公开(公告)号：CA2932883A1

公开(公告)日：2015-06-18

申请号：CA2932883

申请日：2014-12-03

Applicant: HARVARD COLLEGE

Inventor： DE ROSSI STEFANO MARCO MARIA ,  O'DONNELL KATHLEEN ELIZABETH ,  BAE JAEHYUN ,  ASBECK ALAN THOMAS ,  HOLT KENNETH G ,  WALSH CONOR JAMES

IPC: A41D13/00

Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.

公开(公告)号：CA2911275A1

公开(公告)日：2014-12-04

申请号：CA2911275

申请日：2014-05-30

Applicant: HARVARD COLLEGE

Inventor： WALSH CONOR ,  ASBECK ALAN THOMAS ,  DING YE ,  BUJANDA IGNACIO GALIANA ,  DE ROSSI STEFANO MARCO MARIA

IPC: A61F5/00

Abstract: A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.

公开(公告)号：CA2885228A1

公开(公告)日：2014-07-17

申请号：CA2885228

申请日：2013-09-17

Applicant: HARVARD COLLEGE

Inventor： ASBECK ALAN THOMAS ,  GALIANA BUJANDA IGNACIO ,  DING YE ,  DYER ROBERT JOSEPH ,  LARUSSON ARNAR FREYR ,  QUINLIVAN BRENDAN THOMAS ,  SCHMIDT KAI ,  WAGNER DIANA ,  WALSH CONOR ,  WEHNER MICHAEL

IPC: A61H1/00 ,  A61H1/02

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

公开(公告)号：CA2885228C

公开(公告)日：2021-07-20

申请号：CA2885228

申请日：2013-09-17

Applicant: HARVARD COLLEGE

Inventor： ASBECK ALAN THOMAS ,  GALIANA BUJANDA IGNACIO ,  DING YE ,  DYER ROBERT JOSEPH ,  LARUSSON ARNAR FREYR ,  QUINLIVAN BRENDAN THOMAS ,  SCHMIDT KAI ,  WAGNER DIANA ,  WALSH CONOR ,  WEHNER MICHAEL

IPC: A61H1/00 ,  A61F2/50 ,  A61H1/02 ,  B25J11/00

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

公开(公告)号：AU2014364219A1

公开(公告)日：2016-06-30

申请号：AU2014364219

申请日：2014-12-03

Applicant: HARVARD COLLEGE

Inventor： DE ROSSI STEFANO MARCO MARIA ,  O'DONNELL KATHLEEN ELIZABETH ,  BAE JAEHYUN ,  ASBECK ALAN THOMAS ,  HOLT KENNETH G ,  WALSH CONOR JAMES

IPC: A61B5/103

Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.

公开(公告)号：WO2015088863A2

公开(公告)日：2015-06-18

申请号：PCT/US2014068462

申请日：2014-12-03

Applicant: HARVARD COLLEGE

Inventor： DE ROSSI STEFANO MARCO MARIA ,  O'DONNELL KATHLEEN ELIZABETH ,  BAE JAEHYUN ,  ASBECK ALAN THOMAS ,  HOLT KENNETH G ,  WALSH CONOR JAMES

IPC: A41D13/00

CPC classification number: A61F5/01 ,  A61F2005/0155 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/165

Abstract: In at least some aspects, the present concepts include a method for configuring an assistive flexible suit including the acts of outfitting a person with an assistive flexible suit, monitoring an output of at least one sensor of the assistive flexible suit as the person moves in a first controlled movement environment, identifying at least one predefined gait event using the output of the at least one sensor, adjusting an actuation profile of the at least one actuator and continuing to perform the acts of monitoring, identifying and adjusting until an actuation profile of the at least one actuator generates a beneficial moment about the at least one joint to promote an improvement in gait. The at least one controller is then set to implement the actuation profile.

