公开(公告)号：WO0154630A9

公开(公告)日：2002-10-17

申请号：PCT/US0102115

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： DEFFENBAUGH BRUCE W ,  HERR HUGH M ,  PRATT GILL A ,  WITTIG MICHAEL B

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

CPC classification number: F16F9/535 ,  A61F2/5046 ,  A61F2/64 ,  A61F2/68 ,  A61F2/70 ,  A61F2/80 ,  A61F2002/5003 ,  A61F2002/5004 ,  A61F2002/5016 ,  A61F2002/5043 ,  A61F2002/607 ,  A61F2002/6614 ,  A61F2002/6863 ,  A61F2002/704 ,  A61F2002/74 ,  A61F2210/009 ,  A61F2250/0034

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee (110, 210) which utilizes a plurality of interspersed and alternating rotors (120, 220) and stators (130, 230) to shear magnetorheological fluid (130) in gaps formed therebetween. Advantageously, by operating in the "shear mode" there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed without the use of a transmission and also for a wide dynamic torque range to be achieved and add to the versatility of the invention. One embodiment of the invention allows the rotors (120, 220) and/or stators (130, 230) to close the gaps therebetween to create a frictional torque component, thereby forming a "hybrid" braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

Abstract translation: 本发明涉及一种可变扭矩磁流变动力学假肢膝盖（110,210），其利用多个散在和交替的转子（120,220）和定子（130,230）在其间形成的间隙中剪切磁流变流体（130） 。 有利地，通过在“剪切模式”中操作，基本上没有或可忽略的流体压力积聚或改变。 此外，多个MR流体间隙或磁通界面期望地允许在低速下产生大的扭矩，而不需要使用变速器，并且还可实现宽的动态扭矩范围，并且增加了本发明的多功能性。 本发明的一个实施例允许转子（120,220）和/或定子（130,230）封闭它们之间的间隙以产生摩擦转矩分量，由此形成“混合”制动系统，其提供总转矩或阻尼 是粘性扭矩和摩擦力矩的组合。

公开(公告)号：AT300929T

公开(公告)日：2005-08-15

申请号：AT01903215

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： DEFFENBAUGH BRUCE W ,  HERR HUGH M ,  PRATT GILL A ,  WITTIG MICHAEL B

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

公开(公告)号：AU771817C

公开(公告)日：2005-04-14

申请号：AU3106301

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： DEFFENBAUGH BRUCE W ,  HERR HUGH M ,  PRATT GILL A ,  WITTIG MICHAEL B

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

公开(公告)号：WO0165121A3

公开(公告)日：2002-03-14

申请号：PCT/US0106591

申请日：2001-02-28

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： PRATT GILL A ,  ROBINSON DAVID W

IPC: F15B9/09 ,  F15B11/028 ,  B25J9/16 ,  G05B19/46

CPC classification number: F15B9/09 ,  F15B11/028 ,  F15B2211/20538 ,  F15B2211/30525 ,  F15B2211/327 ,  F15B2211/6313 ,  F15B2211/6653 ,  F15B2211/7053 ,  F15B2211/76

Abstract: Provided is a force-controlled hydro-elastic actuator (10), including a hydraulic actuator (16), having a connection to hydraulic fluid and including a mechanical displacement member (24) positioned to be mechanically displaced by fluid flow at the actuator. A valve (12) is connected at the hydraulic actuator connection and has a port for input and output of fluid to and from the valve. At least one elastic element (18) is provided in series with the mechanical displacement member of the hydraulic actuator and is positioned to deliver, to a load (20), force generated by the hydraulic actuator. A transducer (21) is positioned to measure a physical parameter indicative of the force (F1) delivered by the elastic element and to generate a corresponding transducer signal (F measured). A force controller (28) is connected between the transducer and the valve to control the valve, based on the transducer signal, for correspondingly actuating the hydraulic actuator and deflecting the elastic element.

