公开(公告)号：US20160206498A1

公开(公告)日：2016-07-21

申请号：US14944635

申请日：2015-11-18

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Homayoon KAZEROONI ,  Erich HACKER ,  Lee-Huang CHEN ,  Wayne TUNG ,  Nathan POON ,  Theerapat YANGYUENTHANASAN

IPC: A61H1/02 ,  A61F5/02 ,  A61H3/00

CPC classification number: A61F5/026 ,  A61F5/028 ,  A61F2005/0179 ,  A61H1/0244 ,  A61H1/0292 ,  A61H2201/1246 ,  A61H2201/1261 ,  A61H2201/1619 ,  A61H2201/164 ,  A61H2201/165

Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.

Abstract translation: 支持外骨骼的躯干包括：支撑躯干; 大腿连接配置为与人的大腿一致移动; 以及位于基本上靠近人的臀部的人的左半部和右半部分上的第一和第二扭矩发生器。 扭矩发生器将支撑主干连接到大腿连接处，并在大腿连杆和支撑躯干之间产生扭矩。 当人向前弯曲使得支撑躯干的预定部分从垂直方向超过预定角度时，扭矩发生器在支撑躯干和大腿连杆之间施加阻力矩，导致支撑躯干施加 对人的躯干的一个力量，以及大腿连接力对人的大腿施加力量。 当预定部分不超过预定角度时，扭矩发生器在所述支撑主干和各个大腿连杆之间不施加阻力。