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1. 发明申请

US20080200994A1 Detector and Stimulator for Feedback in a Prosthesis 审中-公开
标题翻译：假体反馈检测器和刺激器
公开(公告)号：US20080200994A1
公开(公告)日：2008-08-21
申请号：US11677564
申请日：2007-02-21
申请人： J. Edward Colgate , Julio Santos-Munne , Keehoon Kim , Alex Makhlin , Michael Peshkin , Doug Schwandt
发明人： J. Edward Colgate , Julio Santos-Munne , Keehoon Kim , Alex Makhlin , Michael Peshkin , Doug Schwandt
IPC分类号： A61F2/00
CPC分类号： A61F2/68 , A61F2/54 , A61F2/586 , A61F2/72 , A61F2002/5059 , A61F2002/5061 , A61F2002/5063 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/7665
摘要： An apparatus and method for conveying sensory information from a distal location on a prosthetic limb, to a proximal location on the body of the wearer. The apparatus comprises a detector for mounting in a prosthesis and a stimulator for engaging the skin of the prosthesis wearer. Tactile, haptic and other information including surface-normal force, shear force, vibration, and/or temperature are sensed, conveyed, processed, and displayed, such that the wearer of the prosthetic has improved sensation and awareness from distal parts of a prosthetic, such as a fingertip.
摘要翻译：一种用于将感觉信息从假肢的远端位置传送到佩戴者身体上的近端位置的装置和方法。该装置包括用于安装在假体中的检测器和用于接合假体佩戴者的皮肤的刺激器。感觉，传送，处理和显示包括表面法向力，剪切力，振动和/或温度的触觉，触觉和其他信息，使得假肢的佩戴者改善了来自假肢的远端部分的感觉和意识，如指尖。

2. 发明授权

US07544172B2 Walking and balance exercise device 有权
标题翻译：行走和平衡运动装置
公开(公告)号：US07544172B2
公开(公告)日：2009-06-09
申请号：US10879604
申请日：2004-06-29
申请人： Julio Santos-Munne , Alex Makhlin , Ela Lewis , Michael Peshkin , David A. Brown , J. Edward Colgate , James L. Patton , Benjamin L. Rush , Doug Schwandt
发明人： Julio Santos-Munne , Alex Makhlin , Ela Lewis , Michael Peshkin , David A. Brown , J. Edward Colgate , James L. Patton , Benjamin L. Rush , Doug Schwandt
IPC分类号： A61H1/00
CPC分类号： A61H3/008 , A61H1/0292 , A61H3/00 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0157 , A61H2201/1215 , A61H2201/149 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/163 , A61H2201/1642 , A61H2201/1664 , A61H2201/1671 , A61H2201/5007 , A61H2201/5058 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2230/62 , A61H2230/625
摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s). Wheel modules are independently powered to both rotate and steer, and, responsive to the control unit, are capable of rolling the exercise device in a direction of travel intended by the patient.
摘要翻译：骨盆支撑单元通过动力垂直力致动器机构联接到基座。独立于骨盆支撑单元固定在患者身上的躯干支撑单元通过一个或多个动力关节连接到基座上，这些关节可绕各自的运动轴线致动。传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。轮模块独立地被驱动以转动和转向，并且响应于控制单元能够沿着患者意图的行进方向滚动锻炼装置。

3. 发明申请

US20090275867A1 WALKING AND BALANCE EXERCISE DEVICE 有权
标题翻译：跑步和平衡锻炼装置
公开(公告)号：US20090275867A1
公开(公告)日：2009-11-05
申请号：US12481222
申请日：2009-06-09
申请人： Julio SANTOS-MUNNE , Alex Makhlin , Ela Lewis , Michael Peshkin , David A. Brown , J. Edward Colgate , James L. Patton , Benjamin L. Rush , Doug Schwandt
发明人： Julio SANTOS-MUNNE , Alex Makhlin , Ela Lewis , Michael Peshkin , David A. Brown , J. Edward Colgate , James L. Patton , Benjamin L. Rush , Doug Schwandt
IPC分类号： A61H1/00
CPC分类号： A61H3/008 , A61H1/0292 , A61H3/00 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0157 , A61H2201/1215 , A61H2201/149 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/163 , A61H2201/1642 , A61H2201/1664 , A61H2201/1671 , A61H2201/5007 , A61H2201/5058 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2230/62 , A61H2230/625
摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s).
摘要翻译：骨盆支撑单元通过动力垂直力致动器机构联接到基座。独立于骨盆支撑单元固定在患者身上的躯体支撑单元通过一个或多个动力关节连接到基座，该关节可围绕各自的运动轴线致动。传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。

