公开(公告)号：WO2016077442A1

公开(公告)日：2016-05-19

申请号：PCT/US2015/060124

申请日：2015-11-11

Applicant: EKSO BIONICS, INC.

Inventor： ZOSS, Adam ,  MUSICK, Darrell ,  HARDING, Nathan

IPC: A61H1/02 ,  A61H3/00 ,  G05D3/12

CPC classification number: A61H3/00 ,  A61F2/68 ,  A61H1/0255 ,  A61H1/0262 ,  A61H3/008 ,  A61H3/02 ,  A61H2201/1621 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/501 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084

Abstract: Use of an exoskeleton (100) by a wearer (130) of the exoskeleton (100) is improved through several features. In a first feature, the exoskeleton (100) enters a gait therapy preparation mode to prepare the wearer (130) for subsequent gait therapy. In a second feature, the exoskeleton (100) enters a balance training mode to help the wearer (130) learn to balance while wearing the exoskeleton (100). In a third feature, the exoskeleton (100) prompts the wearer (130) to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton (100) in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer (130).

Abstract translation: 通过几个特征改进了外骨骼（100）的穿着者（130）对外骨骼（100）的使用。 在第一特征中，外骨骼（100）进入步态治疗准备模式以准备穿戴者（130）用于随后的步态治疗。 在第二特征中，外骨骼（100）进入平衡训练模式以帮助佩戴者（130）在佩戴外骨骼（100）时学习平衡。 在第三特征中，外骨骼（100）促使穿着者（130）在压力控制模式的中心移动重量和/或自动地改变佩戴者的体重。 在第四特征中，可变性的元素被引入轨迹循环模式中由外骨骼（100）执行的轨迹循环。 总的来说，各种公开的操作模式可以单独使用或以各种组合使用以增强穿戴者的恢复或训练（130）。

公开(公告)号：WO2014164804A1

公开(公告)日：2014-10-09

申请号：PCT/US2014/023524

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

CPC classification number: A61H3/02 ,  A61F5/01 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/0244 ,  A61H2003/0205 ,  A61H2201/1623 ,  A61H2201/164 ,  A61H2201/165

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).

Abstract translation: 步态矫正系统包括平衡辅助装置（120）和步态矫正装置（100）。 步态矫正装置（120）具有刚性附接机构（125,130），其被构造成将平衡辅助装置（120）可靠地和可释放地联接到步态矫正装置（100）。 当平衡辅助装置（120）耦合到步态矫正装置（100）时，步态矫正装置（100）被支撑在站立位置，使得步态矫正装置（100）的使用者能够使用他/她 手自由。 当平衡辅助装置（120）没有耦合到步态矫正装置（100）时，用户能够使用平衡辅助装置（120）来移动。 在某些实施例中，平衡辅助件（120）是前臂拐杖，助行器或手杖，而刚性附接机构（125,130）是具有过中心闩锁（510）的夹具。

公开(公告)号：WO2014159577A1

公开(公告)日：2014-10-02

申请号：PCT/US2014/024244

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

CPC classification number: A61H3/00 ,  A61B5/1124 ,  A61B5/4851 ,  A61B5/6811 ,  A61B5/7415 ,  A61B5/742 ,  A61B5/7455 ,  A61F5/0102 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5094

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.

Abstract translation: 外骨骼（100; 204; 304; 404; 504; 602; 702; 802; 902; 1002; 1002）包括控制系统（120; 205; 305; 405; 505; 603; 703; 803; 903; 其包括用于建立和传播矫形器操作信息到物理治疗师（202,302,402）和/或外骨骼用户（109; 201; 301; 401; 501; 601; 701; 801; 901; 901; 1001）。 反馈系统可以采取各种形式，包括采用传感器（704; 804; 1004; 1010）建立反馈就绪值并通过一个或多个光源（206; 306; 503; 608）传送该值，该光源可以处于关闭状态 接近外骨骼关节的关节。

公开(公告)号：WO2016179275A1

公开(公告)日：2016-11-10

申请号：PCT/US2016/030771

申请日：2016-05-04

Applicant: EKSO BIONICS, INC.

