公开(公告)号：US09198821B2

公开(公告)日：2015-12-01

申请号：US13631322

申请日：2012-09-28

Applicant: Northeastern University ,  Spaulding Rehabilitation Hospital Corporation

Inventor： Ozer Unluhisarcikli ,  Constantinos Mavroidis ,  Paolo Bonato ,  Maciej Pietrusisnki ,  Brian Weinberg

IPC: A61H1/00 ,  A61F5/00 ,  A61H3/00 ,  A61H1/02 ,  A61F5/01

CPC classification number: A61F2/70 ,  A61F5/01 ,  A61F2002/704 ,  A61H1/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/165 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069

Abstract: The Active Knee Rehabilitation Orthotic System (ANdROS) is a wearable and portable assistive tool for gait rehabilitation and monitoring of people with motor control deficits due to a neurological ailment, such as stroke. ANdROS reinforces a desired gait pattern by continually applying a corrective torque around the knee joint, commanded by a impedance controller. A sensorized yet unactuated brace worn on the unimpaired leg is used to synchronize the playback of the desired trajectory based on the user's intent. The device is mechanically grounded through two ankle foot orthoses (AFOs) rigidly attached to the main structure, which helps reduce the weight perceived by the user.

Abstract translation: 活动膝关节康复矫形系统（ANdROS）是一种可穿戴便携式的辅助工具，用于由于神经系统疾病（如中风）引起运动障碍的患者的步态恢复和监测。 ANdROS通过连续施加围绕膝关节的矫正扭矩来加强期望的步态模式，由阻抗控制器指令。 佩戴在未受损腿上的传感器未激活的支架用于根据用户的意图同步所需轨迹的回放。 该装置通过刚性连接到主结构的两个踝足矫形器（AFO）机械地接地，这有助于减轻用户感觉到的重量。

公开(公告)号：US10174810B2

公开(公告)日：2019-01-08

申请号：US14779272

申请日：2014-03-24

Applicant: Northeastern University

Inventor： Elias Brassitos ,  Brian Weinberg ,  Qingchao Kong ,  Constantinos Mavroidis

IPC: F16H1/28 ,  F16H57/02 ,  F16H1/46 ,  H02K21/22 ,  H02K7/116 ,  F16H57/00

Abstract: In some embodiments, systems and methods are described for a gear contact system configured to support radial, thrust, and moment loads, the system comprising a first gear comprising a first roller having a first roller bearing surface, the first roller bearing surface having a convex curvature defined by a first radius of curvature; and a second gear comprising a second roller having a second roller bearing surface, the second roller bearing surface having a concave curvature defined by a second radius of curvature.

公开(公告)号：US20140277679A1

公开(公告)日：2014-09-18

申请号：US14212267

申请日：2014-03-14

Applicant: Northeastern University

Inventor： Brian Weinberg ,  Constantinos Mavroidis

IPC: B29C67/00 ,  B25J9/16

CPC classification number: B29C67/0051 ,  B25J9/1658 ,  B29C64/00 ,  B29C70/38 ,  G05B2219/40392 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

Abstract translation: 公开了在快速制造环境中使用象形文字进行通信的方法和系统。 该方法包括通过用于关节式机器人臂的控制系统接收制造机器构建空间的一个或多个图像。 该方法包括通过控制系统识别一个或多个图像中存在的象形文字，并将识别的象形文字翻译成用于操纵铰接的机器人臂的一个或多个指令。 该方法包括使铰接的机器人臂执行从所识别的象形文字翻译的指令。 因此，在自动快速制造过程中异物被插入制造的物体中，而无需快速制造机器的大量重新设计。 在一些实施方案中，可以使用未经改进的第三方立体光刻快速制造机。

公开(公告)号：US10250101B2

公开(公告)日：2019-04-02

申请号：US15316567

申请日：2015-06-08

Applicant: NORTHEASTERN UNIVERSITY

Inventor： Elias Brassitos ,  Brian Weinberg ,  Qingchao Kong ,  Constantinos Mavroidis

IPC: H02K7/10 ,  H02K7/116 ,  F16H1/28 ,  H02K5/20 ,  H02K9/22 ,  H02K9/10 ,  H02K11/215 ,  B25J9/10 ,  F16C19/54 ,  F16H57/08

Abstract: A balanced planetary gearbox including an assembly having an input stage and an output stage. The assembly includes two grounds, each with ground rollers and ground rings. The two grounds are fixedly attached to one another. The assembly includes a sun gear and planet sub-assemblies between the two grounds. The planet sub-assemblies include at least one input planet gear and one output planet gear. The sun gear and the input planet gears include rollers. An abutment of rollers in the gearbox keeps the sun gear and the planet gears in alignment. The output gear meshes with an output ring disposed in between the two ground rings, such that a combination of the at least one input planet gears from each of the plurality of planet sub-assemblies provides a structural symmetry to the planetary gearbox.

公开(公告)号：US08977378B2

公开(公告)日：2015-03-10

申请号：US14212267

申请日：2014-03-14

Applicant: Northeastern University

Inventor： Brian Weinberg ,  Constantinos Mavroidis

IPC: G06F19/00 ,  G06F7/00 ,  G06K9/00 ,  G06K9/68 ,  B29C67/00 ,  B25J9/16

CPC classification number: B29C67/0051 ,  B25J9/1658 ,  B29C64/00 ,  B29C70/38 ,  G05B2219/40392 ,  Y10S901/02 ,  Y10S901/15 ,  Y10S901/28 ,  Y10S901/30

Abstract: Disclosed are methods and systems for using hieroglyphs for communication in a rapid fabrication environment. The method includes receiving, by a control system for an articulated robotic arm, one or more images of a fabrication machine build space. The method includes identifying, by the control system, a hieroglyph present in the one or more images and translating the identified hieroglyph into one or more instructions for manipulation of the articulated robotic arm. The method includes causing the articulated robotic arm to carry out the instructions translated from the identified hieroglyph. Accordingly foreign objects are inserted into fabricated objects during an automated rapid fabrication process without extensive redesign of the rapid fabrication machine. In some implementations, an unmodified third-party stereolithographic rapid fabrication machine can be used.

Abstract translation: 公开了在快速制造环境中使用象形文字进行通信的方法和系统。 该方法包括通过用于关节式机器人臂的控制系统接收制造机器构建空间的一个或多个图像。 该方法包括通过控制系统识别一个或多个图像中存在的象形文字，并将识别的象形文字翻译成用于操纵铰接的机器人臂的一个或多个指令。 该方法包括使铰接的机器人臂执行从所识别的象形文字翻译的指令。 因此，在自动快速制造过程中异物被插入制造的物体中，而无需快速制造机器的大量重新设计。 在一些实施方案中，可以使用未经改进的第三方立体光刻快速制造机。