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    System and method of bidirectional compliant joint torque actuation
    1.
    发明授权
    System and method of bidirectional compliant joint torque actuation 有权

    公开(公告)号：US10449105B2

    公开(公告)日：2019-10-22

    申请号：US14923072

    申请日：2015-10-26

    Applicant: SpringActive, Inc.

    Inventor： Kevin Hollander

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

    Abstract: A joint actuation device for adding torque to a joint of a user includes an actuation system having an actuator and a spring. A lever is configured to couple to the user's leg and to the actuation system. The lever configured to rotate at a device joint with respect to the actuation system. A first sensor measures a position of the device joint. A second sensor measures deflection in a spring. The actuator is positioned based on the position of the device joint and deflection in the spring. The actuator is configured to deflect the spring to apply a torque the device joint. The device joint aligns with the user's joint to add a torque to the user's joint during a gait activity. The actuator disengages the spring during a non-gait activity. The lever is configured to disengage from the actuator when the device joint exceeds a predetermined angle.

    Quasi-Active Prosthetic Joint System
    3.
    发明申请
    Quasi-Active Prosthetic Joint System 审中-公开
    准活动假体关节系统

    公开(公告)号：US20160158031A1

    公开(公告)日：2016-06-09

    申请号：US15019668

    申请日：2016-02-09

    Applicant: SpringActive, Inc.

    Inventor： Jeffrey A. Ward ,  Robert Holgate ,  Kevin Hollander

    IPC: A61F2/68 ,  A61F2/66

    CPC classification number: A61F2/68 ,  A61F2/66 ,  A61F2/6607 ,  A61F2002/5003 ,  A61F2002/5018 ,  A61F2002/502 ,  A61F2002/5021 ,  A61F2002/503 ,  A61F2002/5075 ,  A61F2002/6614 ,  A61F2002/6664 ,  A61F2002/6845 ,  A61F2002/6854 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/74 ,  A61F2002/741 ,  A61F2002/748 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  Y10T29/49826

    Abstract: A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.

    Abstract translation: 假体关节装置包括脚部和在第一关节处可枢转地联接到脚部的主体。 第一柔顺构件联接到主体和脚部。 第一离合器联接到第一顺应构件。 致动器联接到第一离合器以锁定和解锁第一离合器并使第一顺应构件接合和分离。 控制系统耦合到致动器以基于步态活动来控制致动器。 第一离合器被锁定以接合第一顺应构件。 第二柔顺构件联接到主体和脚部。 传感器联接到假肢关节装置以测量假体关节装置的物理状态。 基于假肢关节装置的物理状态对第一顺应性构件的接合和分离进行定时。

    Joint torque augmentation system and method for gait assistance
    5.
    发明授权
    Joint torque augmentation system and method for gait assistance 有权

    公开(公告)号：US09662262B2

    公开(公告)日：2017-05-30

    申请号：US14271259

    申请日：2014-05-06

    Applicant: SpringActive, Inc.

    Inventor： Kevin Hollander ,  Nathan Cahill ,  Darren Kinney ,  Preston Clouse ,  Robert Holgate ,  Raymond Churchwell

    IPC: A61H3/00 ,  B25J9/00

    CPC classification number: A61H3/00 ,  B25J9/0006 ,  Y10T29/49826

    Abstract: A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.

    Joint Torque Augmentation System and Method for Gait Assistance
    6.
    发明申请
    Joint Torque Augmentation System and Method for Gait Assistance 有权
    联合扭矩增强系统及步态协助方法

    公开(公告)号：US20140330431A1

    公开(公告)日：2014-11-06

    申请号：US14271259

    申请日：2014-05-06

    Applicant: SpringActive, Inc.

    Inventor： Kevin Hollander ,  Nathan Cahill ,  Darren Kinney ,  Preston Clouse ,  Robert Holgate ,  Raymond Churchwell

    IPC: B25J9/00

    CPC classification number: A61H3/00 ,  B25J9/0006 ,  Y10T29/49826

    Abstract: A joint torque augmentation system includes linkage assembly configured to couple to a user. Linkage assembly includes a unidirectional link and a device joint. The linkage assembly is worn by a user or is configured to couple to footwear. An actuator is coupled to the linkage assembly to provide a torque at a joint of the user. A sensor is coupled to the user to measure a position of the user. A control system is coupled to the sensor and actuator. A phase of gait for the user is determined by the control system based on the position measured by the sensor. The actuator produces a tension force on the linkage assembly during a first phase of gait. A compliant element is coupled between the actuator and linkage assembly. The compliant element is tuned based on a load carried by the user.