4. 发明授权

US07803125B2 Walking and balance exercise device 有权
标题翻译：行走和平衡运动装置
公开(公告)号：US07803125B2
公开(公告)日：2010-09-28
申请号：US12481222
申请日：2009-06-09
申请人： Julio Santos-Munne , Alex Makhlin , Ela Lewis , Michael Peshkin , David A. Brown , J. Edward Colgate , James L. Patton , Benjamin L. Rush , Doug Schwandt
发明人： Julio Santos-Munne , Alex Makhlin , Ela Lewis , Michael Peshkin , David A. Brown , J. Edward Colgate , James L. Patton , Benjamin L. Rush , Doug Schwandt
IPC分类号： A61H1/00
CPC分类号： A61H3/008 , A61H1/0292 , A61H3/00 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0157 , A61H2201/1215 , A61H2201/149 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/163 , A61H2201/1642 , A61H2201/1664 , A61H2201/1671 , A61H2201/5007 , A61H2201/5058 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2230/62 , A61H2230/625
摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s).
摘要翻译：骨盆支撑单元通过动力垂直力致动器机构联接到基座。独立于骨盆支撑单元固定在患者身上的躯体支撑单元通过一个或多个动力关节连接到基座，该关节可围绕各自的运动轴线致动。传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。

5. 发明申请

US20050288157A1 Walking and balance exercise device 有权
标题翻译：行走和平衡运动装置
公开(公告)号：US20050288157A1
公开(公告)日：2005-12-29
申请号：US10879604
申请日：2004-06-29
申请人： Julio Santos-Munne , Alex Makhlin , Ela Lewis , Michael Peshkin , David Brown , J. Colgate , James Patton , Benjamin Rush , Doug Schwandt
发明人： Julio Santos-Munne , Alex Makhlin , Ela Lewis , Michael Peshkin , David Brown , J. Colgate , James Patton , Benjamin Rush , Doug Schwandt
IPC分类号： A61H3/00 , A61H3/04
CPC分类号： A61H3/008 , A61H1/0292 , A61H3/00 , A61H3/04 , A61H2003/043 , A61H2003/046 , A61H2201/0157 , A61H2201/1215 , A61H2201/149 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/163 , A61H2201/1642 , A61H2201/1664 , A61H2201/1671 , A61H2201/5007 , A61H2201/5058 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2230/62 , A61H2230/625
摘要： A pelvic support unit is coupled to a base by a powered vertical force actuator mechanism. A torso support unit, which is affixed to the patient independently of the pelvic support unit, is connected to the base by one or more powered articulations which are actuable around respective axes of motion. Sensors sense the linear and angular displacement of the pelvic support unit and the torso support unit. A control unit is coupled to these sensors and, responsive to signals from them, selectively control the displacement actuator and articulation(s). Wheel modules are independently powered to both rotate and steer, and, responsive to the control unit, are capable of rolling the exercise device in a direction of travel intended by the patient.
摘要翻译：骨盆支撑单元通过动力垂直力致动器机构联接到基座。独立于骨盆支撑单元固定在患者身上的躯体支撑单元通过一个或多个动力关节连接到基座，该关节可围绕各自的运动轴线致动。传感器感测骨盆支撑单元和躯干支撑单元的线性和角位移。控制单元耦合到这些传感器，并且响应于来自它们的信号选择性地控制位移致动器和关节。轮模块独立地被驱动以转动和转向，并且响应于控制单元能够沿着患者意图的行进方向滚动锻炼装置。

