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。

公开(公告)号：WO2010019300A9

公开(公告)日：2010-04-22

申请号：PCT/US2009044520

申请日：2009-05-19

Applicant: UNIV CALIFORNIA AT BERKELEY ,  BERKELEY BIONICS ,  AMUNDSON KURT ,  ANGOLD RUSSDON ,  HARDING NATHAN ,  KAZEROONI HOMAYOON

Inventor： AMUNDSON KURT ,  ANGOLD RUSSDON ,  HARDING NATHAN ,  KAZEROONI HOMAYOON

IPC: A61G15/00

CPC classification number: B25J9/0006 ,  A61F5/0102 ,  A61H3/008

Abstract: A lower extremity exoskeleton (100) includes: at least one power unit (201); two leg supports (101, 102) designed to rest on the ground (130); two knee joints (107, 108) configured to allow flexion and extension between respective shank (105, 106) and thigh links (103, 104) of the leg supports (101, 102); an exoskeleton trunk (109) rotatably connectable to the leg supports (101, 102); and two hip actuators (145, 146) configured to create torques between the exoskeleton trunk (109) and the leg supports (101, 102). In use, the hip actuators (145, 146) create a torque to move the leg supports (101, 102) backward relative to the exoskeleton trunk ( 109) during a stance phase, which pushes the exoskeleton trunk (109) forward. A second torque may be used to move the leg supports (101, 102) forward relative to the exoskeleton trunk (109) into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support (101, 102) forward relative to the exoskeleton trunk (109). This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton (100).

Abstract translation: 下肢外骨骼（100）包括：至少一个动力单元（201）; 设计成搁置在地面上的两个支腿（101,102）（130）; 两个膝关节（107,108），其构造成允许在腿部支撑件（101,102）的各个柄部（105,106）和大腿连杆（103,104）之间弯曲和延伸; 可拆卸地连接到腿支撑件（101,102）的外骨骼躯干（109）; 以及两个髋关节致动器（145,146），其构造成在所述外骨骼躯干（109）和所述腿部支撑件（101,102）之间产生扭矩。 在使用中，臀部致动器（145,146）产生扭矩，以在姿态阶段期间相对于外骨骼躯干（109）向后移动腿部支撑件（101,102），从而将外骨骼躯干（109）向前推动。 可以使用第二扭矩来将腿部支撑件（101,102）相对于外骨骼躯干（109）向前移动到摆动阶段。 此外，在摆动阶段期间可能产生摆动扭矩，以使腿部支撑件（101,102）相对于外骨骼躯干（109）向前移动。 这导致穿着外骨骼的使用者的耗氧量和心率降低（100）。

公开(公告)号：CA2724062A1

公开(公告)日：2010-02-18

申请号：CA2724062

申请日：2009-05-19

Applicant: UNIV CALIFORNIA AT BERKELEY ,  BERKELEY BIONICS

Inventor： AMUNDSON KURT ,  ANGOLD RUSSDON ,  HARDING NATHAN ,  KAZEROONI HOMAYOON

IPC: A61G15/00

Abstract: A lower extremity exoskeleton (100) includes: at least one power unit (201); two leg supports (101, 102) designed to rest on the ground (130); two knee joints (107, 108) configured to allow flexion and extension between respective shank (105, 106) and thigh links (103, 104) of the leg supports (101, 102); an exoskeleton trunk (109) rotatably connectable to the leg supports (101, 102); and two hip actuators (145, 146) configured to create torques between the exoskeleton trunk (109) and the leg supports (101, 102). In use, the hip actuators (145, 146) create a torque to move the leg supports (101, 102) backward relative to the exoskeleton trunk ( 109) during a stance phase, which pushes the exoskeleton trunk (109) forward. A second torque may be used to move the leg supports (101, 102) forward relative to the exoskeleton trunk (109) into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support (101, 102) forward relative to the exoskeleton trunk (109). This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton (100).

公开(公告)号：CA2734469C

公开(公告)日：2016-06-28

申请号：CA2734469

申请日：2009-09-24

Applicant: BERKELEY BIONICS

Inventor： ANGOLD RUSSDON ,  ZOSS ADAM BRIAN ,  BURNS JON WILLIAM ,  HARDING NATHAN HERBERT

IPC: A61F2/68 ,  A61F2/70

Abstract: A lower limb orthotic device (100) includes a thigh link (101) connected to a hip link (102) through a hip joint (103) a hip torque generator (106) including a hip actuator (110) and a first mechanical transmission mechanism (111) interposed between the thigh link ( 101) and the hip link (102), a shank link (104) connected to the thigh link (101) through a knee joint ( 105), a knee torque generator ( 107) including a knee actuator (112) and a second mechanical transmission mechanism (113) interposed between the thigh link (101) and the shank link (104), and a controller (108), such as for a common motor (154) and pump (156) connected to the hip and knee torque generators (106, 107), for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms (111, 113) aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators (106, 107) can produce a non-zero torque.

