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    Hydraulic actuator system
    1.
    发明授权
    Hydraulic actuator system 有权

    公开(公告)号：US10352334B2

    公开(公告)日：2019-07-16

    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: F15B7/00 ,  F15B11/04 ,  A61H3/00 ,  A61H1/02 ,  F15B11/028 ,  F15B15/08 ,  F04C14/22

    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.

    Gait Orthotic Device and Method for Protecting Gait Orthotic Device and User from Damage
    3.
    发明申请
    Gait Orthotic Device and Method for Protecting Gait Orthotic Device and User from Damage 审中-公开
    步态矫正装置和方法，用于保护步态矫形装置和使用者免受伤害

    公开(公告)号：US20160030272A1

    公开(公告)日：2016-02-04

    申请号：US14774556

    申请日：2014-03-12

    Applicant: EKSO BIONICS, INC.

    Inventor： Russdon Angold ,  Reuben Sandler ,  Robert Moore

    IPC: A61H3/00 ,  A61F2/70

    CPC classification number: A61H3/00 ,  A61F2/70 ,  A61F2002/701 ,  A61F2005/0183 ,  A61H1/024 ,  A61H1/0244 ,  A61H2201/0103 ,  A61H2201/0173 ,  A61H2201/5061 ,  A61H2201/5069 ,  A61H2201/5084 ,  A61H2230/625 ,  A61H2230/805

    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.

    Abstract translation: 步态矫正装置，例如动力外骨骼，包括至少一个关节; 至少一个致动器构造成使得所述装置在所述接头处的移动; 耦合到所述装置的缓冲机构，用于在与表面或物体的冲击期间吸收能量或扩展力; 和控制器。 控制器被配置为确定何时发生跌落并且引导致动器：使装置定向，使得缓冲机构在坠落期间与表面或物体接触; 或者通过执行正接合工作来减少设备在秋季期间的动能。 缓冲机构可以采取各种形式，包括气囊，弹簧，保险杠，滚动杆或支架。 优选地，缓冲机构是安全气囊模块形式的安全气囊，其可拆卸地联接到所述装置用于移除和更换。

    Gait orthotic device and method for protecting gait orthotic device and user from damage
    4.
    发明授权
    Gait orthotic device and method for protecting gait orthotic device and user from damage 有权

    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.

    Non-Anthropomorphic Hip Joint Locations for Exoskeletons
    6.
    发明申请
    Non-Anthropomorphic Hip Joint Locations for Exoskeletons 有权
    用于外骨骼的非拟人髋关节位置

    公开(公告)号：US20160031076A1

    公开(公告)日：2016-02-04

    申请号：US14776310

    申请日：2014-03-12

    Applicant: EKSO BIONICS, INC.

    Inventor： Scott Garrett ,  Robert Moore ,  Tim Swift ,  Kurt Amundson ,  Russdon Angold

    IPC: B25J9/00 ,  B25J17/00 ,  B25J9/16

    CPC classification number: B25J9/0006 ,  A61F5/0102 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/0192 ,  B25J9/1633 ,  B25J17/00 ,  Y10S901/01

    Abstract: An exoskeleton device provides for selectively adjusting an exoskeleton hip pivot/pivot position in the sagittal plane relative to the position of the hip pivot of a wearer of the exoskeleton. The exoskeleton hip pivots/pivot positions can be shifted forward or rearward relative to the hip pivots of the wearer and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer. The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.

    Abstract translation: 外骨骼装置提供了相对于外骨骼的佩戴者的臀部枢轴的位置来选择性地调整矢状面中的外骨骼髋关节枢轴/枢转位置。 外骨骼髋关节枢转/枢转位置可以相对于穿着者的髋关节枢轴向前或向后移动，并且可以由外骨骼控制系统自动启动或由外骨骼佩戴者手动调节。 本发明特别地允许差分髋部放置以补偿变化的负载或致动条件。

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