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1. 发明申请

WO2018165399A1 DEVICES FOR THE SUPPORT AND BALANCE OF HUMAN EXOSKELETONS 审中-公开
公开(公告)号：WO2018165399A1
公开(公告)日：2018-09-13
申请号：PCT/US2018/021498
申请日：2018-03-08
申请人： EKSO BIONICS, INC.
发明人： AMUNDSON, Kurt , PREUSS, Adam , SWEENEY, Matt
IPC分类号： A45F3/00 , A45F3/04 , A45F3/14 , A61G7/10 , A61H3/00 , B25J9/00 , F16M13/04
CPC分类号： B25J9/0006 , A45F3/04 , A45F3/14 , A61H3/008 , A61H2201/1652 , B25H1/0035 , F16M11/40 , F16M13/04 , F16M2200/063 , F16M2200/068
摘要： An exoskeleton (501, 701) includes a body harness (505, 703, 704) to attach the exoskeleton (501, 701) to a person (500, 700). In one embodiment, the exoskeleton (501, 701) also includes a tool-holding arm (502) to support a tool (519) and a leg (509) to transfer the weight of the tool (519) and the tool-holding arm (502) to a support surface (518). The leg (509) is non-anthropomorphic. In another embodiment, the exoskeleton (501, 701) further includes an overhead gantry (712), which slides along an overhead guide and support (713), and an elastic support (708) connected to the overhead gantry (712). The elastic support (708) partially suspends the person (500, 700) from the overhead gantry (712) through the exoskeleton (501, 701).

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

WO2014113456A1 INTERFACE FOR ADJUSTING THE MOTION OF A POWERED ORTHOTIC DEVICE THROUGH EXTERNALLY APPLIED FORCES 审中-公开
标题翻译：用于调整通过外部应力的动力装置运动的界面
公开(公告)号：WO2014113456A1
公开(公告)日：2014-07-24
申请号：PCT/US2014/011653
申请日：2014-01-15
申请人： EKSO BIONICS, INC.
发明人： AMUNDSON, Kurt , HARDING, Nathan , STRYKER, James
IPC分类号： A61H3/00
CPC分类号： A61H1/0214 , A61F2/70 , A61H1/024 , A61H1/0244 , A61H3/00 , A61H2003/007 , A61H2201/164 , A61H2201/165 , A61H2201/5007 , A61H2201/5025 , A61H2201/5061 , A61H2201/5069
摘要： A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.
摘要翻译：下肢矫形器包括至少一个构造成控制穿着矫形器的人的至少一个关节的运动的致动器，该手柄包括力传感器，该力传感器被配置为产生表示施加到手柄的力的信号。与力传感器和至少一个致动器连通的控制器被配置为基于来自力传感器的信号来修改运动。该系统可以特别用于使物理治疗师能够在人的康复期间输入控制和修改由下肢矫形器规定的位置和/或力量。

4. 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).

5. 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。

6. 发明申请

WO2016168463A8 METHODS OF EXOSKELETON COMMUNICATION AND CONTROL 审中-公开
公开(公告)号：WO2016168463A8
公开(公告)日：2016-10-20
申请号：PCT/US2016/027536
申请日：2016-04-14
申请人： EKSO BIONICS, INC.
发明人： SANDLER, Reuben , STRAUSSER, Katherine , FIEDLER, Mark , AMUNDSON, Kurt , BROWN, Dan , SMITH, Renata , SWEENEY, Matthew, D. , ANGOLD, Russdon , MCCAFFREY, Niel , EDMONDS, Duane , MEADOWS, Chris , JONES, Jared , METTLER, Kelly
IPC分类号： A61H3/00 , G08C17/02
摘要： A first exoskeleton is in communication with a central server (210) or a peripheral device (705, 706). The first exoskeleton collects first data and transmits the first data to the central server (210) or peripheral device (705, 706). The central server (210) or peripheral device (705, 706) generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

7. 发明申请

WO2014159577A1 MACHINE TO HUMAN INTERFACES FOR COMMUNICATION FROM A LOWER EXTREMITY ORTHOTIC 审中-公开
标题翻译：机器人与人之间的沟通从一个更低的极端正义
公开(公告)号：WO2014159577A1
公开(公告)日：2014-10-02
申请号：PCT/US2014/024244
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 (100; 204; 304; 404; 504; 602; 702; 802; 902; 1002) includes a control system (120; 205; 305; 405; 505; 603; 703; 803; 903; 1003; 1010) which incorporates a feedback system used to establish and communicate orthosis operational information to a physical therapist (202, 302, 402) and/or to an exoskeleton user (109; 201; 301; 401; 501; 601; 701; 801; 901; 1001). The feedback system can take various forms, including employing sensors (704; 804; 1004; 1010) to establish a feedback ready value and communicating the value through one or more light sources (206; 306; 503; 608) 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; 1002）包括控制系统（120; 205; 305; 405; 505; 603; 703; 803; 903; 其包括用于建立和传播矫形器操作信息到物理治疗师（202,302,402）和/或外骨骼用户（109; 201; 301; 401; 501; 601; 701; 801; 901; 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）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，该光源可以处于关闭状态接近外骨骼关节的关节。

8. 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 ）。

9. 发明申请

WO2014159608A1 NON-ANTHROPOMORPHIC HIP JOINT LOCATIONS FOR EXOSKELETONS 审中-公开
标题翻译：非特异性臀部联合位置
公开(公告)号：WO2014159608A1
公开(公告)日：2014-10-02
申请号：PCT/US2014/024403
申请日：2014-03-12
申请人： EKSO BIONICS, INC.
发明人： GARRETT, Scott , MOORE, Robert , SWIFT, Tim , AMUNDSON, Kurt , ANGOLD, Russdon
IPC分类号： A61H3/00
CPC分类号： B25J9/0006 , A61F5/0102 , A61H1/024 , A61H1/0244 , A61H3/00 , A61H2201/0192 , B25J9/1633 , B25J17/00 , Y10S901/01
摘要： An exoskeleton device (103; 113; 302; 402) provides for selectively adjusting an exoskeleton hip pivot/pivot position (109; 119; 306; 407; 408; 410) in the sagittal plane relative to the position of the hip pivot (133) of a wearer (101; 111; 301; 401) of the exoskeleton (103; 113; 302; 402). The exoskeleton hip pivots/pivot positions (109; 119; 306; 407; 408; 410) can be shifted forward or rearward relative to the hip pivots (133) of the wearer (101; 111; 301; 401) and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer (101; 111; 301; 401). The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.
摘要翻译：外骨骼装置（103; 113; 302; 402）提供相对于髋部枢轴（133）的位置选择性地调整矢状面中的外骨骼髋关节枢转/枢转位置（109; 119; 306; 407; 408; 410））所述外骨骼（103; 113; 302; 402）的佩戴者（101; 111; 301; 401）。外骨骼髋关节枢轴/枢转位置（109; 119; 306; 407; 408; 410）可以相对于穿着者（101; 111; 301; 401）的髋部枢轴（133）向前或向后移动，并且可以是由外骨骼控制系统自动启动或由外骨骼佩戴者（101; 111; 301; 401）手动调整。本发明特别地允许差分髋部放置以补偿变化的负载或致动条件。

10. 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。

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