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    POWERED-ON PASSIVE KNEE PROSTHESIS SYSTEM
    1.
    发明公开
    POWERED-ON PASSIVE KNEE PROSTHESIS SYSTEM 审中-公开

    公开(公告)号：US20230270571A1

    公开(公告)日：2023-08-31

    申请号：US18173983

    申请日：2023-02-24

    Applicant: Vanderbilt University

    Inventor： Michael Goldfarb ,  Steven C. Culver ,  Leo G. Vailati

    IPC: A61F2/64

    CPC classification number: A61F2/64 ,  A61F2002/607

    Abstract: A knee prosthesis system including a knee prosthesis, an actuator and a controlling unit. The knee prosthesis includes a thigh segment and a shank segment. The actuator rotatably connects the shank segment and the thigh segment. The actuator is configured to controllably assume a powered knee behavior to generate knee motion or a passive knee behavior to resist knee motion. The controlling unit includes a finite-state control structure. The controlling unit electrically communicates with the actuator. The control structure includes at least three passive states and at least one powered state. The passive states include a passive stance-resistance state, a swing-flexion state, and a swing-extension state and the at least one powered state includes at least one of a swing-assistance state, a stance-assistance state, and a powered-swing state.

    Multichannel biphasic signal generator circuit
    3.
    发明授权
    Multichannel biphasic signal generator circuit 有权

    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.

    Spool and body architectures for three-position directional control valves
    5.
    发明授权
    Spool and body architectures for three-position directional control valves 有权

    公开(公告)号：US09803758B2

    公开(公告)日：2017-10-31

    申请号：US14758302

    申请日：2013-12-31

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael Goldfarb ,  Jason Mitchell

    IPC: F15B13/04 ,  F16K11/07 ,  F16K31/06

    CPC classification number: F16K11/07 ,  F15B13/0402 ,  F15B2013/0412 ,  F16K31/0613

    Abstract: A directional-control valve is typically comprised of a valve spool that slides linearly within a valve body. The valve body typically includes five internal ports, which are covered or exposed as the spool slides within the body. The typical five-internal-port architecture precludes certain combinations of port connectivity when the spool is in the center position. For example, when the spool is in the center position, providing connectivity between the actuator ports, while simultaneously providing fluid isolation of the supply and exhaust ports, is not directly achievable with a standard five-port architecture. This application describes three embodiments that enable the aforementioned port connectivity when the spool is in the center position.

    JOINTED MECHANICAL DEVICES
    6.
    发明申请
    JOINTED MECHANICAL DEVICES 审中-公开
    接合机械装置

    公开(公告)号：US20160166409A1

    公开(公告)日：2016-06-16

    申请号：US15049826

    申请日：2016-02-22

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael Goldfarb ,  Skyler Dalley ,  Huseyin Atakan Varol ,  Tuomas Wiste

    IPC: A61F2/58 ,  A61F2/72

    CPC classification number: A61F2/586 ,  A61F2/583 ,  A61F2/68 ,  A61F2/72 ,  A61F2002/587 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7615 ,  Y10T74/20317 ,  Y10T74/20329

    Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

    Abstract translation: 提供了一种接合的机械装置。 该装置包括具有固定端和可偏转端的至少一个元件。 该装置还包括至少一个致动结构，其具有联接到元件的至少可偏转端部的第一端，其中致动结构包括与至少一个非弹性元件串联的至少一个弹性元件。 该装置还包括至少一个力致动器，该致动器构造成将致动器力施加到致动结构的第二端。 另外，该装置包括用于根据至少一个致动输入，致动器力的量和由力致动器产生的位移量来调节力致动器的操作的控制系统。

    MOVEMENT ASSISTANCE DEVICE
    7.
    发明申请
    MOVEMENT ASSISTANCE DEVICE 有权
    运动辅助装置