Abstract translation: 提供了一种力控制的液压弹性致动器（10），其包括液压致动器（16），其具有与液压流体的连接并且包括定位成在致动器处被流体流动机械移位的机械移动构件（24）。 阀（12）在液压致动器连接处连接并且具有用于输入和输出流体流入阀的端口。 至少一个弹性元件（18）与液压致动器的机械移动构件串联设置并且被定位成将由液压致动器产生的力传递到负载（20）。 换能器（21）被定位成测量指示由弹性元件传递的力（F1）的物理参数并产生相应的换能器信号（F测量）。 力传感器和阀之间连接有力控制器（28），以根据传感器信号控制阀门，以相应地启动液压执行机构并使弹性元件偏转。

公开(公告)号：CA2396617C

公开(公告)日：2008-12-30

申请号：CA2396617

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： PRATT GILL A ,  HERR HUGH M ,  WITTIG MICHAEL B ,  DEFFENBAUGH BRUCE W

IPC: A61F2/64 ,  A61F2/68 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee (110, 210) which utilizes a plurality of interspersed and alternating rotors (120, 220) and stators (130, 230) to shear magnetorheological fluid (130) in gaps formed therebetween. Advantageously, by operating in the "shear mode" there is substantially no or negligible fluid pressure buildup or change. Moreover , the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed without the use of a transmission and also for a wide dynamic torque range to be achieved and add to the versatility of the invention. One embodiment of the invention allows the rotors (120, 220) and/or stators (130, 230) to close th e gaps therebetween to create a frictional torque component, thereby forming a "hybrid" braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

公开(公告)号：AU3106301A

公开(公告)日：2001-08-07

申请号：AU3106301

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： DEFFENBAUGH BRUCE W ,  HERR HUGH M ,  PRATT GILL A ,  WITTIG MICHAEL B

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

公开(公告)号：AU3811393A

公开(公告)日：1993-10-21

申请号：AU3811393

申请日：1993-03-17

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： WARD STEPHEN A ,  PRATT GILL A ,  NGUYEN JOHN N ,  PEZARIS JOHN S

IPC: G06F1/16 ,  A63F9/24 ,  G06F15/173 ,  G06F15/80 ,  H01R12/50 ,  H01R31/06 ,  H05K1/14 ,  H05K7/02 ,  H05K7/14

Abstract: Circuit supporting modules form a three-dimensional communication interconnect mesh. Each module has fewer than six sets of connectors, preferably four. The preferred three-dimensional communication interconnect is a tetrahedral lattice having a regular, isotropic, three-dimensional topology in which each module connects to its four physically closest neighbors. The structure of the tetrahedral interconnect is isomorphic with a diamond lattice structure.

公开(公告)号：AU771817B2

公开(公告)日：2004-04-01

申请号：AU3106301

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： DEFFENBAUGH BRUCE W ,  HERR HUGH M ,  PRATT GILL A ,  WITTIG MICHAEL B

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.

公开(公告)号：ES2247057T3

公开(公告)日：2006-03-01

申请号：ES01903215

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： DEFFENBAUGH BRUCE W ,  HERR HUGH M ,  PRATT GILL A ,  WITTIG MICHAEL B

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: Prótesis de rodilla controlada electrónicamente (110, 210, 510) comprendiendo: - una pluralidad de rotores (120, 220, 420, 520) que pueden girar alrededor de un eje longitudinal de dicha prótesis de rodilla (110, 210, 510); - una pluralidad de estatores (130, 230, 430, 530) alternativamente intercalados con dichos rotores (120, 220, 420, 520) para formar espacios entre ellos; - un fluido adaptado para soportar un cambio reológico en respuesta a un campo magnético aplicado y que reside en dichos espacios formados entre dichos rotores (120, 220, 420, 520) y dichos estatores (130, 230, 430, 530); en la que la variación controlada de dicho campo magnético varía la reología del fluido y la cizalladura de dicho fluido causada por el giro entre dichos rotores (120, 220, 420, 520) y dichos estatores (130, 230, 430, 530) durante la rotación de la rodilla y genera un momento de torsión variable de amortiguamiento de la rodilla.

公开(公告)号：CA2396617A1

公开(公告)日：2001-08-02

申请号：CA2396617

申请日：2001-01-22

Applicant: MASSACHUSETTS INST TECHNOLOGY

Inventor： PRATT GILL A ,  WITTIG MICHAEL B ,  HERR HUGH M ,  DEFFENBAUGH BRUCE W

IPC: A61F2/64 ,  A61F2/00 ,  A61F2/50 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2/74 ,  A61F2/80 ,  F16F9/53

Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee (110, 210) which utilizes a plurality of interspers ed and alternating rotors (120, 220) and stators (130, 230) to shear magnetorheological fluid (130) in gaps formed therebetween. Advantageously, by operating in the "shear mode" there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed without the use of a transmission and also for a wide dynamic torque range t o be achieved and add to the versatility of the invention. One embodiment of t he invention allows the rotors (120, 220) and/or stators (130, 230) to close th e gaps therebetween to create a frictional torque component, thereby forming a "hybrid" braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.