公开(公告)号：US08066088B2

公开(公告)日：2011-11-29

申请号：US11298306

申请日：2005-12-09

Applicant: Alan T. Asbeck ,  Sangbae Kim ,  Mark R. Cutkosky

Inventor： Alan T. Asbeck ,  Sangbae Kim ,  Mark R. Cutkosky

IPC: B25J14/00

CPC classification number: B62D57/024 ,  Y10T74/20329

Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.

Abstract translation: 提供具有脚趾和刺刺的生物灵感攀登装置。 该装置具有彼此独立地移动的脚趾。 每个脚趾区分兼容的连接，其具有不合规部件和兼容部件。 脊椎分布在每个脚趾上。 脊柱的直径小于或等于表面粗糙度的直径。 具有脊椎的脚趾可以安排成一个或多个脚。 然后可以将腿组织成腿，使得装置能够以步态模式爬上表面。 该设备使用低功率，静音，后面没有痕迹或轨迹，在光滑，粗糙，不均匀，多孔和肮脏的表面上工作良好，能够携带和支撑自己的体重。

公开(公告)号：US20080164080A1

公开(公告)日：2008-07-10

申请号：US11298306

申请日：2005-12-09

Applicant: Alan T. Asbeck ,  Sangbae Kim ,  Mark R. Cutkosky

Inventor： Alan T. Asbeck ,  Sangbae Kim ,  Mark R. Cutkosky

IPC: B62D51/06

CPC classification number: B62D57/024 ,  Y10T74/20329

Abstract: A biologically inspired climbing device with toes and spines is provided. The device has toes capable of moving independently from each other. Each toe distinguishes a compliant linkage, which has non-compliant parts and compliant parts. Spines are distributed over each of the toes. The spines have a diameter that is less than or equal to a diameter of an asperity of a surface. The toes with spines could be arranged into one or more feet. The feet could then be organized in legs enabling the device to climb a surface in a gait pattern. The device uses low power and is quiet, leaves no traces or tracks behind, works well on smooth, rough, uneven, porous and dirty surfaces, and is able to carry and support its own body weight.

Abstract translation: 提供具有脚趾和刺刺的生物灵感攀登装置。 该装置具有彼此独立地移动的脚趾。 每个脚趾区分兼容的连接，其具有不合规部件和兼容部件。 脊椎分布在每个脚趾上。 脊柱的直径小于或等于表面粗糙度的直径。 具有脊椎的脚趾可以安排成一个或多个脚。 然后可以将腿组织成腿，使得装置能够以步态模式爬上表面。 该设备使用低功率，静音，后面没有痕迹或轨迹，在光滑，粗糙，不均匀，多孔和肮脏的表面上工作良好，能够携带和支撑自己的体重。

公开(公告)号：US20170027735A1

公开(公告)日：2017-02-02

申请号：US15302347

申请日：2015-04-10

Applicant: Conor James WALSH ,  Alan T. ASBECK ,  Matthew W. YARRI ,  Jillian Christine LEE ,  Stefano Marco Maria DE ROSSI ,  President and Fellows of Harvard College

Inventor： Conor James Walsh ,  Alan T. Asbeck ,  Matthew W. Yarri ,  Jillian Christine Lee ,  Stefano Marco Maria De Rossi

IPC: A61F5/01

CPC classification number: A61F5/0123 ,  A61F5/0102 ,  A61F5/0125 ,  A61F2005/0137 ,  A61F2005/0155 ,  A61F2005/0165 ,  A61F2005/0179 ,  A61F2005/0188 ,  A61F2005/0197 ,  A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2003/001 ,  A61H2201/0165 ,  A61H2201/1215 ,  A61H2201/1238 ,  A61H2201/149 ,  A61H2201/164 ,  A61H2201/1642 ,  A61H2201/165 ,  A61H2201/1673 ,  A61H2201/501 ,  A61H2201/5015 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5082 ,  A61H2201/5084 ,  A61H2230/505 ,  A61H2230/605

Abstract: Orthopedic devices are provided that include rigid members for coupling to portions of a limb that includes a joint, and a cable that couples to the rigid members and extends up to a powered element. The orthopedic devices are configured to produce beneficial forces using the rigid member and the cable, which beneficial forces are translated to the wearer. The orthopedic devices include control systems that generate control signals for controlling the powered element.

Abstract translation: 提供矫形装置，其包括用于联接到包括关节的肢体的部分的刚性构件，以及连接到刚性构件并延伸到动力元件的电缆。 矫形装置被配置成使用刚性构件和电缆产生有益的力，这些有益的力被平移到佩戴者身上。 整形外科设备包括产生用于控制动力元件的控制信号的控制系统。

公开(公告)号：US06642859B1

公开(公告)日：2003-11-04

申请号：US09611294

申请日：2000-07-07

Applicant: Graham S. Hamilton ,  Yusuf Cetin ,  Alan T. Asbeck

Inventor： Graham S. Hamilton ,  Yusuf Cetin ,  Alan T. Asbeck

IPC: H03M734

CPC classification number: H03M1/0651 ,  H03M1/747

Abstract: An apparatus and method of calibrating a signal sourcing device having a plurality of signal sources to reduce errors between signals generated by the signal sources by categorizing the signal sources into groups based on the amount of error in the signal generated by the signal sources and selecting the signal sources from the groups in a manner which reduces the overall error in selecting signals. For example, the signal sourcing device may be a digital to analog converter having a plurality of current sources that output currents which may have an error. Such an improved digital to analog converter would categorize the current sources into groups based on the amount of error in the current generated by the current sources and selecting the current sources from the groups in a manner which reduces the overall error in selecting signals for the conversion process. The groups may include a center group that straddles the median current generated by the current sources. For example, the digital to analog converter may select current sources from complementary groups where current sources in complementary groups tend to have similar but opposite errors. This calibration method may be used to reduce errors in the signal sources which have a linear, Gaussian, or other error distributions.

Abstract translation: 一种用于校准具有多个信号源的信号源设备的装置和方法，用于基于信号源产生的信号中的误差量将信号源分组成组，以减少由信号源产生的信号之间的误差，并选择 来自组的信号源以减少选择信号的总体误差的方式。 例如，信号源装置可以是具有输出可能具有错误的电流的多个电流源的数模转换器。 这种改进的数模转换器将基于当前源产生的电流中的误差量将电流源分组成组，并且以减少用于转换的信号的总体误差的方式从组中选择当前源 处理。 这些组可以包括跨越由当前源产生的中间电流的中心组。 例如，数模转换器可以从互补组中选择当前源，其中互补组中的当前源倾向于具有相似但相反的错误。 该校准方法可用于减少具有线性，高斯或其他误差分布的信号源中的误差。