公开(公告)号：CA2724062C

公开(公告)日：2019-11-26

申请号：CA2724062

申请日：2009-05-19

Applicant: UNIV CALIFORNIA ,  BERKELEY BIONICS

Inventor： AMUNDSON KURT ,  ANGOLD RUSSDON ,  HARDING NATHAN ,  KAZEROONI HOMAYOON

IPC: A61H3/00

Abstract: A lower extremity exoskeleton (100) includes: at least one power unit (201); two leg supports (101, 102) designed to rest on the ground (130); two knee joints (107, 108) configured to allow flexion and extension between respective shank (105, 106) and thigh links (103, 104) of the leg supports (101, 102); an exoskeleton trunk (109) rotatably con-nectable to the leg supports (101, 102); and two hip actuators (145, 146) configured to create torques between the exoskeleton trunk (109) and the leg supports (101, 102). In use, the hip actuators (145, 146) create a torque to move the leg supports (101, 102) backward relative to the exoskeleton trunk (109) during a stance phase, which pushes the exoskeleton trunk (109) forward. A second torque may be used to move the leg supports (101, 102) forward relative to the exoskeleton trunk (109) into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support (101, 102) forward relative to the exoskeleton trunk (109). This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton (100).

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).

公开(公告)号：CA2734469A1

公开(公告)日：2010-04-01

申请号：CA2734469

申请日：2009-09-24

Applicant: BERKELEY BIONICS

Inventor： ANGOLD RUSSDON ,  ZOSS ADAM BRIAN ,  BURNS JON WILLIAM ,  HARDING NATHAN HERBERT

IPC: A61H1/00

Abstract: A lower limb orthotic device (100) includes a thigh link (101) connected to a hip link (102) through a hip joint (103). a hip torque generator (106) including a hip actuator (110) and a first mechanical transmission mechanism (111) interposed between the thigh link ( 101) and the hip link (102), a shank link (104) connected to the thigh link (101) through a knee joint ( 105), a knee torque generator ( 107) including a knee actuator (112) and a second mechanical transmission mechanism (113) interposed between the thigh link (101) and the shank link (104), and a controller (108), such as for a common motor (154) and pump (156) connected to the hip and knee torque generators (106, 107), for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms (111, 113) aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators (106, 107) can produce a non-zero torque.

公开(公告)号：AU2009296645A1

公开(公告)日：2010-04-01

申请号：AU2009296645

申请日：2009-09-24

Applicant: BERKELEY BIONICS

Inventor： ANGOLD RUSSDON ,  ZOSS ADAM BRIAN ,  BURNS JON WILLIAM ,  HARDING NATHAN HERBERT

IPC: A61H1/00

公开(公告)号：CA2731612A1

公开(公告)日：2010-01-28

申请号：CA2731612

申请日：2009-07-23

Applicant: BERKELEY BIONICS ,  UNIV CALIFORNIA

Inventor： KAZEROONI HOMAYOON ,  AMUNDSON KURT ,  ANGOLD RUSSDON ,  HARDING NATHAN

IPC: A61F2/60

Abstract: A lower extremity exoskeleton (100), configurable to be coupled to a person, includes two leg supports (101, 102) configurable to be coupled to the person's lower limbs, an exoskeleton trunk (109) configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links (103, 104) of the leg supports (101, 102) allowing for the flexion and extension between the leg supports (101, 102) and the exoskeleton trunk (100), two hip actuators ( 145, 146) configured to create torques between the exoskeleion trunk (109) and the leg supports (101, 102), and at least one power unit (201) capable of providing power to the hip actuators (145, 146) wherein the power unit (201) is configured to cause the hip actuator (145, 146) of the leg support (101, 102) in the swing phase to create a torque profile such that force from the exoskeleton leg support (101, 102) onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.

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

IPC: B25J11/00 ,  A61G15/00 ,  A61H3/00 ,  B65G7/00 ,  B66F19/00 ,  F16M13/04 ,  G03B17/00

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).