公开(公告)号：CA2982778C

公开(公告)日：2021-09-28

申请号：CA2982778

申请日：2016-04-14

Applicant: EKSO BIONICS INC

Inventor： SANDLER REUBEN ,  STRAUSSER KATHERINE ,  FIEDLER MARK ,  AMUNDSON KURT ,  BROWN DAN ,  SMITH RENATA ,  SWEENEY MATTHEW ,  ANGOLD RUSSDON ,  MCCAFFREY NIEL ,  EDMONDS DUANE ,  MEADOWS CHRIS ,  JONES JARED ,  METTLER KELLY

IPC: A61B5/11 ,  A61B5/00 ,  A61H3/00 ,  G08C17/02

Abstract: A first exoskeleton is in communication with a central server (210) or a peripheral device (705, 706). The first exoskeleton collects first data and transmits the first data to the central server (210) or peripheral device (705, 706). The central server (210) or peripheral device (705, 706) generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

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：CA2902074A1

公开(公告)日：2014-10-09

申请号：CA2902074

申请日：2014-03-11

Applicant: EKSO BIONICS INC

Inventor： SANDLER REUBEN ,  STRAUSSER KATHERINE ,  ZOSS ADAM ,  SWIFT TIM

IPC: A61F2/60 ,  A61F2/68 ,  A61F2/76 ,  A61H3/00 ,  A61H3/02

Abstract: A gait orthotic system includes a balance aid (120) and a gait orthotic device (100). The gait orthotic device (120) has a rigid attachment mechanism (125, 130) configured to securely and releasably couple the balance aid (120) to the gait orthotic device (100). When the balance aid (120) is coupled to the gait orthotic device (100), the gait orthotic device (100) is supported in a standing position so that a user of the gait orthotic device (100) is able to use his/her hands freely. When the balance aid (120) is not coupled to the gait orthotic device (100), the user is able to use the balance aid (120) for locomotion. In certain embodiments, the balance aid (120) is a forearm crutch, a walker or a cane, while the rigid attachment mechanism (125, 130) is a clamp with an over-center latch (510).

公开(公告)号：AU2014248965A1

公开(公告)日：2015-08-20

申请号：AU2014248965

申请日：2014-03-11

Applicant: EKSO BIONICS INC

Inventor： SANDLER REUBEN ,  STRAUSSER KATHERINE ,  ZOSS ADAM ,  SWIFT TIM

IPC: A61F2/60 ,  A61F2/68 ,  A61F2/76 ,  A61H3/00 ,  A61H3/02

Abstract: A gait orthotic system includes a balance aid (120) and a gait orthotic device (100). The gait orthotic device (120) has a rigid attachment mechanism (125, 130) configured to securely and releasably couple the balance aid (120) to the gait orthotic device (100). When the balance aid (120) is coupled to the gait orthotic device (100), the gait orthotic device (100) is supported in a standing position so that a user of the gait orthotic device (100) is able to use his/her hands freely. When the balance aid (120) is not coupled to the gait orthotic device (100), the user is able to use the balance aid (120) for locomotion. In certain embodiments, the balance aid (120) is a forearm crutch, a walker or a cane, while the rigid attachment mechanism (125, 130) is a clamp with an over-center latch (510).

公开(公告)号：AU2014240454A1

公开(公告)日：2015-08-20

申请号：AU2014240454

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： SANDLER REUBEN ,  AMUNDSON KURT ,  STRYKER JAMES ,  STRAUSSER KATHERINE ,  ZOSS ADAM ,  SWIFT TIM

IPC: A61F5/00

Abstract: An exoskeleton (100; 204; 304; 404; 504; 602; 702; 802; 902; 1002) includes a control system (120; 205; 305; 405; 505; 603; 703; 803; 903; 1003; 1010) which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist (202, 302, 402) and/or to an exoskeleton user (109; 201; 301; 401; 501; 601; 701; 801; 901; 1001). The feedback system can take various forms, including employing sensors (704; 804; 1004; 1010) to establish a feedback ready value and communicating the value through one or more light sources (206; 306; 503; 608) which can be in close proximity to joints of the exoskeleton joints.

公开(公告)号：CA2894171A1

公开(公告)日：2014-06-19

申请号：CA2894171

申请日：2013-12-11

Applicant: EKSO BIONICS INC

Inventor： ZOSS ADAM ,  EVANS JONATHAN ,  SANDLER REUBEN ,  HARDING NATHAN ,  JULIN AARON ,  LUBIN JAMES ,  HEANUE TAYLOR ,  FAIRBANKS DYLAN ,  STRYKER JAMES

IPC: A61H1/02

Abstract: An exoskeleton (100; 200) 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 (230; 231; 232; 233; 249) or limbs (112L; 112R) 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.

公开(公告)号：CA2900675A1

公开(公告)日：2014-10-02

申请号：CA2900675

申请日：2014-03-12

Applicant: EKSO BIONICS INC

Inventor： SANDLER REUBEN ,  AMUNDSON KURT ,  STRYKER JAMES ,  STRAUSSER KATHERINE ,  ZOSS ADAM ,  SWIFT TIM

IPC: A61F5/00

Abstract: An exoskeleton (100; 204; 304; 404; 504; 602; 702; 802; 902; 1002) includes a control system (120; 205; 305; 405; 505; 603; 703; 803; 903; 1003; 1010) which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist (202, 302, 402) and/or to an exoskeleton user (109; 201; 301; 401; 501; 601; 701; 801; 901; 1001). The feedback system can take various forms, including employing sensors (704; 804; 1004; 1010) to establish a feedback ready value and communicating the value through one or more light sources (206; 306; 503; 608) which can be in close proximity to joints of the exoskeleton joints.

公开(公告)号：AU2013359408A1

公开(公告)日：2014-06-19

申请号：AU2013359408

申请日：2013-12-11

Applicant: EKSO BIONICS INC

Inventor： ZOSS ADAM ,  EVANS JONATHAN ,  SANDLER REUBEN ,  HARDING NATHAN ,  JULIN AARON ,  LUBIN JAMES ,  HEANUE TAYLOR ,  FAIRBANKS DYLAN ,  STRYKER JAMES

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。