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    Human machine interface for lower extremity orthotics
    11.
    发明授权
    Human machine interface for lower extremity orthotics 有权

    公开(公告)号：US10179079B2

    公开(公告)日：2019-01-15

    申请号：US14387093

    申请日：2013-03-22

    Applicant: Ekso Bionics, Inc.

    Inventor： Katherine Strausser ,  Adam Zoss ,  James Alexander Stryker ,  Kurt Reed Amundson

    IPC: A61H3/00 ,  A61H1/02 ,  A61B5/11 ,  G09B19/00 ,  A61H3/02

    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 to walk through a controlled operation of a human exoskeleton coupled to the user's lower limbs. A controller receives inputs regarding a motion desired by the user, determines the desired motion and then controls the movement of the user's legs or limbs through actuation of the exoskeleton.

    Gait orthotic system and method for achieving hands-free stability
    12.
    发明授权
    Gait orthotic system and method for achieving hands-free stability 有权

    公开(公告)号：US10159620B2

    公开(公告)日：2018-12-25

    申请号：US14774536

    申请日：2014-03-11

    Applicant: Ekso Bionics, Inc.

    Inventor： Reuben Sandler ,  Katherine Strausser ,  Adam Zoss ,  Tim Swift

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

    Abstract: A gait orthotic system includes a balance aid and a gait orthotic device. The gait orthotic device has a rigid attachment mechanism configured to securely and releasably couple the balance aid to the gait orthotic device. When the balance aid is coupled to the gait orthotic device, the gait orthotic device is supported in a standing position so that a user of the gait orthotic device is able to use his/her hands freely. When the balance aid is not coupled to the gait orthotic device, the user is able to use the balance aid for locomotion. In certain embodiments, the balance aid is a forearm crutch, a walker or a cane, while the rigid attachment mechanism is a clamp with an over-center latch.

    Ambulatory Exoskeleton and Method of Relocating Exoskeleton
    14.
    发明申请
    Ambulatory Exoskeleton and Method of Relocating Exoskeleton 审中-公开
    动态外骨骼和外骨骼移位方法

    公开(公告)号：US20170000682A1

    公开(公告)日：2017-01-05

    申请号：US15125847

    申请日：2015-03-19

    Applicant: EKSO BIONICS, INC.

    Inventor： Nathan Harding ,  Adam Zoss

    IPC: A61H3/00 ,  B62D57/032 ,  A61H1/02

    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，同时利用外骨骼的控制系统和致动器来推进未磨损的外骨骼。 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而行走。

    Reconfigurable exoskeleton
    16.
    发明授权
    Reconfigurable exoskeleton 有权

    公开(公告)号：US10327975B2

    公开(公告)日：2019-06-25

    申请号：US14649822

    申请日：2013-12-11

    Applicant: Ekso Bionics, Inc.

    Inventor： Adam Zoss ,  Jonathan Evans ,  Reuben Sandler ,  Nathan Harding ,  Aaron Julin ,  James Lubin ,  Taylor Heanue ,  Dylan Fairbanks ,  James Stryker

    IPC: A61H1/02 ,  A61H3/00 ,  B25J9/00

    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.

    Ambulatory exoskeleton and method of relocating exoskeleton
    17.
    发明授权
    Ambulatory exoskeleton and method of relocating exoskeleton 有权

    公开(公告)号：US10213357B2

    公开(公告)日：2019-02-26

    申请号：US15125847

    申请日：2015-03-19

    Applicant: Ekso Bionics, Inc.

    Inventor： Nathan Harding ,  Adam Zoss

    IPC: A61H3/00 ,  A61H1/02 ,  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.

    Fail-safe system for exoskeleton joints
    18.
    发明授权
    Fail-safe system for exoskeleton joints 有权

    公开(公告)号：US09662261B2

    公开(公告)日：2017-05-30

    申请号：US14157052

    申请日：2014-01-16

    Applicant: Ekso Bionics, Inc.

    Inventor： Aaron Julin ,  Reuben Sandler ,  Tom Smith ,  Adam Zoss

    IPC: A61H3/00 ,  A61H1/02

    CPC classification number: A61H3/00 ,  A61H1/0262 ,  A61H2201/0173 ,  A61H2201/1616 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/50

    Abstract: An orthotic system includes a controller, a joint and a fail-safe system for the joint. In a preferred embodiment, the orthotic system is an exoskeleton, the joint is a knee joint and the fail-safe system is a normally engaged brake that is controlled by the controller. The brake is engaged when the controller fails or the exoskeleton is powered off. The exoskeleton also includes an electrical or mechanical brake disengagement mechanism, separate from the controller, so that an exoskeleton user can disengage the brake when desired. The exoskeleton can also include an override mechanism that prevents the brake disengagement mechanism from functioning when the exoskeleton is powered on and the controller has not failed. Additionally, the exoskeleton can include a user interface at one location, with the brake disengagement mechanism located at a different, limited access location, so that the user cannot accidentally activate the brake disengagement mechanism.

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