公开(公告)号：US20180110632A1

公开(公告)日：2018-04-26

申请号：US15848363

申请日：2017-12-20

Applicant: The Regents of the University of California

Inventor： Nicholas Errico ,  Homayoon KAZEROONI ,  Yoon Jung JEONG

IPC: A61F2/76 ,  A61F2/64 ,  A61F2/60 ,  A61H3/00 ,  A61H1/02

CPC classification number: A61F2/76 ,  A61F2/605 ,  A61F2/64 ,  A61H1/0255 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1454 ,  A61H2201/1463 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  B25J9/0006

Abstract: A manual apparatus of the present disclosure enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.

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。

公开(公告)号：US20150173929A1

公开(公告)日：2015-06-25

申请号：US14641039

申请日：2015-03-06

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Homayoon KAZEROONI ,  Wayne TUNG ,  Don Jin HYUN ,  Stephen MCKINLEY ,  Yoon Jung JEONG

IPC: A61F5/01

Abstract: An exoskeleton (100) adapted to be coupled to a lower extremity of a person includes a thigh link (102), a shank link (104) and a knee joint (106) allowing flexion and extension between the thigh and shank links (102, 104). A torque generator (156) connected to the knee joint (106) includes a wrap spring (110) having a first end (112) coupled to the thigh link (102), and a second end (118) coupled to an electric actuator (116) capable of selectively positioning the second end (118) of the wrap spring (110). A controller (120) causes the electric actuator (116) to position the wrap spring (110) to provide a selective torque between the thigh and shank links (102, 104) based on a signal (212, 214, 216) produced by a sensor (164, 166, 168).

Abstract translation: 适于联接到人的下肢的外骨骼（100）包括大腿连杆（102），柄连杆（104）和膝关节（106），其允许大腿和小腿链节（102， 104）。 连接到膝关节（106）的扭矩发生器（156）包括具有联接到大腿连杆（102）的第一端（112）和与电致动器（102）连接的第二端（118）的卷簧（110） 116），其能够选择性地定位卷绕弹簧（110）的第二端部（118）。 控制器（120）使得电动致动器（116）定位卷绕弹簧（110），以便在大腿和小腿链节（102,104）之间基于由 传感器（164,166,168）。

公开(公告)号：US20250073891A1

公开(公告)日：2025-03-06

申请号：US18913164

申请日：2024-10-11

Applicant: The Regents of the University of California ,  suitX, Inc.

Inventor： Wayne TUNG ,  Homayoon KAZEROONI ,  Jing-Song HUANG ,  Yi ZENG ,  Zhendong LIU

IPC: B25J9/00 ,  B25J9/10 ,  B25J9/12 ,  B25J13/08

Abstract: A trunk-supporting exoskeleton for reducing muscle forces in a wearer's back during forward lumbar flexion comprises a supporting trunk, a first thigh link, a second thigh link, and an actuator, which includes an actuator first element and an actuator second element. When the wearer is in a forward-bent position, the actuator generates a first torque on the actuator first element and a second actuator torque on the actuator second element to generate extension torques between the first and second thigh links and the supporting trunk, thereby resisting bending motion of the supporting trunk in the forward-bent position. When the wearer is not in the forward-bent position, the actuator generates a substantially small first torque and second torque, resulting in small resistance to the movement of the thigh links relative to the supporting trunk during walking.

公开(公告)号：US20160374836A1

公开(公告)日：2016-12-29

申请号：US15190920

申请日：2016-06-23

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Nicholas ERRICO ,  Homayoon KAZEROONI ,  Yoon Jung Jeong

IPC: A61F2/76 ,  A44B13/00 ,  A61H3/00 ,  A61F2/60 ,  A61F2/64

CPC classification number: A61F2/76 ,  A61F2/605 ,  A61F2/64 ,  A61H1/0255 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1454 ,  A61H2201/1463 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007

Abstract: A manual apparatus of the present invention enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.

