAZEROONI HOMAYOON , HARDING NATHAN , ANGOLD RUSSDON , AMUNDSON KURT , BURNS JON WILLIAM , ZOSS ADAM
IPC: A61G15/00
CPC classification number: B25J9/0006
Abstract: An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
Abstract translation: 被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿部支撑件。 髋扭矩发生器在外骨骼躯干和相应腿支撑之间延伸。 负载保持机构可旋转地联接到外骨骼躯干，优选地经由被配置为支撑人的前方的负载的超肩部构件。 在使用中，髋扭矩发生器在姿态阶段中在外骨骼躯干和相应腿部支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干和姿态中的第一和第二腿部支撑之一之间产生第一扭矩 相对于通过负载的重量在外骨骼上产生的第二扭矩。 负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。
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公开(公告)号：CA2645319C
公开(公告)日：2015-09-15
申请号：CA2645319
申请日：2007-03-09
Applicant: UNIV CALIFORNIA
Inventor： KAZEROONI HOMAYOON , ZOSS ADAM , HARDING NATHAN H , ANGOLD RUSSDON
IPC: A61F5/00
Abstract: A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit The knee mechanism is connected to said thigh link and said shank link, and allows movements of said thigh link and said shank link relative to each other The torque generator is configured to generate torque between said shank link and said thigh link The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque In a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link and said power unit converts a portion of the power associated with the product of said torque into electrical power to be stored in a storage device.
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公开(公告)号：CA2645319A1
公开(公告)日：2007-09-13
申请号：CA2645319
申请日：2007-03-09
Applicant: UNIV CALIFORNIA
Inventor： KAZEROONI HOMAYOON , ZOSS ADAM , HARDING NATHAN H , ANGOLD RUSSDON
IPC: A61F5/00
Abstract: A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque. When said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.
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公开(公告)号：CA2746327C
公开(公告)日：2017-09-05
申请号：CA2746327
申请日：2009-12-17
Applicant: BERKELEY BIONICS , UNIV CALIFORNIA
Inventor： KAZEROONI HOMAYOON , HARDING NATHAN , ANGOLD RUSSDON , AMUNDSON KURT , BURNS JON WILLIAM , ZOSS ADAM
Abstract: An exoskeleton ( 100) configured to be coupled to a per-son (187) includes an exoskeleton trunk (109) and leg supports (101, 102) adapted to contact the ground. Hip torque generators ( 145, 146) extend between the exoskeleton trunk (109) and respective leg supports (101, 102). A load holding mechanism (221 ) is rotatably coupled to the ex-oskeleton trunk (109), preferably via over-shoulder members (138) con-figured to support a load (154) in front of the person (187). In use, hip torque generators (145, 146) create torque between the exoskeleton trunk (109) and respective leg supports (101, 102) in the stance phase, wherein at least one torque generator (145 or 146) is configured to create a first torque between the exoskeleton trunk (109) and one of the first and sec-ond leg supports (101, 102) in the stance phase opposing a second torque generated on the exoskeleton ( 100) by a weight of the load (154). Load bearing sensors (236, 303) may be utilized to determine the torque gener-ated by the load (154) and communicate with a controller (137) to control power to the torque generators (145, 146).
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Patent Agency Ranking
公开(公告)号：AU2011311954A1
公开(公告)日：2013-03-28
申请号：AU2011311954
申请日：2011-10-06
Applicant: UNIV CALIFORNIA , ESKO BIONICS
Inventor： KAZEROONI HOMAYOON , STRAUSSER KATHERINE , ZOSS ADAM , SWIFT TIM
IPC: A61F2/28
Abstract: A system and method by which movements desired by a user (200) of a lower extremity orthotic (100) is determined and a control system (215, 216, 220, 225, 230) automatically regulates the sequential operation of powered lower extremity orthotic components (212) to enable the user (200), having mobility disorders, to walk, as well as perform other common mobility tasks which involve leg movements, perhaps with the use of a gait aid (102).
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公开(公告)号：AU2011301828A1
公开(公告)日：2013-03-28
申请号：AU2011301828
申请日：2011-09-19
Applicant: UNIV CALIFORNIA , ESKO BIONICS
Inventor： ZOSS ADAM , STRAUSSER KATHERINE , SWIFT TIM , ANGOLD RUSS , BURNS JON , KAZEROONI HOMAYOON , FAIRBANKS DYLAN , HARDING NATHAN
IPC: A61M1/00
Abstract: A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.
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公开(公告)号：AU2007223733B2
公开(公告)日：2013-01-10
申请号：AU2007223733
申请日：2007-03-09
Applicant: UNIV CALIFORNIA
Inventor： ANGOLD RUSSDON , KAZEROONI HOMAYOON , HARDING NATHAN H , ZOSS ADAM
IPC: A61F5/00
Abstract: A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque. When said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.
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公开(公告)号：AU2007223733A1
公开(公告)日：2007-09-13
申请号：AU2007223733
申请日：2007-03-09
Applicant: UNIV CALIFORNIA
Inventor： KAZEROONI HOMAYOON , HARDING NATHAN H , ANGOLD RUSSDON , ZOSS ADAM
IPC: A61F5/00
Abstract: A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque. When said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.
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公开(公告)号：CA2746327A1
公开(公告)日：2010-09-10
申请号：CA2746327
申请日：2009-12-17
Applicant: BERKELEY BIONICS , UNIV CALIFORNIA
Inventor： KAZEROONI HOMAYOON , HARDING NATHAN , ANGOLD RUSSDON , AMUNDSON KURT , BURNS JON WILLIAM , ZOSS ADAM
IPC: A61G15/00
Abstract: An exoskeleton ( 100) configured to be coupled to a per-son (187) includes an exoskeleton trunk (109) and leg supports (101, 102) adapted to contact the ground. Hip torque generators ( 145, 146) extend between the exoskeleton trunk (109) and respective leg supports (101, 102). A load holding mechanism (221 ) is rotatably coupled to the ex-oskeleton trunk (109), preferably via over-shoulder members (138) con-figured to support a load (154) in front of the person (187). In use, hip torque generators (145, 146) create torque between the exoskeleton trunk (109) and respective leg supports (101, 102) in the stance phase, wherein at least one torque generator (145 or 146) is configured to create a first torque between the exoskeleton trunk (109) and one of the first and sec-ond leg supports (101, 102) in the stance phase opposing a second torque generated on the exoskeleton ( 100) by a weight of the load (154). Load bearing sensors (236, 303) may be utilized to determine the torque gener-ated by the load (154) and communicate with a controller (137) to control power to the torque generators (145, 146).
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