公开(公告)号：US20150351995A1

公开(公告)日：2015-12-10

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: A61H3/00

CPC classification number: A61H1/024 ,  A61H1/0244 ,  A61H1/0266 ,  A61H3/00 ,  A61H2201/0107 ,  A61H2201/165 ,  A61H2201/50 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5064 ,  A61H2201/5069 ,  A61H2201/5084 ,  B25J9/0006

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.

Abstract translation: 外部骨骼可以在飞行中重新配置，调整和/或控制，利用分为三类的装置，特别是包括可切换未致动腿，可锁定横向和冠状髋关节旋转以及软件控制的自由关节。 更具体地，第一装置允许创建模块化关节系统，其中可以改变或交换单个外骨骼关节或四肢以优化特定使用者的外骨骼。 第二装置涉及机械控制，例如锁定和解锁接合，从而允许例如外骨骼腿在未被致动的轴线上枢转或不枢转。 第三装置允许使用软件在飞行中调节致动的外骨骼关节以模拟自由旋转的关节。 各种装置可以单独使用或组合使用，以使得任何给定的外骨骼被适当地重新配置，例如当患者在治疗期间前进时。

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.