6. 发明授权

US08251863B2 Continuously variable transmission with multiple outputs 有权
标题翻译：具有多个输出的连续可变传动
公开(公告)号：US08251863B2
公开(公告)日：2012-08-28
申请号：US11849953
申请日：2007-09-04
申请人： Eric L. Faulring , Thomas Moyer , Julio Santos-Munne , Alexander Makhlin , J. Edward Colgate , Michael Peshkin
发明人： Eric L. Faulring , Thomas Moyer , Julio Santos-Munne , Alexander Makhlin , J. Edward Colgate , Michael Peshkin
IPC分类号： F16H15/40
CPC分类号： F16H15/40 , Y10T74/20305
摘要： A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.
摘要翻译：传动装置或致动器提供多个旋转输出，速度与公共旋转输入速度成比例，每个输出根据其自身的比例。这些比率在正值和负值之间连续变化，包括零，并且可以在计算机控制下由机电致动器改变。传输在计算机控制下将输出速度相互关联，从而使传输输出与运动学连接的多维工作空间中建立虚拟表面和其他触觉效果成为可能。这样的工作空间的一个例子是机器人或假肢的手。

7. 发明申请

US20080081728A1 Continuously Variable Transmission with Mutliple Outputs 有权
标题翻译：具有多个输出的连续变量传输
公开(公告)号：US20080081728A1
公开(公告)日：2008-04-03
申请号：US11849953
申请日：2007-09-04
申请人： Eric Faulring , Thomas Moyer , Julio Santos-Munne , Alexander Makhlin , J. Colgate , Michael Peshkin
发明人： Eric Faulring , Thomas Moyer , Julio Santos-Munne , Alexander Makhlin , J. Colgate , Michael Peshkin
IPC分类号： F16H15/00
CPC分类号： F16H15/40 , Y10T74/20305
摘要： A transmission or actuator offering multiple rotational outputs proportionate in speed to that of a common rotational input, each output according to its own ratio. The ratios are continuously variable between positive and negative values, including zero, and may be varied by electromechanical actuators under computer control. The transmission relates the output speeds one to another under computer control, and thus makes possible the establishment of virtual surfaces and other haptic effects in a multidimensional workspace to which the transmission outputs are kinematically linked. An example of such a workspace is that of a robotic or prosthetic hand.
摘要翻译：传动装置或致动器提供多个旋转输出，速度与公共旋转输入速度成比例，每个输出根据其自身的比例。这些比率在正值和负值之间连续变化，包括零，并且可以在计算机控制下由机电致动器改变。传输在计算机控制下将输出速度相互关联，从而使传输输出与运动学连接的多维工作空间中建立虚拟表面和其他触觉效果成为可能。这样的工作空间的一个例子是机器人或假肢的手。

8. 发明申请

US20120326999A1 TOUCH INTERFACE DEVICE AND METHOD FOR APPLYING LATERAL FORCES ON A HUMAN APPENDAGE 有权
标题翻译：接触式接口装置和方法，用于在人体附属物上施加横向力
公开(公告)号：US20120326999A1
公开(公告)日：2012-12-27
申请号：US13528024
申请日：2012-06-20
申请人： J. Edward Colgate , Michael Peshkin , Xiaowei Dai , John Ware , Nicholas Marchuk
发明人： J. Edward Colgate , Michael Peshkin , Xiaowei Dai , John Ware , Nicholas Marchuk
IPC分类号： G06F3/041
CPC分类号： G06F3/016 , G06F1/1643 , G06F3/041
摘要： A touch interface device includes a touch surface configured to be engaged by an object, first and second actuator assemblies operably connected to the touch surface, and a controller operably connected with the first and second actuator assemblies. The first actuator assembly displaces the touch surface in one or more lateral directions along the touch surface at a first frequency. The second actuator assembly displaces the touch surface in an angled direction that is one of at least obliquely or perpendicularly angled to the touch surface at a second frequency. The controller operates the first and second actuator assemblies so that the touch surface varies in engagement with the object to impart a force on the object that is along the touch surface.
摘要翻译：触摸界面装置包括构造成被物体接合的触摸表面，可操作地连接到触摸表面的第一和第二致动器组件以及与第一和第二致动器组件可操作地连接的控制器。第一致动器组件沿着触摸表面以一个或多个横向方向以第一频率移动触摸表面。第二致动器组件以与第二频率至少倾斜或垂直成角度的倾斜方向的倾斜方向移动触摸表面。控制器操作第一和第二致动器组件，使得触摸表面与物体接合而变化，以对沿着触摸表面的物体施加力。

