公开(公告)号：CA2896313A1

公开(公告)日：2014-07-24

申请号：CA2896313

申请日：2014-01-15

Applicant: EKSO BIONICS INC

Inventor： AMUNDSON KURT ,  HARDING NATHAN ,  STRYKER JAMES

IPC: A61H3/00

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.

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：PL2967959T3

公开(公告)日：2022-06-20

申请号：PL14775374

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 ,  A61B5/00 ,  A61B5/11 ,  A61F5/01 ,  A61H3/00

公开(公告)号：ES2912405T3

公开(公告)日：2022-05-25

申请号：ES14775374

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 ,  A61B5/00 ,  A61B5/11 ,  A61F5/01 ,  A61H3/00

Abstract: Un dispositivo de exoesqueleto configurado para acoplarse a una persona (109), comprendiendo el dispositivo de exoesqueleto: una conexión de tronco (110) configurada para acoplarse al tronco de la persona (109), al menos una conexión de pierna (112) configurada para acoplarse a la pierna (124) de la persona (109), al menos una articulación de exoesqueleto (145, 150, 160), al menos un actuador (125) acoplado a la al menos una articulación de exoesqueleto (145, 150, 160) y configurado para mover la al menos una articulación de exoesqueleto (145, 150, 160), una pluralidad de sensores configurados para medir al menos uno de un ángulo y las fuerzas de al menos una articulación del exoesqueleto (145, 150, 160), y un controlador (120) configurado para recibir señales de la pluralidad de sensores, y controlar el al menos un actuador (125) para ayudar a que la persona (109) camine o se mueva, en donde dicho controlador (120) está configurado, además, para estimar al menos un valor de retroalimentación lista en función de las señales de la pluralidad de sensores, en donde el valor de retroalimentación lista se selecciona del grupo que consiste en: a. el nivel de asistencia proporcionado por la al menos una articulación del exoesqueleto (145, 150, 160), y b. el par en la al menos una articulación del exoesqueleto (145, 150, 160), en donde el dispositivo de exoesqueleto comprende, además, al menos un sistema de retroalimentación operado por el controlador (120) y configurado para comunicar el valor de retroalimentación lista a la persona (109), mediante lo cual el dispositivo de exoesqueleto proporciona a la persona (109) información operativa del dispositivo de exoesqueleto que de otro modo no estaría disponible para la persona (109), caracterizado por que: el sistema de retroalimentación incluye al menos una luz próxima a la al menos una articulación del exoesqueleto (145, 150, 160), indicando la al menos una luz el nivel de asistencia proporcionado por la al menos una articulación del exoesqueleto (145, 150, 160) o el par en la al menos una articulación del exoesqueleto (145, 150, 160).

公开(公告)号：AU2014207668A1

公开(公告)日：2015-06-04

申请号：AU2014207668

申请日：2014-01-15

Applicant: EKSO BIONICS INC

Inventor： AMUNDSON KURT ,  HARDING NATHAN ,  STRYKER JAMES

IPC: A61H3/00

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.

公开(公告)号：EP2931204A4

公开(公告)日：2016-09-21

申请号：EP13862294

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 ,  A61H3/00 ,  B25J9/00

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，特别是包括可切换的未致动腿，可锁定的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，以使得能够适当地重新配置任何给定的外骨骼，例如当患者在治疗期间前进时。

公开(公告)号：EP2945590A4

公开(公告)日：2016-08-10

申请号：EP14740181

申请日：2014-01-15

Applicant: EKSO BIONICS INC

Inventor： AMUNDSON KURT ,  HARDING NATHAN ,  STRYKER JAMES

IPC: 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: 甲下肢矫形器，包括被配置来控制佩戴矫形器人的至少一个关节的运动的至少一个致动器，设置有一个手柄，包括被配置以产生代表施加于手柄上的力的信号的力传感器。 所述的控制器，所有这些都与所述力传感器和所述至少一个致动器通信，被配置成修改基于来自所述力传感器的信号中的运动。 该系统可特别用于使物理治疗师有输入控制和修改的人员的康复期间由下肢矫形器规定的位置和/或力。