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1. 发明申请

US20190015284A1 ORTHOTIC DEVICE DRIVE SYSTEM AND METHOD 审中-公开
公开(公告)号：US20190015284A1
公开(公告)日：2019-01-17
申请号：US15893493
申请日：2018-02-09
申请人： Robert W. HORST , Richard R. MARCUS
发明人： Robert W. HORST , Richard R. MARCUS
IPC分类号： A61H1/02 , F16H19/06 , A61F5/01 , A61H3/00
摘要： An orthosis includes a first portion and a second portion configured to attach on opposite sides of a joint. An actuator is configured to apply a force between the first and second portions. The actuator includes a first spool and a second spool rotatably mounted to the first portion. An output pulley is mounted to the second portion. A belt has a first end wrapped around the first spool, a second end wrapped around the second spool, and a mid-portion wrapped around the output pulley. The actuator is configured to rotate the first and second spools. The rotation of the first spool pulls the belt a given length, and the rotation of the second spool feeds the belt less than the given length, so as to pull the output pulley towards the first portion to pull the second portion towards the first portion.

2. 发明申请

US20130261511A1 THERAPY AND MOBILITY ASSISTANCE SYSTEM 审中-公开
标题翻译：治疗和移动辅助系统
公开(公告)号：US20130261511A1
公开(公告)日：2013-10-03
申请号：US13907490
申请日：2013-05-31
申请人： Jonathan A. SMITH , Edith Merle ARNOLD , Kern BHUGRA , Robert W. HORST , Richard R. MARCUS
发明人： Jonathan A. SMITH , Edith Merle ARNOLD , Kern BHUGRA , Robert W. HORST , Richard R. MARCUS
IPC分类号： A61H1/00
CPC分类号： A61H1/00 , A61H1/024
摘要： A therapy and mobility assistance system used by a patient that includes a leg device worn on the leg of the patient that provides assistance and/or resistance to enhance the mobility of the leg of the patient, a therapy shuttle that facilitates therapeutic extension and flexion of at least one of the joints of the leg of the patient, and an appendage fastener that selectively couples the therapy shuttle and the leg device. The therapy and mobility assistance system may additionally include a guide track that constrains motion of the therapy shuttle along a path.
摘要翻译：一种患者使用的治疗和移动辅助系统，其包括佩戴在患者腿部上的腿部装置，其提供帮助和/或阻力以增强患者腿部的移动性，促进治疗性延伸和屈曲的治疗穿梭器患者腿部的关节中的至少一个以及选择性地联接治疗穿梭器和腿部装置的附属紧固件。治疗和移动辅助系统可以另外包括限制沿着路径的治疗梭的运动的导轨。

3. 发明授权

US07648436B2 Rotary actuator 有权
标题翻译：旋转执行机构
公开(公告)号：US07648436B2
公开(公告)日：2010-01-19
申请号：US11649403
申请日：2007-01-03
申请人： Robert W. Horst , Richard R. Marcus
发明人： Robert W. Horst , Richard R. Marcus
IPC分类号： F16H7/12 , F16H7/14
CPC分类号： F16H19/06 , F16H19/005
摘要： A technique for providing a variable-ratio coupling between output shaft and input motor involves driving an output shaft with drivers that are out of phase with each other. Advantageously, the technique provides a gear reduction via a simple, high-efficiency mechanism; continuous output torque is provided by alternating the load between two belts deflected by, by way of example but not limitation, cam devices.
摘要翻译：用于在输出轴和输入电动机之间提供可变比率耦合的技术涉及用与彼此不同相的驱动器来驱动输出轴。有利地，该技术通过简单的高效率机构提供齿轮减速; 通过例如但不限于凸轮装置将两个带偏转的带之间的负载交替地提供连续的输出转矩。