9. 发明授权

US06241462B1 Method and apparatus for a high-performance hoist 有权
标题翻译：高性能起重机的方法和装置
公开(公告)号：US06241462B1
公开(公告)日：2001-06-05
申请号：US09357205
申请日：1999-07-20
申请人： Witaya Wannasuphoprasit , J. Edward Colgate , Dave Meer , Michael Peshkin
发明人： Witaya Wannasuphoprasit , J. Edward Colgate , Dave Meer , Michael Peshkin
IPC分类号： B66D148
CPC分类号： B66D3/18 , B66D3/22
摘要： A mechanical apparatus and method for a high performance hoist for raising and lowering a load, and control apparatus and method for controlling the hoist such that its operation is responsive and intuitive for a human operator. The mechanical apparatus provides a reel for winding a cable, a ball-screw for translating the reel, and an encoder on the reel with which the height of the payload may be monitored. Also disclosed is an operator's handle comprising a movable sleeve with a damper as well as a spring to return it to its null position. The control apparatus and method provides for a handle-nulling mode in which the payload height is servo-controlled to follow the displacement of the operator's hand grasping the handle. The control apparatus further provides a float-mode in which the payload height is responsive to the operator's forces applied directly to the payload. Further, a payload mass estimation system is provided such that the mass of the payload can be determined without waiting for a period of time to allow the payload to settle. In addition, a mode-switching algorithm for transparent switching among different control modes is also disclosed.
摘要翻译：一种用于提升和降低负载的高性能起重机的机械装置和方法，以及用于控制起重机的控制装置和方法，使得其操作对于操作者来说是响应和直观的。机械设备提供用于卷绕电缆的卷轴，用于平移卷轴的滚珠丝杠和卷轴上的编码器，可以利用该编码器监视有效载荷的高度。还公开了一种操作者手柄，其包括具有阻尼器的可移动套筒以及将其返回到其零位置的弹簧。控制装置和方法提供了一种手柄归零模式，其中有效负载高度被伺服控制，以跟随操作者握住手柄的手的位移。控制装置还提供浮动模式，其中有效负载高度响应于直接施加到有效载荷上的操作者的力。此外，提供有效负载质量估计系统，使得能够确定有效载荷的质量而不等待一段时间以允许有效载荷沉降。此外，还公开了用于不同控制模式之间的透明切换的模式切换算法。

10. 发明申请

US20080007517A9 Electrical damping system 审中-公开
标题翻译：电阻尼系统
公开(公告)号：US20080007517A9
公开(公告)日：2008-01-10
申请号：US11359105
申请日：2006-02-22
申请人： Michael Peshkin , J. Colgate , Joshua Mehling , David Weir
发明人： Michael Peshkin , J. Colgate , Joshua Mehling , David Weir
IPC分类号： G09G5/00
CPC分类号： G06F3/016
摘要： An electrical damping system provides damping over a wide range of frequencies including high frequencies. The system includes a resistance in parallel with an electric motor or series connected resistance and capacitance in parallel with the electric motor. In another embodiment, an electrical damping system is provided for a motor having a delta or wye motor winding configuration.
摘要翻译：电阻尼系统在宽频率范围内提供阻尼，包括高频。该系统包括与电动机并联的电阻或与电动机并联的串联电阻和电容。在另一个实施例中，为具有三角形或双轴电动机绕组配置的电动机提供电阻尼系统。

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