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1. 发明申请

WO2014035984A3 HYDRAULIC ACTUATOR SYSTEM 审中-公开
公开(公告)号：WO2014035984A3
公开(公告)日：2014-03-06
申请号：PCT/US2013/056832
申请日：2013-08-27
申请人： EKSO BIONICS, INC.
发明人： AMUNDSON, Kurt , ANGOLD, Russ , SCHEINMAN, David , SWIFT, Tim , NORBOE, Daniel, P. , MOORE, Robert , BEARD, Jonathan , EDELBERG, Kyle
IPC分类号： B25J9/14
摘要： The invention is directed to controlling a hydraulic actuation system (50) having at least one degree of freedom, a prime mover (101), at least one actuation module (110, 120, 130) and a controller (103), with each actuation module (110, 120, 130) including: an over-center variable displacement pump (112 and 113; 601; 801) having a power input connection configured to power the pump from the prime mover (101) and a displacement varying input for varying the displacement of the pump; a displacement varying actuator (111, 121, 131) configured to modulate the displacement varying input of the pump; an output actuator (115) in direct communication with the pump, the output actuator (115) configured to drive a corresponding degree of freedom; and at least one sensor (116, 126) establishing a feedback measurement that represents a force or motion of the output actuator (115).

2. 发明申请

WO2017075462A1 HUMAN EXOSKELETON DEVICES FOR HEAVY TOOL SUPPORT AND USE 审中-公开
标题翻译：用于重型工具支撑和使用的人体骨架装置
公开(公告)号：WO2017075462A1
公开(公告)日：2017-05-04
申请号：PCT/US2016/059482
申请日：2016-10-28
申请人： EKSO BIONICS, INC.
发明人： ANGOLD, Russ , AMUNDSON, Kurt , PRUESS, Adam , SOLANO, Mario , SWEENEY, Matt , MEADOWS, Chris , FLEMING, Nicholas , MASTALER, Tom , LUBIN, James
IPC分类号： B25J9/00 , B25J9/16 , A61F2/60 , A61F5/37
CPC分类号： A45F3/08 , A45F2003/045 , A45F2003/144 , A45F2003/146 , A45F2200/0575 , B25F5/00 , B25J9/0006 , H01M2/1022 , H01M2220/30
摘要： An exoskeleton (101, 901) includes strapping (102, 902) for coupling the exoskeleton (101, 901) to a wearer (100, 900). The exoskeleton (101, 901 ) also includes a hip structure (108, 908), a thigh link (113, 913) rotatably connected to the hip structure (108, 908) and a shank link (115, 915) rotatably connected to the thigh link (113, 913). The weight of the exoskeleton (101, 901) is transferred to a surface (1 18, 918) on which the exoskeleton (101, 901) is standing through the hip structure (108, 908), the thigh link (113, 913) and the shank link (115, 915). An arm brace (922) supports an arm (923) of the wearer (100, 900), and a telescopic link (910) is rotatably connected to the arm brace (922). An energy storage device (123) delivers power to a tool (103, 903) through a conduit (121), and a conduit-energy storage device coupling (122) connects the conduit (121) to the energy storage device (123).
摘要翻译：外骨骼（101,901）包括用于将外骨骼（101,901）连接到穿用者（100,900）上的带（102,902）。所述外骨骼（101,901）还包括可旋转地连接到所述髋结构（108,908）的髋结构（108,908），大腿连接件（113,913）和可旋转地连接到所述髋结构（108,908）的小腿连接件（115,915）大腿连接（113,913）。外骨骼（101,901）的重量通过髋部结构（108,908），大腿连接部（113,913）被传递到外骨骼（101,901）所处的表面（118,918）和小腿连杆（115,915）。臂支架（922）支撑穿戴者（100,900）的臂（923），并且伸缩连杆（910）可旋转地连接到臂支架（922）。能量存储装置（123）通过导管（121）将能量传送到工具（103,903），导管 - 能量存储装置联接器（122）将导管（121）连接到能量存储装置（123）。