Abstract translation: 本发明的手动装置能够将外骨骼腿与外骨骼的剩余体快速连接和断开。 该装置包括由耦合到外骨骼的剩余体的壳体限定的空腔; 闩锁，其联接到所述外骨骼的剩余主体，所述闩锁包括闩锁特征; 夹体，其包括从其端部延伸的突出元件，所述夹子主体联接到所述外骨骼腿; 手柄，其可旋转地联接到夹子主体上的夹子基座; 以及可旋转地联接到手柄的钩。 当钩与闩锁特征接合并且手柄从第一解锁位置旋转到第二闩锁位置时，突起元件在空腔内移动。

公开(公告)号：US20230286133A1

公开(公告)日：2023-09-14

申请号：US18199177

申请日：2023-05-18

Applicant: The Regents of the University of California

Inventor： Logan VAN ENGELHOVEN ,  Homayoon KAZEROONI

IPC: B25J9/00 ,  B25H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: Described herein is an arm supporting exoskeleton including a proximal link, a distal link, a torque generator, and a bracket. The distal link is configured to rotate relative to the proximal link about a first rotational axis forming a first angle between the proximal link and the distal link. The torque generator is configured to provide a torque profile between the proximal link and the distal link as a function of the first angle, thereby producing a supporting force onto the upper arm of the person. The bracket is coupled to one of the proximal link or the distal link. A location of the bracket is adjustable to adjust an effective length of the torque generator to adjust an amplitude of the torque profile provided by the torque generator thereby adjusting the supporting force onto the upper arm of the person.

公开(公告)号：US20180111262A1

公开(公告)日：2018-04-26

申请号：US15848409

申请日：2017-12-20

Applicant: The Regents of the University of California

Inventor： Logan Van Engelhoven ,  Homayoon KAZEROONI

IPC: B25J9/00 ,  B25H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small, When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.

公开(公告)号：US20160374887A1

公开(公告)日：2016-12-29

申请号：US15190946

申请日：2016-06-23

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Shang-Li WU ,  Homayoon KAZEROONI

IPC: A61H3/00 ,  A61H1/02 ,  A61F2/68 ,  A61F5/01 ,  A61F2/64

CPC classification number: A61H1/0262 ,  A61F2/64 ,  A61F2/68 ,  A61F5/0123 ,  A61F5/0127 ,  A61F2005/0155 ,  A61F2005/0158 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1246 ,  A61H2201/149 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676

Abstract: A passive artificial knee comprises first and second links rotatably coupled at a knee joint, a passive compressive force generator rotatably coupled to the second link, and a release mechanism coupled to the first link. When a relative angle of the first and second links is less than a toggle angle, the release mechanism locks in a first operational mode, and the force generator compresses, resisting the flexing of the second link relative to the first link. When the relative angle is larger than the toggle angle, the force generator decompresses and encourages the flexion of said second link relative to said first link. When the force generator is substantially extended and said compressive force is substantially small, the release mechanism moves into a second operational mode, wherein the force generator neither resists nor encourages the extension and flexion of said second link from said first link.

Abstract translation: 被动人造膝盖包括可旋转地联接在膝关节处的第一和第二连杆，可旋转地联接到第二连杆的被动压缩力发生器和联接到第一连杆的释放机构。 当第一和第二连杆的相对角度小于肘节角时，释放机构锁定在第一操作模式中，并且力发生器压缩，抵抗第二连杆相对于第一连杆的弯曲。 当相对角度大于肘节角时，力发生器解压并促使所述第二连杆相对于所述第一连杆的弯曲。 当力发生器基本上延伸并且所述压缩力基本上小时，释放机构移动到第二操作模式，其中力发生器既不抵抗也不鼓励所述第二连杆从所述第一连杆伸出和弯曲。

公开(公告)号：US20160339583A1

公开(公告)日：2016-11-24

申请号：US15158113

申请日：2016-05-18

Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

Inventor： Logan VAN ENGELHOVEN ,  Homayoon KAZEROONI

IPC: B25J9/00 ,  F16M13/04 ,  B25J9/10 ,  B25H1/10

CPC classification number: B25J9/0006 ,  B25H1/10 ,  B65H1/10

Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the user's arm.

Abstract translation: 支撑外骨骼的臂包括联接到臂连杆机构的肩基部。 所述臂连杆机构包括近端连杆和远端连杆，所述远端连杆构造成围绕旋转接头相对于彼此旋转; 至少一个臂连接器，适于将使用者的手臂连接到所述远端连杆; 联接到所述近端连杆和所述远端连杆的拉力产生器，以及提供相对于所述近端连杆弯曲所述远端连杆的扭矩; 以及基本上位于旋转接头处的突起。 当远端连杆延伸超过肘节角时，突出部约束拉力产生器，并且由拉力产生器提供的扭矩保持相当小。 当突起不限制拉力产生器时，扭矩倾向于相对于近端链节使远端连杆弯曲，从而减少提升使用者手臂所需的人的肩部力和扭矩。