公开(公告)号：US09987489B2

公开(公告)日：2018-06-05

申请号：US15340145

申请日：2016-11-01

Applicant: Elwha LLC

Inventor： Eleanor V. Goodall ,  Roderick A. Hyde ,  Muriel Y. Ishikawa ,  Jordin T. Kare ,  Melanie K. Kitzan ,  Eric C. Leuthardt ,  Mark A. Malamud ,  Stephen L. Malaska ,  Nathan P. Myhrvold ,  Brittany Scheid ,  Katherine E. Sharadin ,  Elizabeth A. Sweeney ,  Clarence T. Tegreene ,  Charles Whitmer ,  Lowell L. Wood, Jr. ,  Victoria Y. H. Wood

IPC: A61N1/36 ,  A61B5/053 ,  A61N7/00 ,  A61N2/00 ,  H04R25/00 ,  A61N1/04 ,  A61H23/02 ,  A61N1/372 ,  G06F19/00 ,  A63F13/424 ,  A61N2/02

CPC classification number: A61N1/36014 ,  A61B5/0077 ,  A61B5/04001 ,  A61B5/04004 ,  A61B5/0402 ,  A61B5/053 ,  A61B2017/00044 ,  A61H23/02 ,  A61H23/0236 ,  A61H23/0245 ,  A61H2201/0188 ,  A61H2201/02 ,  A61H2201/10 ,  A61H2201/1604 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/5012 ,  A61H2201/5046 ,  A61H2201/5058 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5082 ,  A61H2201/5092 ,  A61H2201/5097 ,  A61H2205/027 ,  A61H2230/00 ,  A61H2230/045 ,  A61H2230/065 ,  A61H2230/105 ,  A61H2230/305 ,  A61H2230/405 ,  A61H2230/605 ,  A61H2230/655 ,  A61N1/0456 ,  A61N1/0472 ,  A61N1/36021 ,  A61N1/36025 ,  A61N1/36036 ,  A61N1/37247 ,  A61N2/002 ,  A61N2/006 ,  A61N2/02 ,  A61N7/00 ,  A61N2007/0026 ,  A63F13/424 ,  G06F19/00 ,  G06F19/34 ,  G16H20/30 ,  G16H20/40 ,  G16H40/63 ,  H04R1/1016 ,  H04R25/606 ,  H04R25/70

Abstract: Systems and related methods for controlling an ear stimulation device with a personal computing device, in response to determination of electrical contact of an electrode in a stimulator earpiece with an ear of a user of the personal computing device, are described. If the electrode is not in good electrical contact with the ear of the user, delivery of the stimulus is prevented and the user is notified of the status of the electrode. In various aspects, the user is instructed to reposition the earpiece or replace, clean, moisten, or apply gel to at least a portion of the electrode.

公开(公告)号：US09974706B2

公开(公告)日：2018-05-22

申请号：US14723861

申请日：2015-05-28

Applicant: Seiko Epson Corporation

Inventor： Tomo Ikebe ,  Yutaka Arakawa ,  Tomohisa Iwazaki

IPC: A61H1/02 ,  A61H23/02

CPC classification number: A61H1/0288 ,  A61H23/0245 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/165 ,  A61H2201/5061

Abstract: A driving device includes a wearable mechanism that is worn on a wearing part, an actuator that drives the wearable mechanism, and first and second force sensors that are provided on the wearable mechanism and detect a force. The first and second force sensors are provided at positions at which a first detected value obtained from the first force sensor and a second detected value obtained from the second force sensor are changed in response to a motion of the wearing part. When a difference between the first and second detected values is less than a pre-decided first threshold value and the first or second detected value is greater than a pre-decided second threshold value, the actuator drives the wearable mechanism so that the second detected value is constant.

公开(公告)号：US20180116898A1

公开(公告)日：2018-05-03

申请号：US15856117

申请日：2017-12-28

Applicant: GAITTRONICS INC.

Inventor： Aliasgar MORBI ,  Mojtaba AHMADI ,  Richard BERANEK

IPC: A61H3/00

CPC classification number: A61H3/00 ,  A61G7/1019 ,  A61G7/1048 ,  A61G7/1053 ,  A61G7/1059 ,  A61G2203/10 ,  A61G2203/32 ,  A61G2203/38 ,  A61G2203/723 ,  A61H1/02 ,  A61H1/0255 ,  A61H1/0292 ,  A61H3/008 ,  A61H3/04 ,  A61H2003/043 ,  A61H2201/0165 ,  A61H2201/018 ,  A61H2201/163 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2203/0431 ,  A61H2230/625

Abstract: Systems and methods for use with haptic devices. A control system for haptic devices determines a first course of action based on a user's motion. Prior to implementing the first course of action, the control system determines if the first course of action would lead to instability in the haptic device which could cause an unsafe situation such as failure of its components. If the first course of action would lead to instability, the control device determines a second course of action that would not lead to instability and implements this second course of action. To assist in this second course of action and to prevent potential oscillation in the haptic device, the control system also selectively dampens a projected action of the haptic device. A haptic device using such a control system is also disclosed.