3. 发明申请

WO2017044093A1 SYSTEMS AND METHODS FOR CREATING CUSTOM-FIT EXOSKELETONS 审中-公开
标题翻译：用于创建自定义EXOSKELETON的系统和方法
公开(公告)号：WO2017044093A1
公开(公告)日：2017-03-16
申请号：PCT/US2015/049169
申请日：2015-09-09
申请人： EKSO BIONICS, INC.
发明人： ANGOLD, Russ , PREUSS, Adam , FLEMING, Nicholas , AMUNDSON, Kurt
IPC分类号： A61F5/00
CPC分类号： A61F5/01 , A61B5/0064 , A61B5/1079 , A61H1/0255 , A61H3/00 , A61H3/02 , A61H99/00 , A61H2003/007 , A61H2201/1207 , A61H2201/1604 , A61H2201/1609 , A61H2201/1614 , A61H2201/1619 , A61H2201/1623 , A61H2201/1628 , A61H2201/1635 , A61H2201/164 , A61H2201/1645 , A61H2201/165 , A61H2201/1676 , A61H2201/169 , A61H2201/5007 , A61H2201/5092 , B33Y10/00 , B33Y30/00 , B33Y80/00 , F41H1/02 , G01B11/24 , G06T17/00
摘要： A three-dimensional surface scan of an exoskeleton wearer (130) is performed to generate three-dimensional surface data, and a three-dimensional surface model of the exoskeleton wearer (130) is generated from the three-dimensional surface scan data. A three- dimensional exoskeleton model is generated from the three-dimensional surface model. At least one three-dimensional exoskeleton component is printed from the three-dimensional exoskeleton model, and a custom-fit exoskeleton is assembled using the at least one three-dimensional exoskeleton component.
摘要翻译：执行外骨骼佩戴者（130）的三维表面扫描以产生三维表面数据，并且从三维表面扫描数据生成外骨骼佩戴者（130）的三维表面模型。从三维表面模型生成三维外骨骼模型。从三维外骨骼模型印刷至少一个三维外骨骼成分，并使用该至少一个三维外骨骼成分组装定制外骨骼。

4. 发明申请

WO2017161257A1 DEVICE AND METHOD FOR STRENGTHENING THE ARMS OF HUAMAN EXOSKELETONS 审中-公开
标题翻译：装置和方法加强华人外骨骼的武器
公开(公告)号：WO2017161257A1
公开(公告)日：2017-09-21
申请号：PCT/US2017/022949
申请日：2017-03-17
申请人： EKSO BIONICS, INC.
发明人： ANGOLD, Russ , FLEMING, Nicholas , ROCGERS, Emily , JAEGER, Brett , PARETICH, Chris
IPC分类号： A45F3/08 , B25J9/00
摘要： An exoskeleton (251) includes an arm brace (230) coupled to an arm (200) of a wearer (250) and a tensile member (257, 258) connected to the arm brace (230). An actuator (285) exerts a pulling force on the tensile member (257, 258). The pulling force reduces a length of the tensile member (257, 258) between the arm brace (230) and the actuator (285) and causes the arm (200) of the wearer (250) to bend at an elbow (202).
摘要翻译：外骨骼（251）包括耦合到佩戴者（250）的臂（200）的臂支架（230）和连接到臂支架（230）的拉伸构件（257,258）。致动器（285）在拉伸构件（257,258）上施加拉力。拉力减小臂支架（230）和致动器（285）之间的拉伸构件（257,258）的长度，并且使得佩戴者（250）的臂（200）在弯头（202）处弯曲。