Abstract translation: 在至少一些方面，本发明的概念包括一种用于配置辅助柔性套服的方法，该方法包括用辅助柔性套服装人员的行为，当人在一个辅助柔性套服中移动时监控辅助柔性套服的至少一个传感器的输出 第一受控移动环境，使用所述至少一个传感器的输出来识别至少一个预定步态事件，调节所述至少一个致动器的致动曲线并且继续执行监控，识别和调节动作，直到 至少一个致动器在所述至少一个关节周围产生有利时刻以促进步态的改善。 然后将该至少一个控制器设定为实施致动曲线。

公开(公告)号：EP3079581A4

公开(公告)日：2016-12-28

申请号：EP14869554

申请日：2014-12-03

Applicant: HARVARD COLLEGE

Inventor： DE ROSSI STEFANO MARCO MARIA ,  O'DONNELL KATHLEEN ELIZABETH ,  BAE JAEHYUN ,  ASBECK ALAN THOMAS ,  HOLT KENNETH G ,  WALSH CONOR JAMES

IPC: A61B5/103 ,  A61H1/02 ,  A61H3/00

CPC classification number: A61F5/01 ,  A61F2005/0155 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/165

公开(公告)号：EP3003231A4

公开(公告)日：2017-06-21

申请号：EP14803880

申请日：2014-05-30

Applicant: HARVARD COLLEGE

Inventor： WALSH CONOR ,  ASBECK ALAN THOMAS ,  DING YE ,  BUJANDA IGNACIO GALIANA ,  DE ROSSI STEFANO MARCO MARIA

IPC: A61B5/103 ,  A61H1/02 ,  A61H3/00

CPC classification number: B25J9/0006 ,  A61B5/112 ,  A61B5/6812 ,  A61B5/6828 ,  A61B5/6831 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2003/001 ,  A61H2003/007 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/1253 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/501 ,  A61H2201/5046 ,  A61H2201/5048 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/60 ,  A63B21/00178 ,  A63B21/0054 ,  A63B21/008 ,  A63B21/023 ,  A63B21/152 ,  A63B21/4009 ,  A63B21/4013 ,  A63B21/4015 ,  A63B21/4025 ,  A63B21/4047 ,  A63B23/03541 ,  A63B23/0405 ,  A63B24/0087 ,  A63B2071/0666 ,  A63B2071/068 ,  A63B2220/24 ,  A63B2220/40 ,  A63B2220/51 ,  A63B2220/801 ,  A63B2225/20 ,  A63B2225/50 ,  A63B2230/60 ,  B25J9/104 ,  B25J9/1694 ,  F03G7/005 ,  G09B19/0038

Abstract: A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.

Abstract translation: 运动控制系统包括具有致动构件的致动器，致动构件具有在关节的第一侧上连接到致动器的近端和连接到关节的第二侧上的锚定元件连接点的远端。 第一传感器构造成输出限定步态周期的信号，而第二传感器构造成输出表示至少一个致动构件中的张力的信号。 控制器接收来自传感器的输出信号并且在步行周期的第一部分期间致动致动器以经由致动构件向锚固元件附接点施加大于预定阈值张力的力以产生关于 关节并自动启动执行器。

公开(公告)号：EP2895133A4

公开(公告)日：2016-10-05

申请号：EP13871010

申请日：2013-09-17

Applicant: HARVARD COLLEGE

Inventor： ASBECK ALAN THOMAS ,  GALIANA BUJANDA IGNACIO ,  DING YE ,  DYER ROBERT JOSEPH ,  LARUSSON ARNAR FREYR ,  QUINLIVAN BRENDAN THOMAS ,  SCHMIDT KAI ,  WAGNER DIANA ,  WALSH CONOR ,  WEHNER MICHAEL

IPC: A61H1/02 ,  A61H3/00

CPC classification number: A61H3/00 ,  A61F2/68 ,  A61F2002/745 ,  A61F2002/747 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1481 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1652 ,  A61H2201/1664 ,  A61H2201/1671 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/60 ,  A61H2230/605 ,  A63B21/0414 ,  B25J9/0006 ,  F03G7/08

Abstract: In at least one aspect, there is provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between the plurality of anchor elements. The system also includes at least one sensor to determine a force the at least one connection element or at least one of the plurality of anchor elements and to output signals relating to the force, at least one actuator configured to change a tension in the soft exosuit and at least one controller configured to receive the signals output from the at least one sensor and actuate the at least one actuator responsive to the received signals.

Abstract translation: 在至少一个方面，提供了一种用于围绕一个或多个关节产生力的系统，包括具有多个锚定元件的软质外套和设置在多个锚定元件之间的至少一个连接元件。 所述系统还包括至少一个传感器，用于确定所述至少一个连接元件或所述多个锚定元件中的至少一个的力，并且输出与所述力相关的信号，所述至少一个致动器被配置成改变所述软性运动中的张力 以及至少一个控制器，被配置为接收从所述至少一个传感器输出的信号并响应于所接收的信号致动所述至少一个致动器。