公开(公告)号：US20180116851A1

公开(公告)日：2018-05-03

申请号：US15796145

申请日：2017-10-27

Applicant: Daegu Gyeongbuk Institute of Science and Technology

Inventor： Hee Don LEE

IPC: A61F5/01 ,  G06F3/01

CPC classification number: A61F5/0102 ,  A61B5/1071 ,  A61B5/224 ,  A61B5/4528 ,  A61F2002/5093 ,  A61H1/0259 ,  A61H1/0262 ,  A61H3/00 ,  A61H2201/1671 ,  A61H2201/5007 ,  A61H2201/5012 ,  A61H2201/5061 ,  A61H2201/5097 ,  G06F3/016

Abstract: Provided is a tendon device for a suit type robot which includes: a first wire and a second wire respectively fixed on a front portion and a rear portion of a joint of a user, and moving in a lengthwise direction thereof according to flexion-extension of the joint; a tendon driver including a first tendon module including a first pulley, and a second tendon module including a second pulley; a first pulley encoder measuring a rotary angle of the first pulley; a second pulley encoder for measuring a rotary angle of the second pulley; a controller configured to calculate tensions of the first wire and the second wire based on the rotary angle of the first and second pulleys in order to generate a control signal; and a driver configured to provide the first tendon module and the second tendon module with a driving power.

公开(公告)号：US20180116828A1

公开(公告)日：2018-05-03

申请号：US15803176

申请日：2017-11-03

Applicant: UNIVERSITY OF NEW BRUNSWICK

Inventor： NATHAN QUINN ,  CHRISTIAN GRANDMAISON ,  JONATHON SENSINGER

IPC: A61F2/68 ,  A61H3/00 ,  A61F5/01 ,  A61H1/02

CPC classification number: A61F2/68 ,  A61F5/0123 ,  A61F2002/7625 ,  A61H1/024 ,  A61H3/00 ,  A61H2003/007 ,  A61H2201/1207 ,  A61H2201/1409 ,  A61H2201/1418 ,  A61H2201/1436 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2205/10 ,  B25J9/0006 ,  B25J9/106

Abstract: In some aspects, methods are provided for controlling a powered lower limb device. A stance phase control method is disclosed in which the required joint torque is determined based on the difference between two joint angles, such as the knee joint and the ankle joint. A swing control method is also disclosed that employs feedback-based minimum jerk trajectory control. In other embodiments, a joint assembly for use in modular lower limb device is provided. The joint assembly includes a reconfigurable slider-crank mechanism that is configurable to provide a plurality of different ranges of rotational travel, rotational speeds, and torques, for customization according to different anatomical joints. The joint assembly may include a compact coupling device for coupling a ball screw of the slider-crank mechanism to an output shaft of a motor. When employed to form a modular orthosis, the joint assembly may be adapted for self-alignment as its length adjustment method during setup.

公开(公告)号：US09955904B2

公开(公告)日：2018-05-01

申请号：US15250365

申请日：2016-08-29

Applicant: RxFunction, Inc.

Inventor： Lars Oddsson ,  Peter Meyer

IPC: A61B5/00 ,  A61B5/103 ,  A61B5/11 ,  A61H3/00 ,  A61N1/36 ,  G09B19/00 ,  A61H23/02

CPC classification number: A61B5/4023 ,  A61B5/1036 ,  A61B5/1038 ,  A61B5/1116 ,  A61B5/1121 ,  A61B5/4561 ,  A61B5/486 ,  A61B5/6807 ,  A61B5/6829 ,  A61B2562/0247 ,  A61B2562/046 ,  A61H3/00 ,  A61H23/02 ,  A61H2201/0184 ,  A61H2201/164 ,  A61H2201/5061 ,  A61N1/36003 ,  G09B19/003

Abstract: A feedback device for measuring balance related information, and for producing a stimulation of the skin that encodes that information in a way that is useful to the wearer of the device. At least one sensor detects balance information and transmits at least one balance information signal to a signal processing subsystem. The signal processing subsystem converts the received balance information signal into at least one stimulation control signal. The signal processing subsystem then transmits the stimulation control signal to at least one stimulator, which provides stimulation to a wearer of the device reflecting the stimulation control signal received from the signal processing subsystem.