5. 发明申请

WO2016036963A1 EXOSKELETON DEVICE AND METHOD OF IMPEDING RELATIVE MOVEMENT IN THE EXOSKELETON DEVICE 审中-公开
标题翻译： EXOSKELETON设备和在EXOSKELETON设备中阻止相对运动的方法
公开(公告)号：WO2016036963A1
公开(公告)日：2016-03-10
申请号：PCT/US2015/048377
申请日：2015-09-03
申请人： EKSO BIONICS, INC.
发明人： ANGOLD, Russ , AMUNDSON, Kurt
IPC分类号： A61F2/60 , A61F2/64 , A61F2/68
CPC分类号： A61F5/0102 , A61F5/0123 , A61F2005/0158 , A61F2005/0167
摘要： An exoskeleton device (210) includes a first brace (215) coupled to a first portion (120) of a wearer (100) of the exoskeleton device (210) and a second brace (220) coupled to a second portion (125) of the wearer (100). A first joint (225) connects the first and second braces (215, 220) and allows relative movement between the first and second braces (215, 220). A first brake (230, 235) is controllable between an unactuated state and a plurality of actuated states, and the first brake (230, 235) impedes relative movement between the first and second braces (215, 220) at the first joint (225) while the first brake (230, 235) is in one of the plurality of actuated states. A manual actuator (245, 250) is selectively used by the wearer during relative movement between the first and second braces (215, 220). Use of the actuator (245, 250) causes the first brake (230, 235) to enter one of the plurality of actuated states such that relative movement between the first and second braces (215, 220) is impeded at the first joint (225).
摘要翻译：外骨骼装置（210）包括联接到外骨骼装置（210）的穿着者（100）的第一部分（120）的第一支撑件（215）和联接到外骨骼装置的第二部分（125）的第二支架佩戴者（100）。第一接头（225）连接第一和第二支架（215,220）并允许第一和第二支架（215,220）之间的相对运动。第一制动器（230,235）在未致动状态和多个致动状态之间是可控制的，并且第一制动器（230,235）阻止第一关节（225）处的第一和第二支架（215,220）之间的相对运动），同时第一制动器（230,235）处于多个致动状态之一。在第一和第二支架（215,220）之间的相对移动期间，手动致动器（245,250）由穿着者选择性地使用。致动器（245,250）的使用导致第一制动器（230,235）进入多个致动状态之一，使得第一和第二支架（215,220）之间的相对运动在第一关节（225 ）。

6. 发明申请

WO2017161257A8 DEVICE AND METHOD FOR STRENGTHENING THE ARMS OF HUAMAN EXOSKELETONS 审中-公开
公开(公告)号：WO2017161257A8
公开(公告)日：2017-09-21
申请号：PCT/US2017/022949
申请日：2017-03-17
申请人： EKSO BIONICS, INC.
发明人： ANGOLD, Russ , FLEMING, Nicholas , ROGERS, Emily , JAEGER, Brett , PARETICH, Chris
IPC分类号： A45F3/08 , B25J9/00
摘要： An exoskeleton (251) includes an arm brace (230) coupled to an arm (200) of a wearer (250) and a tensile member (257, 258) connected to the arm brace (230). An actuator (285) exerts a pulling force on the tensile member (257, 258). The pulling force reduces a length of the tensile member (257, 258) between the arm brace (230) and the actuator (285) and causes the arm (200) of the wearer (250) to bend at an elbow (202).

7. 发明申请

WO2017127683A1 CONTROL MECHANISMS AND METHODS OF TOOL-HOLDING ARM FOR EXOSKELETONS 审中-公开
标题翻译：用于外骨骼的控制机构和方法
公开(公告)号：WO2017127683A1
公开(公告)日：2017-07-27
申请号：PCT/US2017/014342
申请日：2017-01-20
申请人： EKSO BIONICS, INC.
发明人： PRUESS, Adam , MEADOWS, Chris , AMUNDSON, Kurt , ANGOLD, Russ , LUBIN, James , SOLANO, Mario , MASTALER, Tom , FLEMING, Nicholas , SWEENEY, Matt
IPC分类号： B65G9/00
CPC分类号： B25J9/0006 , B25J19/0012 , B25J19/0016 , B65G7/12 , B65G47/91
摘要： A tool-holding arm (405, 505) includes a plurality of links (409, 410, 509, 510) and a tool coupling (406, 506) that removably secures a tool (403, 430, 503) to the tool-holding arm (405, 505). A first fluid spring (445, 533, 536) provides a gravity-counteracting force to the tool- holding arm (405, 505). A locking mechanism (422, 450, 552) selectively locks the first fluid spring (445, 533, 536). An adjustment mechanism (520, 550) selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring (445, 533, 536).
摘要翻译：工具保持臂（405,505）包括多个连杆（409,410,509,510）和工具连接件（406,506），工具连接件可拆卸地固定工具（403,430 ，503）到工具夹持臂（405,505）。第一流体弹簧（445,533,536）向工具保持臂（405,505）提供重力反作用力。锁定机构（422,450,552）选择性地锁定第一流体弹簧（445,533,536）。调节机构（520,550）选择性地调节第一流体弹簧（445,533,536）提供的重力反作用力的量。

