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11. 发明授权

EP2827809B1 HUMAN MACHINE INTERFACE FOR LOWER EXTREMITY ORTHOTICS 有权
标题翻译：人体机器接口，用于降低极端矫形器
公开(公告)号：EP2827809B1
公开(公告)日：2017-09-06
申请号：EP13765059.4
申请日：2013-03-22
申请人： Ekso Bionics, Inc.
发明人： STRAUSSER, Katherine , ZOSS, Adam , STRYKER, James Alexander , AMUNDSON, Kurt Reed
IPC分类号： B25J9/00 , A61B5/11 , A61H1/02 , A61H3/00 , G09B19/00
CPC分类号： A61H3/00 , A61B5/112 , A61B2562/0219 , A61B2562/0223 , A61B2562/0247 , A61H1/0255 , A61H3/02 , A61H2201/1616 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5025 , A61H2201/5028 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , G05B2219/40305 , G09B19/0038

12. 发明公开

EP3119369A1 AMBULATORY EXOSKELETON AND METHOD OF RELOCATING EXOSKELETON 审中-公开
标题翻译： GEHFÄHIGESEXOSKELETT UND VERFAHREN ZUR RELOKATION EINES EXOSKELETTS
公开(公告)号：EP3119369A1
公开(公告)日：2017-01-25
申请号：EP15765102.7
申请日：2015-03-19
申请人： Ekso Bionics, Inc.
发明人： HARDING, Nathan , ZOSS, Adam
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61H1/024 , A61H1/0244 , A61H1/0262 , A61H2201/1635 , A61H2201/165 , A61H2201/5023 , A61H2201/5035 , B62D57/032
摘要： An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an - unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators; of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.
摘要翻译：移动式外骨骼可以以至少两种不同的模式选择性地操作，一种模式构成未使用的外骨骼时使用的未被推进的模式，以及当外骨骼是外骨骼时使用的构成默认或磨损推进模式的另一模式由用户佩戴通过这种安排，希望移动未磨损的外骨骼的物理治疗师或其他操作者可以平衡未磨损的外骨骼，同时利用外骨骼的控制系统和致动器来推进未被磨损的外骨骼。因此，外部骨骼通过操作者使用多种输入装置中的任何一种进行指导，同时操作者通过使用外骨骼的手柄或其他相互作用的表面物理地引导外骨骼来平衡并引导外骨骼而行走。

13. 发明公开

EP3068360A1 MACHINE TO HUMAN INTERFACES FOR COMMUNICATION FROM A LOWER EXTREMITY ORTHOTIC 有权
标题翻译：用于人体接口的机器，用于从更小的正骨进行通信
公开(公告)号：EP3068360A1
公开(公告)日：2016-09-21
申请号：EP14862495.0
申请日：2014-11-12
申请人： Ekso Bionics, Inc.
发明人： AMUNDSON, Kurt , HARDING, Nathan , ANGOLD, Russdon , ZOSS, Adam
IPC分类号： A61H1/02
摘要： A lower extremity orthosis is configured to be coupled to across at least one joint of a person for gait assistance and can incorporate knee, thigh, hip and ankle/foot assistive orthotic devices which can be used in various combinations to aid in the rehabilitation and restoration of muscular function in patients with impaired muscular function or control.
摘要翻译：下肢矫形器被配置为跨越人的至少一个关节耦合以用于步态辅助，并且可以包含膝盖（261），大腿（301; 401），臀部（601; 701）和脚踝/脚（801; 821 ）辅助矫形装置，其可以以各种组合的形式使用，以辅助肌肉功能受损或控制受损患者的肌肉功能的康复和恢复。