Inventor： HARDING, Nathan ,  MCCAFFREY, Niel ,  AMUNDSON, Kurt ,  SANDLER, Reuben ,  ZOSS, Adam ,  STRAUSSER, Katherine

IPC: A61H3/00 ,  A61H3/04

CPC classification number: B25J9/0006 ,  A61H1/0255 ,  A61H3/00 ,  A61H3/02 ,  A61H2201/0184 ,  A61H2201/0188 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5012 ,  A61H2201/5043 ,  A61H2201/5048 ,  A61H2201/5058 ,  A61H2201/5064 ,  A61H2201/5082 ,  A61H2201/5084 ,  A61H2201/5092 ,  A61H2201/5097

Abstract: An operator (170) supervising a wearer (130) of an exoskeleton (100, 100') is verified by performing a verification routine on the operator (170) using the exoskeleton (100, 100'). If the verification routine is unsuccessful, the exoskeleton (100, 100') is caused to follow a pre- established response routine. If the verification routine is successful, movement of the exoskeleton (100, 100') is allowed.

Abstract translation: 通过使用外骨骼（100,100'）对操作者（170）执行验证程序来验证对外骨骼（100,100'）的佩戴者（130）进行监督的操作者（170）。 如果验证程序不成功，则使外骨骼（100,100'）遵循预先建立的响应程序。 如果验证程序成功，则允许外骨骼（100,100'）的移动。

公开(公告)号：WO2015073490A1

公开(公告)日：2015-05-21

申请号：PCT/US2014/065142

申请日：2014-11-12

Applicant: EKSO BIONICS, INC.

Inventor： AMUNDSON, Kurt ,  HARDING, Nathan ,  ANGOLD, Russdon ,  ZOSS, Adam

IPC: A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H1/0266 ,  A61H3/02 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2201/5092

Abstract: A lower extremity orthosis is configured to be coupled to across at least one joint of a person for gait assistance and can incorporate knee (261), thigh (301; 401), hip (601; 701) and ankle/foot (801; 821) assistive orthotic devices which can be used in various combinations to aid in the rehabilitation and restoration of muscular function in patients with impaired muscular function or control.

Abstract translation: 下肢矫形器被配置成跨越人的至少一个关节来耦合以用于步态辅助，并且可以将膝盖（261），大腿（301; 401），臀部（601; 701）和脚踝/脚部（801; 821 ）辅助矫正装置，其可以以各种组合使用以帮助恢复和恢复肌肉功能受损或对照的患者的肌肉功能。

公开(公告)号：WO2015143157A1

公开(公告)日：2015-09-24

申请号：PCT/US2015/021467

申请日：2015-03-19

Applicant: EKSO BIONICS, INC.

Inventor： HARDING, Nathan ,  ZOSS, Adam

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H2201/1635 ,  A61H2201/165 ,  A61H2201/5023 ,  A61H2201/5035 ,  B62D57/032

Abstract: An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an - unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators; of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.

Abstract translation: 移动式外骨骼可以以至少两种不同的模式选择性地操作，一种模式构成在外骨骼不被用户佩戴时使用的未被推进的推进模式，以及构成默认或磨损的推进模式的另一模式，当外骨骼是 由用户佩戴 通过这种安排，希望移动未磨损的外骨骼的物理治疗师或其他操作者可以平衡未磨损的外骨骼，同时利用控制系统和致动器; 的外骨骼推动未磨损的外骨骼。 因此，外科骨骼通过操作者使用多种输入装置中的任何一种进行指导，同时操作者通过使用外骨骼的手柄或其他相互作用的表面物理地引导外骨骼来平衡和引导外骨骼，从而向前走。

公开(公告)号：WO2014159857A3

公开(公告)日：2014-10-02

申请号：PCT/US2014/025343

申请日：2014-03-13

Applicant: EKSO BIONICS, INC.

Inventor： ZOSS, Adam ,  SWIFT, Tim ,  BERG, Alec ,  STRAUSSER, Katherine ,  ST. JOHN, Erick, Brendan

IPC: A61H3/00

Abstract: A powered orthotic system, such as an exoskeleton (100), is employed for overground rehabilitation purposes by adapting and adjusting to real-time needs in a rehabilitation situation whereby the system can be initially controlled to perform gait functions for a wearer (109) based on a predetermined level of assistance but the predetermined level of assistance can be varied, based on one or more rehabilitation parameters or specific needs of the wearer (109) undergoing therapy, through the application and adjustment of appropriate variables associated with operation of the system.

