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公开(公告)号：US12029674B2
公开(公告)日：2024-07-09
申请号：US16375231
申请日：2019-04-04
Applicant: suitX, Inc. , The Regents of the University of California
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
Abstract: An exoskeleton includes two torque generators, thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The torque generators may be active or passive torque generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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公开(公告)号：US11471314B2
公开(公告)日：2022-10-18
申请号：US16360969
申请日：2019-03-21
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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.
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公开(公告)号：US12213934B2
公开(公告)日：2025-02-04
申请号：US17208900
申请日：2021-03-22
Applicant: The Regents of the University of California , suitX, Inc.
Inventor： Wayne Tung , Minerva V. Pillai , James Hatch , Homayoon Kazerooni , Theerapat Yangyuenthanasan , Yusuke Maruo , David Cuban
Abstract: An exoskeleton leg is wearable by a person. The exoskeleton includes a thigh link configured to move in unison with the thigh of the person, a shank link rotatably coupled to the thigh link and comprising at least one tooth, and a locking block coupled to the thigh link and comprising a locking face. Moreover, when the at least one tooth of the shank link contacts with the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.
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公开(公告)号：US12048667B2
公开(公告)日：2024-07-30
申请号：US17646326
申请日：2021-12-29
Applicant: suitX, Inc. , The Regents of the University of California
Inventor： Wayne Tung , Minerva Pillai , Homayoon Kazerooni
CPC classification number: A61H3/00 , A61H1/024 , A61H2201/1207 , A61H2201/1246 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/1676 , A61H2201/5007 , A61H2201/5061 , A61H2203/0406 , A61H2203/0418 , A61H2205/102
Abstract: A leg support exoskeleton is strapped on as a wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first link and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
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公开(公告)号：US20210315765A1
公开(公告)日：2021-10-14
申请号：US17208900
申请日：2021-03-22
Inventor： Wayne Tung , Minerva V. Pillai , James Hatch , Homayoon Kazerooni , Theerapat Yangyuenthanasan , Yusuke Maruo , David Cuban
Abstract: An exoskeleton leg is wearable by a person. The exoskeleton includes a thigh link configured to move in unison with the thigh of the person, a shank link rotatably coupled to the thigh link and comprising at least one tooth, and a locking block coupled to the thigh link and comprising a locking face. Moreover, when the at least one tooth of the shank link contacts with the locking face, the shank link is prevented from flexion motion relative to the thigh link, but is allowed to extend relative to the thigh link.
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Patent Agency Ranking
公开(公告)号：US20190216630A1
公开(公告)日：2019-07-18
申请号：US16360969
申请日：2019-03-21
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
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 wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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.
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公开(公告)号：US10682249B2
公开(公告)日：2020-06-16
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
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).
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公开(公告)号：US10357392B2
公开(公告)日：2019-07-23
申请号：US14704901
申请日：2015-05-05
Inventor： Homayoon Kazerooni , Wayne Tung , Michael McKinley , Yoon Jung Jeong
IPC: A61F5/02
Abstract: An exoskeleton (100) includes two torque generators (116, 118), two thigh links (104,106), and a supporting trunk (112) rotatably coupled to the thigh links (104, 106). When a wearer bends forward in the sagittal plane such that the supporting trunk (112) extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators (116, 118) imposes a resisting torque between the supporting trunk (112) and a corresponding thigh link (104, 106), thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton (100) may include an active or passive means (116, 134) for actuating the torque generators (116, 118). When the supporting trunk (112) does not extend beyond the predetermined angle A, the torque generators (116, 118) do not impose resisting torques between the supporting trunk (112) and the thigh links (104, 106) during the entire range of motion of the thigh links (104, 106), thus enabling a wearer to walk, run, and sit without constraint while in a substantially upright position.
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公开(公告)号：US10285843B2
公开(公告)日：2019-05-14
申请号：US15654929
申请日：2017-07-20
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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.
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公开(公告)号：US20170360588A1
公开(公告)日：2017-12-21
申请号：US15654929
申请日：2017-07-20
Applicant: The Regents of the University of California
Inventor： Theerapat Yangyuenthanasan , Wayne Tung , Homayoon Kazerooni
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 wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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.
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