公开(公告)号：ES2925030T3

公开(公告)日：2022-10-13

申请号：ES14775935

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： GARRETT SCOTT ,  MOORE ROBERT ,  SWIFT TIM ,  AMUNDSON KURT ,  ANGOLD RUSSDON

IPC: A61H3/00

Abstract: Un dispositivo de exoesqueleto (103; 113; 302; 402) permite ajustar selectivamente una posición de pivote/pivote de cadera de exoesqueleto (109; 119; 306; 407; 408; 410) en el plano sagital en relación con la posición del pivote de cadera (133).) de un portador (101; 111; 301; 401) del exoesqueleto (103; 113; 302; 402). Los pivotes de cadera/posiciones de pivote del exoesqueleto (109; 119; 306; 407; 408; 410) se pueden desplazar hacia adelante o hacia atrás en relación con los pivotes de cadera (133) del usuario (101; 111; 301; 401) y se pueden accionado automáticamente por un sistema de control de exoesqueleto o ajustado manualmente por el usuario del exoesqueleto (101; 111; 301; 401). La invención permite en particular la colocación diferencial de la cadera para compensar las condiciones cambiantes de carga o actuación. (Traducción automática con Google Translate, sin valor legal)

公开(公告)号：AU2014240405A1

公开(公告)日：2015-09-10

申请号：AU2014240405

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： GARRETT SCOTT ,  MOORE ROBERT ,  SWIFT TIM ,  AMUNDSON KURT ,  ANGOLD RUSSDON

IPC: A61H3/00

Abstract: An exoskeleton device (103; 113; 302; 402) provides for selectively adjusting an exoskeleton hip pivot/pivot position (109; 119; 306; 407; 408; 410) in the sagittal plane relative to the position of the hip pivot (133) of a wearer (101; 111; 301; 401) of the exoskeleton (103; 113; 302; 402). The exoskeleton hip pivots/pivot positions (109; 119; 306; 407; 408; 410) can be shifted forward or rearward relative to the hip pivots (133) of the wearer (101; 111; 301; 401) and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer (101; 111; 301; 401). The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.

公开(公告)号：WO2014164974A2

公开(公告)日：2014-10-09

申请号：PCT/US2014023987

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： ANGOLD RUSSDON ,  SANDLER REUBEN ,  MOORE ROBERT

IPC: A61F2/50

CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F2002/701 ,  A61F2005/0183 ,  A61H1/024 ,  A61H1/0244 ,  A61H2201/0103 ,  A61H2201/0173 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2230/625 ,  A61H2230/805

Abstract: A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint; at least one actuator (125, 130; 135, 140) configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object; and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130; 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work. The cushioning mechanism can take various forms, including an airbag, a spring, a bumper, a roll bar or a kickstand. Preferably, the cushioning mechanism is an airbag in the form of an airbag module (200) that is detachably coupled to the device for removal and replacement.

Abstract translation: 步态矫正装置，例如动力外骨骼（100），包括至少一个关节; 至少一个致动器（125,130; 135,140），其构造成使得所述装置在所述接头处的移动; 耦合到所述装置的缓冲机构，用于在与表面（300）或物体的冲击期间吸收能量或扩展力; 和控制器（105）。 控制器（105）被配置为确定何时发生跌落并且引导致动器（125,130; 135,140）：定向该装置，使得缓冲机构在坠落期间与表面（300）或物体接触; 或者通过执行正接合工作来减少设备在秋季期间的动能。 缓冲机构可以采取各种形式，包括气囊，弹簧，保险杠，滚动杆或支架。 优选地，缓冲机构是气囊模块（200）形式的安全气囊，其可拆卸地联接到所述装置以用于移除和更换。

公开(公告)号：PL2968053T3

公开(公告)日：2022-09-26

申请号：PL14775935

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： GARRETT SCOTT ,  MOORE ROBERT ,  SWIFT TIM ,  AMUNDSON KURT ,  ANGOLD RUSSDON