14. 发明公开

EP3217942A1 METHODS OF ENHANCING THE REHABILITATION OR TRAINING OF AN EXOSKELETON WEARER 有权
标题翻译：增强外科医生康复或训练的方法
公开(公告)号：EP3217942A1
公开(公告)日：2017-09-20
申请号：EP15858390.6
申请日：2015-11-11
申请人： Ekso Bionics, Inc.
发明人： ZOSS, Adam , MUSICK, Darrell , HARDING, Nathan
IPC分类号： A61H1/02 , A61H3/00 , G05D3/12
CPC分类号： A61H3/00 , A61F2/68 , A61H1/0255 , A61H1/0262 , A61H3/008 , A61H3/02 , A61H2201/1621 , A61H2201/1642 , A61H2201/165 , A61H2201/1652 , A61H2201/501 , A61H2201/5069 , A61H2201/5071 , A61H2201/5084
摘要： Use of an exoskeleton by a wearer of the exoskeleton is improved through several features. In a first feature, the exoskeleton enters a gait therapy preparation mode to prepare the wearer for subsequent gait therapy. In a second feature, the exoskeleton enters a balance training mode to help the wearer learn to balance while wearing the exoskeleton. In a third feature, the exoskeleton prompts the wearer to shift weight and/or automatically shifts the wearer's weight in a center of pressure control mode. In a fourth feature, an element of variability is introduced into trajectory cycles performed by the exoskeleton in a trajectory cycle mode. Overall, the various disclosed operating modes can be used individually or in various combinations to enhance the rehabilitation or training of the wearer.
摘要翻译：通过外骨骼（100）的佩戴者（130）使用外骨骼（100）通过几个特征得以改善。在第一特征中，外骨骼（100）进入步态治疗准备模式以准备穿用者（130）用于随后的步态治疗。在第二特征中，外骨骼（100）进入平衡训练模式以帮助穿着者（130）在穿着外骨骼（100）时学会平衡。在第三特征中，外骨骼（100）促使佩戴者（130）在压力控制模式的中心改变重量和/或自动改变佩戴者的体重。在第四特征中，在轨迹循环模式中将外部变量的元素引入由外骨骼（100）执行的轨迹循环中。总体而言，各种公开的操作模式可以单独使用或以各种组合使用以增强佩戴者（130）的康复或训练。

15. 发明公开

EP2967918A1 GAIT ORTHOTIC SYSTEM AND METHOD FOR ACHIEVING HANDS-FREE STABILITY 审中-公开
标题翻译：矫形课程体系和方法来实现放开手脚稳定性
公开(公告)号：EP2967918A1
公开(公告)日：2016-01-20
申请号：EP14780079.1
申请日：2014-03-11
申请人： Ekso Bionics, Inc.
发明人： SANDLER, Reuben , STRAUSSER, Katherine , ZOSS, Adam , SWIFT, Tim
IPC分类号： A61F2/60 , A61F2/68 , A61F2/76 , A61H3/00 , A61H3/02
CPC分类号： A61H3/02 , A61F5/01 , A61H1/0255 , A61H3/00 , A61H3/0244 , A61H2003/0205 , A61H2201/1623 , A61H2201/164 , A61H2201/165
摘要： A gait orthotic system includes a balance aid (120) and a gait orthotic device (100). The gait orthotic device (120) has a rigid attachment mechanism (125, 130) configured to securely and releasably couple the balance aid (120) to the gait orthotic device (100). When the balance aid (120) is coupled to the gait orthotic device (100), the gait orthotic device (100) is supported in a standing position so that a user of the gait orthotic device (100) is able to use his/her hands freely. When the balance aid (120) is not coupled to the gait orthotic device (100), the user is able to use the balance aid (120) for locomotion. In certain embodiments, the balance aid (120) is a forearm crutch, a walker or a cane, while the rigid attachment mechanism (125, 130) is a clamp with an over-center latch (510).

16. 发明公开

EP2827809A1 HUMAN MACHINE INTERFACE FOR LOWER EXTREMITY ORTHOTICS 有权
标题翻译：曼彻斯特 - 马克思
公开(公告)号：EP2827809A1
公开(公告)日：2015-01-28
申请号：EP13765059.4
申请日：2013-03-22
申请人： Ekso Bionics, Inc.
发明人： STRAUSSER, Katherine , ZOSS, Adam , STRYKER, James Alexander , AMUNDSON, Kurt Reed
IPC分类号： A61F5/00
CPC分类号： A61H3/00 , A61B5/112 , A61B2562/0219 , A61B2562/0223 , A61B2562/0247 , A61H1/0255 , A61H3/02 , A61H2201/1616 , A61H2201/163 , A61H2201/1642 , A61H2201/165 , A61H2201/5007 , A61H2201/5025 , A61H2201/5028 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , G05B2219/40305 , G09B19/0038
摘要： A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a particular application, the orientation of a stance leg is used to determine when the user wants to initiate a step, as well as when the user is in a safe position from which to take a step. The invention has particular applicability for use in enabling a paraplegic user (200) to walk through a controlled operation of a human exoskeleton (100) coupled to the user's lower limbs (205). A controller (220) receives inputs regarding a motion desired by the user (200), determines the desired motion and then controls the movement of the user's legs or limbs (205) through actuation of the exoskeleton (100).
摘要翻译：下肢矫正器控制系统确定用户期望的移动，特别是使用者使用手势或其他信号来传达或表达其对系统的意图，并自动调节动力下肢矫形器部件的顺序操作。在特定应用中，站立腿的方向用于确定用户何时启动步骤，以及用户何时处于安全位置以进行步骤。本发明特别适用于使得截瘫用户能够穿过耦合到使用者的下肢的人外骨骼的受控操作。控制器接收关于用户期望的运动的输入，确定期望的运动，然后通过致动外骨骼来控制使用者的腿或四肢的运动。