公开(公告)号：WO2014093470A1

公开(公告)日：2014-06-19

申请号：PCT/US2013/074353

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

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 (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.

Abstract translation: 外壳（100; 200）可以在飞行中进行重新配置，调整和/或控制，利用分为三类的设备，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各个外骨骼关节（230; 231; 232; 233; 249）或四肢（112L; 112R），以优化特定的外骨骼 用户。 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。

公开(公告)号：WO2013142777A1

公开(公告)日：2013-09-26

申请号：PCT/US2013/033472

申请日：2013-03-22

Applicant: EKSO BIONICS, INC.

Inventor： STRAUSSER, Katherine ,  ZOSS, Adam ,  STRYKER, James, Alexander ,  AMUNDSON, Kurt, Reed

IPC: A61F5/00

CPC classification number: A61H3/00 ,  A61B5/112 ,  A61B2562/0219 ,  A61B2562/0223 ,  A61B2562/0247 ,  A61H1/0255 ,  A61H3/02 ,  A61H2201/1616 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5025 ,  A61H2201/5028 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  G05B2219/40305 ,  G09B19/0038

Abstract: A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a particular application, the orientation of a stance leg is used to determine when the user wants to initiate a step, as well as when the user is in a safe position from which to take a step. The invention has particular applicability for use in enabling a paraplegic user (200) to walk through a controlled operation of a human exoskeleton (100) coupled to the user's lower limbs (205). A controller (220) receives inputs regarding a motion desired by the user (200), determines the desired motion and then controls the movement of the user's legs or limbs (205) through actuation of the exoskeleton (100).

Abstract translation: 下肢矫正器控制系统确定用户期望的移动，特别是使用者使用手势或其他信号来传达或表达其对系统的意图，并且自动调节动力下肢矫形器部件的顺序操作。 在特定应用中，站立腿的方向用于确定用户何时启动步骤，以及用户何时处于安全位置以进行步骤。 本发明特别适用于使截瘫用户（200）能够穿过耦合到使用者的下肢（205）的人类外骨骼（100）的受控操作。 控制器（220）接收关于用户（200）期望的运动的输入，确定期望的运动，然后通过致动外骨骼（100）来控制使用者的腿部或肢体（205）的移动。

公开(公告)号：EP3217942A1

公开(公告)日：2017-09-20

申请号：EP15858390.6

申请日：2015-11-11

Applicant: Ekso Bionics, Inc.

Inventor： ZOSS, Adam ,  MUSICK, Darrell ,  HARDING, Nathan

IPC: A61H1/02 ,  A61H3/00 ,  G05D3/12

CPC classification number: A61H3/00 ,  A61F2/68 ,  A61H1/0255 ,  A61H1/0262 ,  A61H3/008 ,  A61H3/02 ,  A61H2201/1621 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/501 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5084

Abstract: Use of an exoskeleton by a wearer of the exoskeleton is improved through several features. In a first feature, the exoskeleton enters a gait therapy preparation mode to prepare the wearer for subsequent gait therapy. In a second feature, the exoskeleton enters a balance training mode to help the wearer learn to balance while wearing the exoskeleton. In a third feature, the exoskeleton prompts the wearer to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer.

Abstract translation: 通过外骨骼（100）的佩戴者（130）使用外骨骼（100）通过几个特征得以改善。 在第一特征中，外骨骼（100）进入步态治疗准备模式以准备穿用者（130）用于随后的步态治疗。 在第二特征中，外骨骼（100）进入平衡训练模式以帮助穿着者（130）在穿着外骨骼（100）时学会平衡。 在第三特征中，外骨骼（100）促使佩戴者（130）在压力控制模式的中心改变重量和/或自动改变佩戴者的体重。 在第四特征中，在轨迹循环模式中将外部变量的元素引入由外骨骼（100）执行的轨迹循环中。 总体而言，各种公开的操作模式可以单独使用或以各种组合使用以增强佩戴者（130）的康复或训练。