IPC: A61H3/00

公开(公告)号：IL241237A

公开(公告)日：2019-05-30

申请号：IL24123715

申请日：2015-09-07

Applicant: MOORE ROBERT ,  EKSO BIONICS INC ,  TIM SWIFT ,  AMUNDSON KURT ,  ANGOLD RUSSDON ,  GARRETT SCOTT

Inventor： MOORE ROBERT ,  TIM SWIFT ,  AMUNDSON KURT ,  ANGOLD RUSSDON ,  GARRETT SCOTT

IPC: A61H3/00

公开(公告)号：AU2014248854A1

公开(公告)日：2015-09-03

申请号：AU2014248854

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： ANGOLD RUSSDON ,  SANDLER REUBEN ,  MOORE ROBERT

IPC: A41D13/018 ,  A61F2/50

Abstract: A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint; at least one actuator (125, 130; 135, 140) configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object; and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130; 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work.

公开(公告)号：CA2902175A1

公开(公告)日：2014-10-09

申请号：CA2902175

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： ANGOLD RUSSDON ,  SANDLER REUBEN ,  MOORE ROBERT

IPC: A61F2/50

Abstract: A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint; at least one actuator (125, 130; 135, 140) configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object; and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130; 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work.

公开(公告)号：AU2013309005A1

公开(公告)日：2015-02-26

申请号：AU2013309005

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：WO2014164974A3

公开(公告)日：2014-10-30

申请号：PCT/US2014023987

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： ANGOLD RUSSDON ,  SANDLER REUBEN ,  MOORE ROBERT

IPC: A41D13/018

CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F2002/701 ,  A61F2005/0183 ,  A61H1/024 ,  A61H1/0244 ,  A61H2201/0103 ,  A61H2201/0173 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2230/625 ,  A61H2230/805

Abstract: A gait orthotic device, such as a powered exoskeleton (100), includes at least one joint; at least one actuator (125, 130; 135, 140) configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface (300) or object; and a controller (105). The controller (105) is configured to determine when a fall is occurring and direct the actuator (125, 130; 135, 140) to: orient the device so the cushioning mechanism makes contact with the surface (300) or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work.

Abstract translation: 步态矫正装置，例如动力外骨骼（100），包括至少一个关节; 至少一个致动器（125,130; 135,140），其构造成使得所述装置在所述接头处的移动; 耦合到所述装置的缓冲机构，用于在与表面（300）或物体的冲击期间吸收能量或扩展力; 和控制器（105）。 控制器（105）被配置为确定何时发生跌落并且引导致动器（125,130; 135,140）：定向该装置，使得缓冲机构在坠落期间与表面（300）或物体接触; 或者通过执行正接合工作来减少设备在秋季期间的动能。

公开(公告)号：WO2014035984A2

公开(公告)日：2014-03-06

申请号：PCT/US2013056832

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: F15B13/042

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 ,  F15B7/006 ,  F15B11/028 ,  F15B15/08 ,  F15B2211/205 ,  F15B2211/20515 ,  F15B2211/20546 ,  F15B2211/20561 ,  F15B2211/20576 ,  F15B2211/6651 ,  F15B2211/6652 ,  F15B2211/6654 ,  F15B2211/71

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 (1 15) 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). Based on a value of each feedback measurement, the force or motion of the output actuator (115) is regulated by controlling the prime mover (101) and the displacement actuator (111, 121, 131) for the output actuator (115).

Abstract translation: 本发明涉及控制具有至少一个自由度的液压致动系统（50），原动机（101），至少一个致动模块（110,120,130）和控制器（103），每个致动 模块（110,120,130）包括：超中心可变排量泵（112和113; 601; 801），其具有被配置为从所述原动机（101）向所述泵供电的动力输入连接和用于变化的位移变化输入 泵的位移; 位移变化致动器（111,121,131），其构造成调制所述泵的位移变化输入; 与所述泵直接连通的输出致动器（115），所述输出致动器（115）构造成驱动相应的自由度; 以及建立表示所述输出致动器（115）的力或运动的反馈测量的至少一个传感器（116,126）。 基于每个反馈测量的值，通过控制用于输出致动器（115）的原动机（101）和位移致动器（111,121,131）来调节输出致动器（115）的力或运动。