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    Interface for adjusting the motion of a powered orthotic device through externally applied forces
    1.
    发明授权
    Interface for adjusting the motion of a powered orthotic device through externally applied forces 有权

    公开(公告)号：US10206844B2

    公开(公告)日：2019-02-19

    申请号：US14760754

    申请日：2014-01-15

    Applicant: Ekso Bionics, Inc.

    Inventor： Kurt Amundson ,  Nathan Harding ,  James Stryker

    IPC: A61H1/02 ,  A61H3/00 ,  A61F2/70

    Abstract: A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.

    Reconfigurable Exoskeleton
    3.
    发明申请
    Reconfigurable Exoskeleton 审中-公开
    可重构外骨骼

    公开(公告)号：US20150351995A1

    公开(公告)日：2015-12-10

    申请号：US14649822

    申请日：2013-12-11

    Applicant: EKSO BIONICS, INC.

    Inventor： Adam Zoss ,  Jonathan Evans ,  Reuben Sandler ,  Nathan Harding ,  Aaron Julin ,  James Lubin ,  Taylor Heanue ,  Dylan Fairbanks ,  James Stryker

    IPC: A61H3/00

    CPC classification number: A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/0107 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  B25J9/0006

    Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

    Abstract translation: 外部骨骼可以在飞行中重新配置，调整和/或控制，利用分为三类的装置，特别是包括可切换未致动腿，可锁定横向和冠状髋关节旋转以及软件控制的自由关节。 更具体地，第一装置允许创建模块化关节系统，其中可以改变或交换单个外骨骼关节或四肢以优化特定使用者的外骨骼。 第二装置涉及机械控制，例如锁定和解锁接合，从而允许例如外骨骼腿在未被致动的轴线上枢转或不枢转。 第三装置允许使用软件在飞行中调节致动的外骨骼关节以模拟自由旋转的关节。 各种装置可以单独使用或组合使用，以使得任何给定的外骨骼被适当地重新配置，例如当患者在治疗期间前进时。

    Interface for Adjusting the Motion of a Powered Orthotic Device through Externally Applied Forces
    4.
    发明申请
    Interface for Adjusting the Motion of a Powered Orthotic Device through Externally Applied Forces 审中-公开
    通过外部应用力调整动力矫正装置运动的界面

    公开(公告)号：US20150351991A1

    公开(公告)日：2015-12-10

    申请号：US14760754

    申请日：2014-01-15

    Applicant: EKSO BIONICS, INC.

    Inventor： Kurt Amundson ,  Nathan Harding ,  James Stryker

    IPC: A61H1/02 ,  A61H3/00

    CPC classification number: A61H1/0214 ,  A61F2/70 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5025 ,  A61H2201/5061 ,  A61H2201/5069

    Abstract: A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.

    Abstract translation: 下肢矫形器包括至少一个构造成控制穿着矫形器的人的至少一个关节的运动的致动器，该手柄包括力传感器，该力传感器被配置为产生表示施加到手柄的力的信号。 与力传感器和至少一个致动器连通的控制器被配置为基于来自力传感器的信号来修改运动。 该系统可以特别用于使物理治疗师能够在人的康复期间输入控制和修改由下肢矫形器规定的位置和/或力量。

    Reconfigurable exoskeleton
    6.
    发明授权
    Reconfigurable exoskeleton 有权

    公开(公告)号：US10327975B2

    公开(公告)日：2019-06-25

    申请号：US14649822

    申请日：2013-12-11

    Applicant: Ekso Bionics, Inc.

    Inventor： Adam Zoss ,  Jonathan Evans ,  Reuben Sandler ,  Nathan Harding ,  Aaron Julin ,  James Lubin ,  Taylor Heanue ,  Dylan Fairbanks ,  James Stryker

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

    Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

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