4. 发明授权

US07365463B2 High-torque motor 有权
标题翻译：高扭矩电机
公开(公告)号：US07365463B2
公开(公告)日：2008-04-29
申请号：US11033368
申请日：2005-01-10
申请人： Robert W. Horst , Richard R. Marcus
发明人： Robert W. Horst , Richard R. Marcus
IPC分类号： H02K23/60
CPC分类号： H02K99/20
摘要： A motor that delivers high force linear motion or high torque rotary motion to a moving element. The motor may include a driving brake, a driver, a holding brake and a flexible moving element. Operation of the motor may involve activating the holding brake, activating the driver to flex the moving element, activating the holding brake to maintain the position of a portion of the moving element, releasing the driving brake, and restoring the moving element to an unflexed position. The elements are arranged to provide linear motion, belt-driven rotary motion, or directly-coupled rotary motion using brakes and drivers arranged in linear or circular fashion. Drivers may be linear or rotary actuators or motors based on electrostatic, piezoelectric, magnetic, or electrostrictive properties. The brakes may be applied through electrostatic forces, magnetic forces, or mechanical gears engaged with a linear or rotary driving mechanism.
摘要翻译：一种向移动元件提供高力直线运动或高扭矩旋转运动的电机。马达可以包括驱动制动器，驱动器，保持制动器和柔性移动元件。电动机的操作可以包括启动保持制动器，启动驾驶员以弯曲移动元件，启动保持制动器以保持移动元件的一部分的位置，释放驱动制动器，并将移动元件恢复到未弯曲的位置。这些元件被布置成使用以线性或圆形方式布置的制动器和驱动器提供线性运动，皮带驱动的旋转运动或直接耦合的旋转运动。驱动器可以是基于静电，压电，磁性或电致伸缩特性的线性或旋转致动器或电动机。制动器可以通过与线性或旋转驱动机构接合的静电力，磁力或机械齿轮施加。

5. 发明申请

US20080203841A1 HIGH-TORQUE MOTOR 审中-公开
标题翻译：高扭矩电机
公开(公告)号：US20080203841A1
公开(公告)日：2008-08-28
申请号：US12047148
申请日：2008-03-12
申请人： Robert W. Horst , Richard R. Marcus
发明人： Robert W. Horst , Richard R. Marcus
IPC分类号： H02K7/10
CPC分类号： H02K99/20
摘要： A motor that delivers high force linear motion or high torque rotary motion to a moving element. The motor may include a driving brake, a driver, a holding brake and a flexible moving element. Operation of the motor may involve activating the holding brake, activating the driver to flex the moving element, activating the holding brake to maintain the position of a portion of the moving element, releasing the driving brake, and restoring the moving element to an unflexed position. The elements are arranged to provide linear motion, belt-driven rotary motion, or directly-coupled rotary motion using brakes and drivers arranged in linear or circular fashion. Drivers may be linear or rotary actuators or motors based on electrostatic, piezoelectric, magnetic, or electrostrictive properties. The brakes may be applied through electrostatic forces, magnetic forces, or mechanical gears engaged with a linear or rotary driving mechanism.
摘要翻译：一种向移动元件提供高力直线运动或高扭矩旋转运动的电机。马达可以包括驱动制动器，驱动器，保持制动器和柔性移动元件。电动机的操作可以包括启动保持制动器，启动驾驶员以弯曲移动元件，启动保持制动器以保持移动元件的一部分的位置，释放驱动制动器，并将移动元件恢复到未弯曲的位置。这些元件被布置成使用以线性或圆形方式布置的制动器和驱动器提供线性运动，皮带驱动的旋转运动或直接耦合的旋转运动。驱动器可以是基于静电，压电，磁性或电致伸缩特性的线性或旋转致动器或电动机。制动器可以通过与线性或旋转驱动机构接合的静电力，磁力或机械齿轮施加。

6. 发明授权

US07811189B2 Deflector assembly 有权
标题翻译：导向器组装
公开(公告)号：US07811189B2
公开(公告)日：2010-10-12
申请号：US11649690
申请日：2007-01-03
申请人： Robert W. Horst , Richard R. Marcus
发明人： Robert W. Horst , Richard R. Marcus
IPC分类号： B65G43/02 , B65H5/02 , F16H7/18
CPC分类号： F16H19/0659 , F16H19/0672 , Y10T74/1828 , Y10T74/18288 , Y10T74/18296
摘要： A technique for deflecting an actuator belt includes applying a variable deflection force to the actuator belt. The technique may be used to construct actuators for active orthotics, robotics or other applications. Versions with passive clutches may also be used to construct variable-ratio motor gearheads, or may be scaled up to build continuously variable transmissions for automobiles, bicycles, or other vehicles.
摘要翻译：用于偏转致动器带的技术包括向致动器带施加可变的偏转力。该技术可用于构建用于主动矫形器，机器人或其他应用的致动器。具有被动离合器的版本也可用于构造可变比电动机齿轮箱，或者可以按比例扩大以为汽车，自行车或其他车辆构建无级变速器。

