公开(公告)号：WO2014035984A3

公开(公告)日：2014-03-06

申请号：PCT/US2013/056832

申请日：2013-08-27

Applicant: EKSO BIONICS, INC.

Inventor： AMUNDSON, Kurt ,  ANGOLD, Russ ,  SCHEINMAN, David ,  SWIFT, Tim ,  NORBOE, Daniel, P. ,  MOORE, Robert ,  BEARD, Jonathan ,  EDELBERG, Kyle

IPC: B25J9/14

Abstract: The invention is directed to controlling a hydraulic actuation system (50) having at least one degree of freedom, a prime mover (101), at least one actuation module (110, 120, 130) and a controller (103), with each actuation module (110, 120, 130) including: an over-center variable displacement pump (112 and 113; 601; 801) having a power input connection configured to power the pump from the prime mover (101) and a displacement varying input for varying the displacement of the pump; a displacement varying actuator (111, 121, 131) configured to modulate the displacement varying input of the pump; an output actuator (115) in direct communication with the pump, the output actuator (115) configured to drive a corresponding degree of freedom; and at least one sensor (116, 126) establishing a feedback measurement that represents a force or motion of the output actuator (115).

公开(公告)号：EP2888083B1

公开(公告)日：2020-05-06

申请号：EP13833152.5

申请日：2013-08-27

Applicant: Ekso Bionics, Inc.

Inventor： AMUNDSON, Kurt ,  ANGOLD, Russ ,  SCHEINMAN, David ,  SWIFT, Tim ,  NORBOE, Daniel, P. ,  MOORE, Robert ,  BEARD, Jonathan ,  EDELBERG, Kyle

IPC: F04C14/22 ,  A61H1/02 ,  A61H3/00 ,  F15B11/028 ,  F15B11/04 ,  F15B15/08 ,  F15B7/00

公开(公告)号：EP2888083A2

公开(公告)日：2015-07-01

申请号：EP13833152.5

申请日：2013-08-27

Applicant: Ekso Bionics, Inc.

Inventor： AMUNDSON, Kurt ,  ANGOLD, Russ ,  SCHEINMAN, David ,  SWIFT, Tim ,  NORBOE, Daniel, P. ,  MOORE, Robert ,  BEARD, Jonathan ,  EDELBERG, Kyle

IPC: B25J9/14

CPC classification number: F15B11/04 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1409 ,  A61H2201/1614 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5092 ,  F04C14/22 ,  F15B7/006 ,  F15B11/028 ,  F15B15/08 ,  F15B2211/205 ,  F15B2211/20515 ,  F15B2211/20546 ,  F15B2211/20561 ,  F15B2211/20576 ,  F15B2211/27 ,  F15B2211/6651 ,  F15B2211/6652 ,  F15B2211/6654 ,  F15B2211/71

Abstract: The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.