公开(公告)号：US10111762B2

公开(公告)日：2018-10-30

申请号：US15180617

申请日：2016-06-13

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Jason Mitchell ,  Huseyin Atakan Varol ,  Brian Edward Lawson ,  Don Truex

IPC: A61F2/60 ,  A61F2/66 ,  A61F2/70 ,  A61F2/68 ,  G01L1/22 ,  G01L1/14 ,  A61F2/64 ,  A61F2/76

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

公开(公告)号：US10016290B2

公开(公告)日：2018-07-10

申请号：US14428058

申请日：2013-09-17

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Amanda Huff Shultz ,  Brian E. Lawson ,  Jason E. Mitchell ,  Don Truex

IPC: A61F2/66 ,  A61F2/70 ,  G05B15/02 ,  A61F2/50 ,  A61F2/76 ,  A61F2/68

CPC classification number: A61F2/6607 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5072 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  G05B15/02

Abstract: Described herein are systems and methods for a powered ankle/foot prosthesis and controller that utilizes piecewise emulated passive impedances to provide for walking at various cadences and on various slopes and for ground slope adaptive standing. A powered prosthesis using these systems and methods is capable of emulating any physical behavior provided by the healthy joint, and additionally describes a control system that utilizes the sensing and actuation system on the prosthesis to provide appropriate ankle joint impedances. Further, the control system incorporates a finite-state-based structure, and within each state, emulates the behavior of the healthy joint with strictly passive impedance functions.

公开(公告)号：US20160287414A1

公开(公告)日：2016-10-06

申请号：US15180617

申请日：2016-06-13

Applicant: Vanderbilt University

Inventor： Michael Goldfarb ,  Jason Mitchell ,  Huseyin Atakan Varol ,  Brian Edward Lawson ,  Don Truex

IPC: A61F2/70 ,  G01L1/14 ,  A61F2/60 ,  G01L1/22 ,  A61F2/66 ,  A61F2/76

CPC classification number: A61F2/70 ,  A61F2/60 ,  A61F2/644 ,  A61F2/66 ,  A61F2/6607 ,  A61F2/68 ,  A61F2/76 ,  A61F2002/6614 ,  A61F2002/6621 ,  A61F2002/6642 ,  A61F2002/6664 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/762 ,  A61F2002/7635 ,  G01L1/142 ,  G01L1/2243

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

Abstract translation: 一种装置包括沿着纵向轴线串联布置的第一构件和第二构件。 该装置还包括将第一构件的第一接头连接到第二构件的第二接头的连接件。 第一和第二构件和连接件布置成限定平面平行四边形连杆。 这些装置还包括设置在第一构件和第二构件之间的弹性元件，第一构件和预先抵靠弹性元件的第二构件。 第一构件和第二构件被预加载以提供第一和第二接头的布置，其中第一接头相对于第二接头的运动被约束到基本上平行于纵向轴线的方向。 所述装置还包括用于产生指示所述第一构件和所述第二构件之间的间隔的信号的传感器。

公开(公告)号：US10729906B2

公开(公告)日：2020-08-04

申请号：US15383563

申请日：2016-12-19

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Kevin Ha ,  Don Truex

IPC: A61N1/36 ,  A61N1/02 ,  A61N1/32

Abstract: A circuit includes first and second current control sub-circuits connected in series between a DC supply voltage node and a reference voltage node and third and fourth current control sub-circuits connected in series between the DC supply voltage node and the reference voltage node. The circuit also includes a DC/DC converter with a first input terminal coupled to the first load node between the first and second current control sub-circuits, a second input terminal coupled to a second load node between the third and fourth current control sub-circuits, a first output terminal, and a second output terminal. The circuit further includes output electrodes, a routing sub-circuit for selectively coupling the output electrodes to the output terminals, and a controller configured for operating the routing sub-circuit and the current control sub-circuits to cause the DC/DC converter to supply biphasic pulses for at least one of the pairs of output electrodes.

公开(公告)号：US10959862B2

公开(公告)日：2021-03-30

申请号：US16173519

申请日：2018-10-29

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Jason Mitchell ,  Huseyin Atakan Varol ,  Brian Lawson ,  Don Truex

IPC: A61F2/60 ,  A61F2/68 ,  A61F2/70 ,  G01L1/22 ,  A61F2/66 ,  A61F2/76 ,  G01L1/14 ,  A61F2/64

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

公开(公告)号：US09964125B2

公开(公告)日：2018-05-08

申请号：US14758311

申请日：2013-12-31

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael Goldfarb ,  Don Truex

IPC: F15B13/04 ,  F15B13/043 ,  F16K11/07 ,  F15B13/044 ,  F15B21/00 ,  F16K31/06

CPC classification number: F15B13/0431 ,  F15B13/0402 ,  F15B13/044 ,  F15B21/003 ,  F15B2013/0412 ,  F16K11/0704 ,  F16K31/0613 ,  F16K31/0679 ,  Y10T137/86879

Abstract: A double-solenoid directional control valve comprising a valve body and a valve spool within the valve body, where the valve spool is configured to move within the valve body between a first position, a second position and a third position, where the third spool position lies between the first and second spool positions. In certain embodiments, the spool is maintained in the first and third positions by energizing at least a first or a second solenoid actuator, and where the spool is maintained in the second position by de-energizing both solenoid actuators.

公开(公告)号：US20150297364A1

公开(公告)日：2015-10-22

申请号：US14428058

申请日：2013-09-17

Applicant: VANDERBILT UNIVERSITY

Inventor： Michael GOLDFARB ,  Amanda Huff Shultz ,  Brian E. Lawson ,  Jason E. Mitchell ,  Don Truex

IPC: A61F2/66 ,  G05B15/02 ,  A61F2/70

CPC classification number: A61F2/6607 ,  A61F2/66 ,  A61F2/68 ,  A61F2/70 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/5072 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  G05B15/02

Abstract: Described herein are systems and methods for a powered ankle/foot prosthesis and controller that utilizes piecewise emulated passive impedances to provide for walking at various cadences and on various slopes and for ground slope adaptive standing. A powered prosthesis using these systems and methods is capable of emulating any physical behavior provided by the healthy joint, and additionally describes a control system that utilizes the sensing and actuation system on the prosthesis to provide appropriate ankle joint impedances. Further, the control system incorporates a finite-state-based structure, and within each state, emulates the behavior of the healthy joint with strictly passive impedance functions.

Abstract translation: 这里描述了用于动力踝/脚假肢和控制器的系统和方法，其利用分段模拟被动阻抗来提供在各种节奏和各种斜坡上的行走以及用于地面坡度适应性站立。 使用这些系统和方法的动力假体能够模拟由健康关节提供的任何物理行为，并且还描述了利用假体上的感测和致动系统来提供适当的踝关节阻抗的控制系统。 此外，控制系统结合了基于有限状态的结构，并且在每个状态中，模拟具有严格被动阻抗功能的健康关节的行为。