公开(公告)号：US20180110670A1

公开(公告)日：2018-04-26

申请号：US15560845

申请日：2016-03-24

Applicant: FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA

Inventor： Jody Alessandro SAGLIA ,  STEFANO D'ANGELLA ,  LUCIA CIACCIA ,  CARLO SANFILIPPO ,  Simone UNGARO

IPC: A61H1/02 ,  A63B21/00 ,  A63B21/005 ,  A63B22/18 ,  A63B23/08 ,  A63B26/00 ,  A63B69/00 ,  A63B71/00 ,  A63B71/06 ,  A63B22/00 ,  A63B21/22 ,  A63B24/00 ,  A63B21/002

CPC classification number: A61H1/0266 ,  A61H2201/0176 ,  A61H2201/018 ,  A61H2201/1215 ,  A61H2201/1633 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5092 ,  A63B21/00178 ,  A63B21/00181 ,  A63B21/002 ,  A63B21/0023 ,  A63B21/0058 ,  A63B21/22 ,  A63B21/4015 ,  A63B21/4034 ,  A63B22/0087 ,  A63B22/18 ,  A63B23/08 ,  A63B24/0087 ,  A63B26/003 ,  A63B69/0057 ,  A63B69/0064 ,  A63B71/0054 ,  A63B71/0622 ,  A63B2022/0094 ,  A63B2071/0081 ,  A63B2071/0636 ,  A63B2071/0683 ,  A63B2208/0204 ,  A63B2208/0233 ,  A63B2220/16 ,  A63B2220/24 ,  A63B2220/51 ,  A63B2220/52 ,  A63B2220/54 ,  A63B2220/805 ,  A63B2225/093

Abstract: The driving system comprises: a first support structure; a second support structure supported by the first support structure for rotation about a stationary axis of rotation; a first actuation unit having a first motor device and a first output member; and a second actuation unit having a second motor device and a second output member. The first output member is drivingly connected with the second support structure for rotation about the first axis of rotation. The first motor device controls the rotation of the first output member, along with the second support structure, about the first axis of rotation. The second output member is supported by the second support structure for rotation about a second axis of rotation. The second motor device controls the rotation of the second output member about the second axis of rotation.

公开(公告)号：US09949884B2

公开(公告)日：2018-04-24

申请号：US14641050

申请日：2015-03-06

Applicant: BIO.MORPH Sp. z o.o

Inventor： Wojciech Kaczmarek ,  Krzysztof Ludwik Miańowski ,  Marcin Stańczuk ,  Grzegorz Kamiński ,  Rafal Rosolek

IPC: A61H1/00

CPC classification number: A61H1/003 ,  A61H1/008 ,  A61H2201/1623 ,  A61H2201/1676 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2203/045 ,  A61H2203/0456 ,  A61H2205/081

Abstract: A device for spine correction, in a particular human spines, has a keyboard with numerous adjacent segments comprised of opposed back supports. The keyboard (3) has at least one set of cooperating segments A, B and C supported on curved arch elements which bias a patient back in engagement with the keyboard toward a desired back configuration. The device includes a support frame (1), and a relatively movable mobile frame (2) on which the keyboard is supported. A measurement system includes a controller (49), a server (50) and a screen (51). The controller is connected to sensors (26) which determine rotational positions of the segments. The server provides outputs from the screen (51) responsive to the sensed data.

公开(公告)号：US20180092792A1

公开(公告)日：2018-04-05

申请号：US15723568

申请日：2017-10-03

Applicant: JTEKT CORPORATION

Inventor： Hiromichi OHTA ,  Toshiki Kumeno

IPC: A61H1/02 ,  B25J9/00

CPC classification number: A61H1/0244 ,  A61H3/00 ,  A61H2201/1652 ,  A61H2201/1676 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5092 ,  A61H2201/5097 ,  A61H2230/00 ,  B25J9/0006 ,  B25J9/1633 ,  B25J13/085

Abstract: An assistance apparatus includes: a body brace; an output link to be put on an assistance subject body part, the output link pivoting about a joint in the assistance subject body part; an actuator including an output shaft that generates an assistance torque; a torque detection section provided at any position on the way from the output link to the output shaft (of the actuator); torque determination section for determining a combined torque that is a combination of a subject person torque input from the output link as a result of a subject person making the assistance subject body part pivot with the subject person's own strength and the assistance torque from the output shaft; and a controller that controls a rotational angle of the output shaft based on the combined torque.

公开(公告)号：US20180071910A1

公开(公告)日：2018-03-15

申请号：US15818038

申请日：2017-11-20

Applicant: Samsung Electronics Co., Ltd.

Inventor： Keehong Seo ,  Jusuk Lee ,  Bokman Lim

IPC: B25J9/00 ,  G05B19/042 ,  A61H3/00 ,  A61B5/11 ,  A61H1/02

CPC classification number: B25J9/0006 ,  A61B5/112 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/501 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5079 ,  A61H2201/5084 ,  A61H2201/5097 ,  A61H2230/085 ,  A61H2230/605 ,  A61H2230/625 ,  G05B19/042 ,  G05B2219/36435 ,  G05B2219/40305 ,  Y10S901/09

Abstract: A method and apparatus for calculating a torque of a walking assistance device, the method including receiving a measured joint angle, obtaining a gait parameter with respect to a transition among a predetermined number of gait states based on the joint angle, obtaining a gait cycle based on the joint angle, and obtaining an output torque based on the gait cycle and the gait parameter, is provided.