    Abstract translation: 联合扭矩增强系统包括被配置为联接到使用者的联动组件。 联动组件包括单向连杆和装置接头。 连接组件由使用者佩戴或配置成与鞋类相连。 致动器联接到连杆组件以在使用者的关节处提供扭矩。 传感器耦合到用户以测量用户的位置。 控制系统耦合到传感器和致动器。 基于由传感器测量的位置由控制系统确定用户的步态阶段。 执行器在步态的第一阶段期间在联动组件上产生张力。 柔性元件联接在致动器和连杆组件之间。 基于用户携带的负载来调整兼容元件。

    Quasi-Active Prosthetic Joint System
    7.
    发明申请
    Quasi-Active Prosthetic Joint System 有权
    准活动假体关节系统

    公开(公告)号：US20140330393A1

    公开(公告)日：2014-11-06

    申请号：US14269103

    申请日：2014-05-03

    Applicant: SpringActive, Inc.

    Inventor： Jeffrey A. Ward ,  Robert Holgate ,  Kevin Hollander

    IPC: A61F2/66

    CPC classification number: A61F2/68 ,  A61F2/66 ,  A61F2/6607 ,  A61F2002/5003 ,  A61F2002/5018 ,  A61F2002/502 ,  A61F2002/5021 ,  A61F2002/503 ,  A61F2002/5075 ,  A61F2002/6614 ,  A61F2002/6664 ,  A61F2002/6845 ,  A61F2002/6854 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/74 ,  A61F2002/741 ,  A61F2002/748 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  Y10T29/49826

    Abstract: A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity.The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.

    Abstract translation: 假体关节装置包括脚部和在第一关节处可枢转地联接到脚部的主体。 第一柔顺构件联接到主体和脚部。 第一离合器联接到第一顺应构件。 致动器联接到第一离合器以锁定和解锁第一离合器并使第一顺应构件接合和分离。 控制系统耦合到致动器以基于步态活动来控制致动器。 第一离合器被锁定以接合第一顺应构件。 第二柔顺构件联接到主体和脚部。 传感器联接到假肢关节装置以测量假体关节装置的物理状态。 基于假肢关节装置的物理状态对第一顺应性构件的接合和分离进行定时。

    Systems and Methods for Gravitational Load Support
    8.
    发明申请
    Systems and Methods for Gravitational Load Support 审中-公开
    重力载荷支持系统与方法

    公开(公告)号：US20140259798A1

    公开(公告)日：2014-09-18

    申请号：US14214867

    申请日：2014-03-15

    Applicant: SpringActive, Inc.

    Inventor： Kevin Hollander

    IPC: A45F3/10

    CPC classification number: A45F3/10 ,  A45C13/38 ,  A45F3/00 ,  A45F3/04 ,  A45F2003/001 ,  Y10T29/49609

    Abstract: A load support device includes a first link coupled to a load. A second link is configured to couple to footwear. The second link is pivotally coupled to the first link. The first and second link comprise a link assembly. A first compliant member is disposed between the load and the second link. The first compliant member includes a tension spring or a compression spring. The link assembly further includes a tension cable coupled to the first compliant member. A first actuator is coupled to the first compliant member to control a stiffness of the first compliant member. A sensor is configured to couple to a user to measure a physical state of the user. A control system controls the first actuator based on a gait activity. The first actuator is actuated based on the physical state of the user. The load support device is tuned based on the load.

    Abstract translation: 负载支撑装置包括耦合到负载的第一链路。 第二个链接被配置为耦合到鞋类。 第二连杆枢转地联接到第一连杆。 第一和第二连杆包括连杆组件。 第一顺应构件设置在负载和第二连杆之间。 第一柔顺构件包括拉伸弹簧或压缩弹簧。 连杆组件还包括联接到第一柔顺构件的张紧绳索。 第一致动器联接到第一顺应构件以控制第一顺应构件的刚度。 传感器被配置为耦合到用户以测量用户的物理状态。 控制系统基于步态活动来控制第一致动器。 基于用户的物理状态来启动第一致动器。 负载支持设备根据负载进行调整。

    System and Method of Bidirectional Compliant Joint Torque Actuation
    9.
    发明申请
    System and Method of Bidirectional Compliant Joint Torque Actuation 审中-公开
    双向接头扭矩驱动的系统和方法

    公开(公告)号：US20160113831A1

    公开(公告)日：2016-04-28

    申请号：US14923072

    申请日：2015-10-26

    Applicant: SpringActive, Inc.