7. 发明申请

US20120316475A1 ACTUATOR SYSTEM WITH A MOTOR ASSEMBLY AND LATCH FOR EXTENDING AND FLEXING A JOINT 审中-公开
标题翻译：具有电机组件的执行器系统和用于扩展和弯曲接头的锁定器
公开(公告)号：US20120316475A1
公开(公告)日：2012-12-13
申请号：US13593366
申请日：2012-08-23
申请人： Kern Bhugra , Robert W. Horst , Richard R. Marcus , Jonathan Smith
发明人： Kern Bhugra , Robert W. Horst , Richard R. Marcus , Jonathan Smith
IPC分类号： A61H1/02 , F16H19/02
CPC分类号： H02K7/06 , A61F2/6607 , A61F2/68 , A61F2002/5066 , A61F2002/701 , A61H1/0237 , A61H1/0274 , A61H2201/5061 , A61H2201/5064 , Y10T74/18576
摘要： An actuator system for assisting extension of a biological joint is provided with a motor assembly, a rotary-to-linear mechanism, and an extension stop. The rotary-to-linear mechanism includes a screw that accepts rotational output of the motor assembly, and a nut that cooperates with the screw to convert rotational movement of the screw to linear movement of the nut. The extension stop is driven by linear movement of the nut in an extension direction to cause extension of the biological joint. The motor assembly, the rotary-to-linear mechanism and the extension stop cooperate to allow unpowered flexion of the joint. The system is configured without a flexion stop, and is configured such that the nut cannot drive the joint in a flexion direction. Methods of use are also disclosed.
摘要翻译：用于辅助生物接头延伸的致动器系统设置有电机组件，旋转到线性机构和延伸止动件。旋转到直线机构包括接受马达组件的旋转输出的螺钉和与螺钉配合以将螺杆的旋转运动转换成螺母的线性运动的螺母。延伸止动器由螺母沿延伸方向的线性运动驱动，以使生物接头延伸。电动机组件，旋转到线性机构和延伸止动器配合以允许接头的无动力弯曲。该系统配置为没有弯曲停止，并且构造成使得螺母不能在弯曲方向上驱动关节。还公开了使用方法。

8. 发明申请

US20100204620A1 Therapy and mobility assistance system 审中-公开
标题翻译：治疗和行动辅助系统
公开(公告)号：US20100204620A1
公开(公告)日：2010-08-12
申请号：US12471299
申请日：2009-05-22
申请人： Jonathan A. Smith , Edith Merle Arnold , Kern Bhugra , Robert W. Horst , Richard R. Marcus
发明人： Jonathan A. Smith , Edith Merle Arnold , Kern Bhugra , Robert W. Horst , Richard R. Marcus
IPC分类号： A61H1/02
CPC分类号： A61H1/00 , A61H1/024
摘要： A therapy and mobility assistance system used by a patient that includes a leg device worn on the leg of the patient that provides assistance and/or resistance to enhance the mobility of the leg of the patient, a therapy shuttle that facilitates therapeutic extension and flexion of at least one of the joints of the leg of the patient, and an appendage fastener that selectively couples the therapy shuttle and the leg device. The therapy and mobility assistance system may additionally include a guide track that constrains motion of the therapy shuttle along a path.
摘要翻译：一种患者使用的治疗和移动辅助系统，其包括佩戴在患者腿部上的腿部装置，其提供帮助和/或阻力以增强患者腿部的移动性，促进治疗性延伸和屈曲的治疗穿梭器患者腿部的关节中的至少一个以及选择性地联接治疗穿梭器和腿部装置的附属紧固件。治疗和移动辅助系统可以另外包括限制沿着路径的治疗梭的运动的导轨。