    公开(公告)号：US20150142130A1

    公开(公告)日：2015-05-21

    申请号：US14408094

    申请日：2013-06-17

    Applicant: VANDERBILT UNIVERSITY

    Inventor： Michael Goldfarb ,  Spencer Murray

    IPC: B25J9/00 ,  A61F2/72

    CPC classification number: B25J9/0006 ,  A61F2/72 ,  A61H1/024 ,  A61H1/0244 ,  A61H3/00 ,  A61H2201/1215 ,  A61H2201/163 ,  A61H2201/1642 ,  A61H2201/1676 ,  A61H2201/5002 ,  A61H2201/5007 ,  A61H2201/5061 ,  A61H2201/5069 ,  Y10S901/28

    Abstract: Methods for the control of an exoskeleton comprising at least one powered joint associated with lower limbs of a user and control systems therefrom are provided. A method includes estimating a configuration of a body of the user associated with the exoskeleton with respect to a gravity vector and computing a first control torque for the at least one powered joint that at least partially compensates gravitational dynamics of the user based on the configuration. The method further includes calculating a gravitational energy gradient for the at least one powered joint, attenuating the first control torque based at least on the gravitational energy gradient to yield a second control torque, and applying a final control torque at the at least one powered joint, the final control torque based, at least in part, on the second control torque.

    Abstract translation: 提供了用于控制外骨骼的方法，所述外骨骼包括与用户的下肢相关联的至少一个动力接头及其控制系统。 一种方法包括相对于重力矢量估计与外骨骼相关联的使用者身体的构型，并且计算至少一个动力关节的第一控制扭矩，所述第一控制扭矩基于该构造至少部分地补偿用户的重力动力学。 该方法还包括计算至少一个动力接头的重力能梯度，至少基于重力能梯度来衰减第一控制扭矩以产生第二控制扭矩，以及在至少一个动力接头处施加最终控制扭矩 ，所述最终控制扭矩至少部分地基于所述第二控制扭矩。

    UPPER EXTREMITY ASSISTANCE DEVICE
    8.
    发明申请
    UPPER EXTREMITY ASSISTANCE DEVICE 有权

    公开(公告)号：US20240398600A1

    公开(公告)日：2024-12-05

    申请号：US18798996

    申请日：2024-08-09

    Applicant: Vanderbilt University

    Inventor： Michael Goldfarb ,  Benjamin William Gasser ,  Daniel Alvin Bennett

    IPC: A61F5/01

    Abstract: In one embodiment, the orthotic device can include a powered hand portion, a switching element, and a controller. The wearer can interact with the switching element to generate input signals for adjusting an operation of the powered hand portion. The controller can receive the input signals and generate control signals to accordingly adjust the operation of the powered hand portion. In some embodiments, a powered hand portion can be comprised of a plurality of linkages and at least one powered actuator to assist with an opening and closing of the hand portion. The plurality of linkages can be operated by at least one electric motor with quick-connect elements to link onto fingers of a user. In some embodiments, an electrically-actuated clutch mechanism can be affixed to an upper arm section and a lower arm section of an orthotic device. The clutch mechanism can be configured into different positions.

    Upper extremity assistance device
    9.
    发明授权
    Upper extremity assistance device 有权

    公开(公告)号：US12070407B2

    公开(公告)日：2024-08-27

    申请号：US18060029

    申请日：2022-11-30

    Applicant: Vanderbilt University

    Inventor： Michael Goldfarb ,  Benjamin William Gasser ,  Daniel Alvin Bennett

    IPC: A61F5/01

    CPC classification number: A61F5/013 ,  A61F2005/0134 ,  A61F2005/0151 ,  A61F2005/0155 ,  A61F2005/0158

    Abstract: In one embodiment, the orthotic device can include a powered hand portion, a switching element, and a controller. The wearer can interact with the switching element to generate input signals for adjusting an operation of the powered hand portion. The controller can receive the input signals and generate control signals to accordingly adjust the operation of the powered hand portion. In some embodiments, a powered hand portion can be comprised of a plurality of linkages and at least one powered actuator to assist with an opening and closing of the hand portion. The plurality of linkages can be operated by at least one electric motor with quick-connect elements to link onto fingers of a user. In some embodiments, an electrically-actuated clutch mechanism can be affixed to an upper arm section and a lower arm section of an orthotic device. The clutch mechanism can be configured into different positions.

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