    Inventor： Kevin Hollander

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

    CPC classification number: A61H3/00 ,  A61F2/68 ,  A61F5/0102 ,  A61F2005/0155 ,  A61F2005/0197 ,  A61H1/0244 ,  A61H1/0266 ,  A61H2003/007 ,  A61H2201/0192 ,  A61H2201/1207 ,  A61H2201/1215 ,  A61H2201/123 ,  A61H2201/1238 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/5097

    Abstract: A joint actuation device for adding torque to a joint of a user includes an actuation system having an actuator and a spring. A lever is configured to couple to the user's leg and to the actuation system. The lever configured to rotate at a device joint with respect to the actuation system. A first sensor measures a position of the device joint. A second sensor measures deflection in a spring. The actuator is positioned based on the position of the device joint and deflection in the spring. The actuator is configured to deflect the spring to apply a torque the device joint. The device joint aligns with the user's joint to add a torque to the user's joint during a gait activity. The actuator disengages the spring during a non-gait activity. The lever is configured to disengage from the actuator when the device joint exceeds a predetermined angle.

    Abstract translation: 用于向用户的接头添加扭矩的关节致动装置包括具有致动器和弹簧的致动系统。 杆被配置成联接到使用者的腿部和致动系统。 杠杆构造成相对于致动系统在装置接头处旋转。 第一传感器测量装置接头的位置。 第二传感器测量弹簧中的偏转。 执行器基于装置接头的位置和弹簧中的偏转定位。 致动器构造成使弹簧偏转以施加装置接头的扭矩。 在步态活动期间，设备接头与用户的接头对齐以向用户的接头添加扭矩。 执行器在非步态活动期间使弹簧脱离。 杠杆配置成当装置接头超过预定角度时与致动器脱离接触。

    Gravitational Load Support System
    10.
    发明申请
    Gravitational Load Support System 审中-公开
    重力载荷支援系统

    公开(公告)号：US20160023350A1

    公开(公告)日：2016-01-28

    申请号：US14877775

    申请日：2015-10-07

    Applicant: SpringActive, Inc.

    Inventor： Matthew A. Holgate ,  Kevin Hollander ,  Nathan Cahill

    IPC: B25J9/00 ,  B25J9/16

    CPC classification number: B25J9/0006 ,  A45C13/38 ,  A45F3/00 ,  A45F3/04 ,  A45F3/10 ,  A45F2003/001 ,  B25J9/1628 ,  B25J9/1694 ,  Y10S901/01 ,  Y10T29/49609

    Abstract: A load support device has a first link assembly coupled to a load and a first foot of a user. A first damping element is coupled to the first link assembly. The first damping element includes a double acting piston configured to provide uni-directional damping. A first sensor is disposed on a first limb of the user. A physical characteristic of the first limb is measured with the first sensor. A damping constant of the first damping element is selected based on the physical characteristic of the first limb. A second link assembly is coupled to the load and to a second foot of the user. A second damping element is coupled to the second link assembly between the load and the second foot. The load is alternately supported by the first link assembly and damping element and the second link assembly and damping element throughout a gait cycle.

    Abstract translation: 负载支撑装置具有联接到使用者的负载和第一脚的第一连杆组件。 第一阻尼元件联接到第一连杆组件。 第一阻尼元件包括构造成提供单向阻尼的双作用活塞。 第一传感器设置在使用者的第一肢上。 用第一传感器测量第一肢体的物理特性。 基于第一肢体的物理特性来选择第一阻尼元件的阻尼常数。 第二连杆组件联接到使用者的负载和第二脚。 第二阻尼元件联接到负载和第二脚之间的第二连杆组件。 负载由第一连杆组件和阻尼元件以及第二连杆组件和阻尼元件在整个步态循环中交替地支撑。

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