公开(公告)号：US10154937B2

公开(公告)日：2018-12-18

申请号：US14774556

申请日：2014-03-12

Applicant: Ekso Bionics, Inc.

Inventor： Russdon Angold ,  Reuben Sandler ,  Robert Moore

IPC: G05B19/04 ,  A61H3/00 ,  A61H1/02 ,  A61F2/70 ,  A61F5/01

Abstract: A gait orthotic device, such as a powered exoskeleton, includes at least one joint; at least one actuator configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface or object; and a controller. The controller is configured to determine when a fall is occurring and direct the actuator to: orient the device so the cushioning mechanism makes contact with the surface or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work. The cushioning mechanism can take various forms, including an airbag, a spring, a bumper, a roll bar or a kickstand. Preferably, the cushioning mechanism is an airbag in the form of an airbag module that is detachably coupled to the device for removal and replacement.

公开(公告)号：US20160229049A1

公开(公告)日：2016-08-11

申请号：US15023773

申请日：2015-04-24

Applicant: EKSO BIONICS, INC.

Inventor： Russdon Angold ,  Adam Preuss ,  Nicholas Fleming ,  Matthew D Sweeney

IPC: B25J9/00 ,  F16M13/04

CPC classification number: B25J9/0006 ,  A61F2/60 ,  A61F5/0111 ,  A61H3/00 ,  B25J17/00 ,  F16M13/04

Abstract: An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.

Abstract translation: 构造成联接到使用者的外骨骼包括由通过张力关节互连的刚性压缩构件构成的多个互连的支撑元件。 接头包括具有分别与第一和第二支撑元件相连的第一端和第二端的拉伸构件。

公开(公告)号：US20150226234A1

公开(公告)日：2015-08-13

申请号：US14423302

申请日：2013-08-27

Applicant: Ekso Bionics, Inc

Inventor： Kurt Reed Amundson ,  Russdon Angold ,  David Scheinman ,  Tim Swift ,  Daniel P Norboe ,  Robert Moore ,  Jonathan Beard ,  Kyle Edelberg

IPC: F15B11/04 ,  F15B11/028 ,  F15B15/08

CPC classification number: F15B11/04 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1238 ,  A61H2201/1246 ,  A61H2201/1409 ,  A61H2201/1614 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5071 ,  A61H2201/5079 ,  A61H2201/5092 ,  F04C14/22 ,  F15B7/006 ,  F15B11/028 ,  F15B15/08 ,  F15B2211/205 ,  F15B2211/20515 ,  F15B2211/20546 ,  F15B2211/20561 ,  F15B2211/20576 ,  F15B2211/27 ,  F15B2211/6651 ,  F15B2211/6652 ,  F15B2211/6654 ,  F15B2211/71

Abstract: The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.

Abstract translation: 本发明涉及控制具有至少一个自由度的液压致动系统，原动机，至少一个致动模块和控制器，每个致动模块包括：超中心可变排量泵，其具有配置的电力输入连接 从原动机和排量变化输入为泵供电，以改变泵的位移; 位移变化致动器，被配置为调节泵的位移变化输入; 与所述泵直接连通的输出致动器，所述输出致动器被配置为驱动相应的自由度; 以及建立表示输出致动器的力或运动的反馈测量的至少一个传感器。 基于每个反馈测量的值，通过控制原动机和输出致动器的位移致动器来调节输出致动器的力或运动。

公开(公告)号：US10694948B2

公开(公告)日：2020-06-30

申请号：US15566146

申请日：2016-04-14

Applicant: Ekso Bionics, Inc.

Inventor： Reuben Sandler ,  Katherine Strausser ,  Mark Fiedler ,  Kurt Amundson ,  Dan Brown ,  Renata Smith ,  Matthew D Sweeney ,  Russdon Angold ,  Niel McCaffrey ,  Duane Edmonds ,  Chris Meadows ,  Jared Jones ,  Kelly Mettler

IPC: A61B5/00 ,  A61H3/00 ,  G08C17/00 ,  A61H1/02 ,  A61B5/11 ,  A61B5/22 ,  G08C17/02 ,  A61H3/02 ,  A61H3/04 ,  A61B5/0402 ,  A61B5/145 ,  A61B5/0476 ,  A61B5/01

Abstract: A first exoskeleton is in communication with a central server or a peripheral device. The first exoskeleton collects first data and transmits the first data to the central server or peripheral device. The central server or peripheral device generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

公开(公告)号：US20180021943A1

公开(公告)日：2018-01-25

申请号：US15704084

申请日：2017-09-14

Applicant: Ekso Bionics, Inc.