9. 发明申请

US20100038983A1 ACTUATOR SYSTEM WITH A MOTOR ASSEMBLY AND LATCH FOR EXTENDING AND FLEXING A JOINT 有权
标题翻译：具有电动机组件的执行器系统和用于扩展和弯曲接头的锁定器
公开(公告)号：US20100038983A1
公开(公告)日：2010-02-18
申请号：US12363577
申请日：2009-01-30
申请人： Kern Bhugra , Robert W. Horst , Richard R. Marcus , Jonathan Smith
发明人： Kern Bhugra , Robert W. Horst , Richard R. Marcus , Jonathan Smith
IPC分类号： H02K7/06
CPC分类号： H02K7/06 , A61F2/6607 , A61F2/68 , A61F2002/5066 , A61F2002/701 , A61H1/0237 , A61H1/0274 , A61H2201/5061 , A61H2201/5064 , Y10T74/18576
摘要： One of the embodiments of the invention is an actuator system for extending and flexing a joint. The actuator system includes a multi-motor assembly for providing a rotational output, a rotary-to-linear mechanism including a screw that accepts the rotational output of the multi-motor assembly and a nut that cooperates with the screw to convert rotational movement of the screw to linear movement of the nut, and a moving rail with a latch that functions to translate linear movement of the nut in both the extension and flexion directions into an extension and flexion of the joint. The actuator has been specifically designed for extending and flexing a joint (such as an ankle, a knee, an elbow, or a shoulder) of a human. The actuator system may, however, be used to move any suitable object through any suitable movement (linear, rotational, or otherwise).
摘要翻译：本发明的一个实施例是用于延伸和弯曲接头的致动器系统。致动器系统包括用于提供旋转输出的多电动机组件，包括接受多电动机组件的旋转输出的螺杆的旋转到线性机构和与螺杆配合以转换旋转运动的螺母螺钉到螺母的线性运动，以及具有闩锁的运动轨道，其用于将螺母在延伸和弯曲方向上的线性运动转化为接头的伸展和弯曲。致动器专门设计用于伸展和弯曲人体的关节（例如脚踝，膝盖，肘部或肩部）。然而，致动器系统可以用于通过任何合适的运动（线性，旋转或其他方式）移动任何合适的物体。

10. 发明授权

US08274244B2 Actuator system and method for extending a joint 有权
标题翻译：执行器系统和延伸接头的方法
公开(公告)号：US08274244B2
公开(公告)日：2012-09-25
申请号：US12363577
申请日：2009-01-30
申请人： Robert W. Horst , Richard R. Marcus
发明人： Robert W. Horst , Richard R. Marcus
IPC分类号： H02P5/00
CPC分类号： H02K7/06 , A61F2/6607 , A61F2/68 , A61F2002/5066 , A61F2002/701 , A61H1/0237 , A61H1/0274 , A61H2201/5061 , A61H2201/5064 , Y10T74/18576
摘要： An actuator system for assisting extension of a biological joint is provided with a motor assembly, a rotary-to-linear mechanism, and an extension stop. The rotary-to-linear mechanism includes a screw that accepts rotational output of the motor assembly, and a nut that cooperates with the screw to convert rotational movement of the screw to linear movement of the nut. The extension stop is driven by linear movement of the nut in an extension direction to cause extension of the biological joint. The motor assembly, the rotary-to-linear mechanism and the extension stop cooperate to allow unpowered flexion of the joint. The system is configured without a flexion stop, and is configured such that the nut cannot drive the joint in a flexion direction. Methods of use are also disclosed.
摘要翻译：用于辅助生物接头延伸的致动器系统设置有电机组件，旋转到线性机构和延伸止动件。旋转到直线机构包括接受马达组件的旋转输出的螺钉和与螺钉配合以将螺杆的旋转运动转换成螺母的线性运动的螺母。延伸止动器由螺母沿延伸方向的线性运动驱动，以使生物接头延伸。电动机组件，旋转到线性机构和延伸止动器配合以允许接头的无动力弯曲。该系统配置为没有弯曲停止，并且构造成使得螺母不能在弯曲方向上驱动关节。还公开了使用方法。

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