8. 发明公开

EP3188695A1 EXOSKELETON DEVICE AND METHOD OF IMPEDING RELATIVE MOVEMENT IN THE EXOSKELETON DEVICE 审中-公开
标题翻译： EXOSKELETON装置和阻碍EXOSKELETON装置中相对运动的方法
公开(公告)号：EP3188695A1
公开(公告)日：2017-07-12
申请号：EP15837574.1
申请日：2015-09-03
申请人： Ekso Bionics, Inc.
发明人： ANGOLD, Russ , AMUNDSON, Kurt
IPC分类号： A61F2/60 , A61F2/64 , A61F2/68
CPC分类号： A61F5/0102 , A61F5/0123 , A61F2005/0158 , A61F2005/0167
摘要： An exoskeleton device includes a first brace coupled to a first portion of a wearer of the exoskeleton device and a second brace coupled to a second portion of the wearer. A first joint connects the first and second braces and allows relative movement between the first and second braces. A first brake is controllable between an unactuated state and a plurality of actuated states, and the first brake impedes relative movement between the first and second braces at the first joint while the first brake is in one of the plurality of actuated states. A manual actuator is selectively used by the wearer during relative movement between the first and second braces. Use of the actuator causes the first brake to enter one of the plurality of actuated states such that relative movement between the first and second braces is impeded at the first joint.
摘要翻译：外骨骼装置（210）包括耦合到外骨骼装置（210）的佩戴者（100）的第一部分（120）的第一支架（215）和耦合到外骨骼装置（210）的第二部分（125）的第二支架（220）佩戴者（100）。第一接头（225）连接第一支架和第二支架（215,220）并且允许第一支架和第二支架（215,220）之间的相对运动。第一制动器（230,235）可在未致动状态和多个致动状态之间控制，并且第一制动器（230,235）阻止第一支撑件（225,220）在第一接头（225,220）处的第一支撑件），同时第一制动器（230,235）处于多个致动状态之一。在第一支架和第二支架（215,220）之间的相对运动期间，佩戴者选择性地使用手动致动器（245,250）。致动器（245,250）的使用致使第一制动器（230,235）进入多个致动状态中的一个，使得第一支架（215,220）之间的相对运动在第一接头（225,250）处被阻止）。

9. 发明公开

EP2888083A2 HYDRAULIC ACTUATOR SYSTEM 有权
标题翻译：液压传动装置系统
公开(公告)号：EP2888083A2
公开(公告)日：2015-07-01
申请号：EP13833152.5
申请日：2013-08-27
申请人： Ekso Bionics, Inc.
发明人： AMUNDSON, Kurt , ANGOLD, Russ , SCHEINMAN, David , SWIFT, Tim , NORBOE, Daniel, P. , MOORE, Robert , BEARD, Jonathan , EDELBERG, Kyle
IPC分类号： B25J9/14
CPC分类号： F15B11/04 , A61H1/024 , A61H1/0244 , A61H1/0262 , A61H3/00 , A61H2201/1238 , A61H2201/1246 , A61H2201/1409 , A61H2201/1614 , A61H2201/1628 , A61H2201/164 , A61H2201/165 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5071 , A61H2201/5079 , A61H2201/5092 , F04C14/22 , F15B7/006 , F15B11/028 , F15B15/08 , F15B2211/205 , F15B2211/20515 , F15B2211/20546 , F15B2211/20561 , F15B2211/20576 , F15B2211/27 , F15B2211/6651 , F15B2211/6652 , F15B2211/6654 , F15B2211/71
摘要： The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.

10. 发明授权

EP3421188B1 EXOSKELETON AND METHOD OF PROVIDING AN ASSISTIVE TORQUE TO AN ARM OF A WEARER 有权
公开(公告)号：EP3421188B1
公开(公告)日：2020-05-13
申请号：EP18188086.5
申请日：2016-12-21
申请人： Ekso Bionics, Inc.
发明人： ANGOLD, Russ , LUBIN, James , SOLANO, Mario , PARETICH, Chris , MASTALER, Tom
IPC分类号： B25J9/00 , A61H1/02 , B25J9/10

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