Inventor： Russdon Angold ,  Adam Preuss ,  Nicholas Fleming ,  Matthew D. Sweeney

IPC: B25J9/00 ,  A61F5/01 ,  F16M13/04 ,  A61F2/60 ,  A61H3/00

CPC classification number: B25J9/0006 ,  A61F2/60 ,  A61F5/0111 ,  A61H3/00 ,  B25J17/00 ,  F16M13/04

Abstract: An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.

公开(公告)号：US09604369B2

公开(公告)日：2017-03-28

申请号：US15023851

申请日：2015-06-01

Applicant: Ekso Bionics, Inc.

Inventor： Russdon Angold ,  Nicholas Fleming

IPC: A45F3/04 ,  B25J17/00 ,  B25J9/00 ,  A61H1/02 ,  A61H3/00

CPC classification number: B25J17/00 ,  A61H1/0237 ,  A61H1/0244 ,  A61H3/00 ,  A61H2001/0248 ,  A61H2201/149 ,  A61H2201/1619 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

Abstract: An exoskeleton comprises a torso brace, configured to be coupled to a torso of a user, and a leg support, configured to be coupled to a leg of the user. A plurality of links couples the torso brace to the leg support. The plurality of links includes a first link, coupled to the torso brace at a first pivot point, and a second link, coupled to the leg support at a second pivot point. The first link is coupled to the second link through a third pivot point located between the first and second pivot points. The first pivot point enables adduction of the leg support, and the third pivot point enables abduction of the leg support.

公开(公告)号：US20160250094A1

公开(公告)日：2016-09-01

申请号：US15033220

申请日：2014-11-12

Applicant: EKSO BIONICS, INC.

Inventor： Kurt Amundson ,  Nathan Harding ,  Russdon Angold ,  Adam Zoss

IPC: A61H3/00 ,  A61H1/02

CPC classification number: A61H3/00 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0262 ,  A61H1/0266 ,  A61H3/02 ,  A61H2003/007 ,  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, thigh, hip and ankle/foot 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: 下肢矫形器被配置为跨越人的至少一个关节来耦合以用于步态辅助，并且可以并入膝盖，大腿，髋部和踝/脚辅助矫正装置，其可以以各种组合使用以帮助康复和恢复 肌肉功能受损或肌肉功能受损的患者。

公开(公告)号：US20160229065A1

公开(公告)日：2016-08-11

申请号：US15023851

申请日：2015-06-01

Applicant: EKSO BIONICS, INC.

Inventor： Russdon Angold ,  Nicholas Fleming

IPC: B25J17/00

CPC classification number: B25J17/00 ,  A61H1/0237 ,  A61H1/0244 ,  A61H3/00 ,  A61H2001/0248 ,  A61H2201/149 ,  A61H2201/1619 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  B25J9/0006

Abstract: An exoskeleton comprises a torso brace, configured to be coupled to a torso of a user, and a leg support, configured to be coupled to a leg of the user. A plurality of links couples the torso brace to the leg support. The plurality of links includes a first link, coupled to the torso brace at a first pivot point, and a second link, coupled to the leg support at a second pivot point. The first link is coupled to the second link through a third pivot point located between the first and second pivot points. The first pivot point enables adduction of the leg support, and the third pivot point enables abduction of the leg support.

Abstract translation: 外骨骼包括被配置为耦合到使用者的躯干的躯干支架和腿部支撑件，腿部支撑件被配置为联接到使用者的腿部。 多个链接将躯干支架连接到腿部支撑件。 多个连杆包括在第一枢转点处联接到躯干支架的第一连杆和在第二枢转点处联接到腿支撑件的第二连杆。 第一连杆通过位于第一和第二枢转点之间的第三枢转点联接到第二连杆。 第一个枢轴点能够引导腿部支撑，而第三个枢轴点可以绑扎腿部支撑。