17. 发明授权

EP3068360B1 MACHINE TO HUMAN INTERFACES FOR COMMUNICATION FROM A LOWER EXTREMITY ORTHOTIC 有权
公开(公告)号：EP3068360B1
公开(公告)日：2020-07-08
申请号：EP14862495.0
申请日：2014-11-12
申请人： Ekso Bionics, Inc.
发明人： AMUNDSON, Kurt , HARDING, Nathan , ANGOLD, Russdon , ZOSS, Adam
IPC分类号： A61H1/02

18. 发明公开

EP2968052A2 POWERED ORTHOTIC SYSTEM FOR COOPERATIVE OVERGROUND REHABILITATION 有权
标题翻译：动力驱动矫形器的协同关于地下康复
公开(公告)号：EP2968052A2
公开(公告)日：2016-01-20
申请号：EP14774483.3
申请日：2014-03-13
申请人： Ekso Bionics, Inc.
发明人： ZOSS, Adam , SWIFT, Tim , BERG, Alec , STRAUSSER, Katherine , ST. JOHN, Erick, Brendan
IPC分类号： A61H3/00
CPC分类号： A61F2/68 , A61B5/112 , A61B5/1122 , A61B5/4836 , A61B5/4851 , A61B5/6811 , A61F5/01 , A61F5/0102 , A61H1/024 , A61H3/00 , A61H3/008 , A61H2003/007 , A61H2201/165 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069
摘要： A powered orthotic system, such as an exoskeleton (100), is employed for overground rehabilitation purposes by adapting and adjusting to real-time needs in a rehabilitation situation whereby the system can be initially controlled to perform gait functions for a wearer (109) based on a predetermined level of assistance but the predetermined level of assistance can be varied, based on one or more rehabilitation parameters or specific needs of the wearer (109) undergoing therapy, through the application and adjustment of appropriate variables associated with operation of the system.

19. 发明公开

EP2967959A1 MACHINE TO HUMAN INTERFACES FOR COMMUNICATION FROM A LOWER EXTREMITY ORTHOTIC 有权
标题翻译：用于人体接口的机器，用于从更小的正骨进行通信
公开(公告)号：EP2967959A1
公开(公告)日：2016-01-20
申请号：EP14775374.3
申请日：2014-03-12
申请人： Ekso Bionics, Inc.
发明人： SANDLER, Reuben , AMUNDSON, Kurt , STRYKER, James , STRAUSSER, Katherine , ZOSS, Adam , SWIFT, Tim
IPC分类号： A61F5/00
CPC分类号： A61H3/00 , A61B5/1124 , A61B5/4851 , A61B5/6811 , A61B5/7415 , A61B5/742 , A61B5/7455 , A61F5/0102 , A61H2201/5058 , A61H2201/5061 , A61H2201/5094
摘要： An exoskeleton includes a control system which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist and/or to an exoskeleton user. The feedback system can take various forms, including employing sensors to establish a feedback ready value and communicating the value through one or more light sources which can be in close proximity to joints of the exoskeleton joints.
摘要翻译：外骨骼（100; 204; 304; 404; 504; 602; 702; 802; 902; 1002）包括控制系统（120; 205; 305; 405; 505; 603; 703; 803; 903; 1003; 1010）该系统包括用于建立和传达矫形器操作信息给物理治疗师（202,302,402）和/或外骨骼使用者（109; 201; 301; 401; 501; 601; 701; 801; 901; 1001）。反馈系统可以采取各种形式，包括采用传感器（704; 804; 1004; 1010）来建立反馈就绪值并通过一个或多个光源（206; 306; 503; 608）传送该值，该光源可以靠近接近外骨骼关节的关节。

20. 发明公开

EP2931204A1 RECONFIGURABLE EXOSKELETON 有权
标题翻译：可重构外骨骼
公开(公告)号：EP2931204A1
公开(公告)日：2015-10-21
申请号：EP13862294.9
申请日：2013-12-11
申请人： Ekso Bionics, Inc.
发明人： ZOSS, Adam , EVANS, Jonathan , SANDLER, Reuben , HARDING, Nathan , JULIN, Aaron , LUBIN, James , HEANUE, Taylor , FAIRBANKS, Dylan , STRYKER, James
IPC分类号： A61H1/02
CPC分类号： A61H1/024 , A61H1/0244 , A61H1/0266 , A61H3/00 , A61H2201/0107 , A61H2201/165 , A61H2201/50 , A61H2201/5002 , A61H2201/5007 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5084 , B25J9/0006
摘要： An exoskeleton (100; 200) can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints (230; 231; 232; 233; 249) or limbs (112L; 112R) can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated.

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