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31. 发明申请

US20170049587A1 MODEL-BASED NEUROMECHANICAL CONTROLLER FOR A ROBOTIC LEG 审中-公开
标题翻译：基于模型的机器人神经元控制器
公开(公告)号：US20170049587A1
公开(公告)日：2017-02-23
申请号：US15342661
申请日：2016-11-03
申请人： Massachusetts Institute of Technology
发明人： Hugh M. Herr , Hartmut Geyer , Michael Frederick Eilenberg
IPC分类号： A61F2/68 , A61F2/64 , G06F19/00 , A61F2/66
CPC分类号： A61F2/68 , A61F2/605 , A61F2/64 , A61F2/66 , A61F5/0123 , A61F5/0127 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/741 , A61F2002/745 , A61F2002/747 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2005/0155 , B25J9/0006 , B25J9/1075 , B25J9/1633 , G06F19/00 , G16H50/50
摘要： A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.
摘要翻译：用于具有至少一个关节的机器人肢体的基于模型的神经机械控制器包括有限状态机，其被配置为接收与所述机器人肢体的状态相关的反馈数据并且确定所述机器人肢体的状态，所述肌肉模型处理器被配置为接收来自有限状态机的状态信息，以及使用肌肉几何和反射架构信息和神经肌肉模型来确定要发送到机器人肢体的至少一个期望的关节扭矩或刚度命令;以及联合命令处理器，其被配置为命令仿生模拟在机器人肢体关节处由肌肉模型处理器确定的扭矩和刚度。反馈数据优选地由安装在机器人肢体的每个关节处的至少一个传感器提供。在优选实施例中，机器人肢体是腿部，并且有限状态机器与腿部步态周期同步。

32. 发明授权

US09351857B2 Method and apparatus for joint motion simulation 有权
标题翻译：联合运动模拟方法与装置
公开(公告)号：US09351857B2
公开(公告)日：2016-05-31
申请号：US13295610
申请日：2011-11-14
申请人： Forest J. Carignan , Bruce F. White
发明人： Forest J. Carignan , Bruce F. White
IPC分类号： A61F2/76 , B25J17/02 , A61F2/68 , A61F2/46 , G09B23/32 , A61F2/70 , A61F2/74 , A61F2/38
CPC分类号： A61F2/76 , A61F2/38 , A61F2/468 , A61F2/68 , A61F2002/701 , A61F2002/704 , A61F2002/741 , B25J17/0266 , G09B23/32 , Y10T74/20207 , Y10T74/20348
摘要： A joint motion simulator to simulate biomechanical motion includes a mount to which a prosthetic device is mounted, actuators coupled to the mount to drive the mount, and a programmable controller to drive the actuators to translate the mount and to rotate the mount with a center of rotation controllable independent of translation. The simulator can include a linear actuator to translate the mount in a linear direction substantially parallel to the axis of rotation. The linear actuator can include a piston within a sleeve, the piston being coupled to the mount and being hydraulically driven to translate the mount, and the actuators can be coupled to the sleeve. The controller may be programmed to vary the center of rotation with linear translation and rotation of the mount. Sensors may be included that measure displacement of the actuators. The controller may drive the actuators based on the measured displacement.
摘要翻译：用于模拟生物力学运动的关节运动模拟器包括安装有假体装置的安装座，联接到安装件以驱动安装件的致动器，以及可编程控制器，用于驱动致动器平移安装件并使安装件以旋转可控独立的翻译。模拟器可以包括线性致动器，以平行于旋转轴线的直线方向平移底座。线性致动器可以包括在套筒内的活塞，活塞联接到安装件并且被液压驱动以平移安装件，并且致动器可以联接到套筒。控制器可以被编程以通过安装座的线性平移和旋转来改变旋转中心。可以包括测量致动器的位移的传感器。控制器可以基于测量的位移来驱动致动器。

33. 发明申请

US20160051381A1 DORSI-PLANTAR PROSTHETIC ANKLE MODULE 有权
公开(公告)号：US20160051381A1
公开(公告)日：2016-02-25
申请号：US14830102
申请日：2015-08-19
申请人： Össur hf
发明人： Sigurdur Ásgeirsson , David Landry , Sigurdur Olafsson , Grímur Jónsson , Arinbjörn V. Clausen , Gudni Ingimarsson
IPC分类号： A61F2/66 , A61F2/68
CPC分类号： A61F2/6607 , A61F2/66 , A61F2/68 , A61F2002/5003 , A61F2002/5006 , A61F2002/5018 , A61F2002/5035 , A61F2002/5073 , A61F2002/6664 , A61F2002/6854 , A61F2002/6863 , A61F2002/701 , A61F2002/704 , A61F2002/707 , A61F2002/741 , A61F2002/745 , A61F2002/748
摘要： An ankle module for a prosthetic foot can have an adapter portion pivotally coupled to a base portion. The base portion can be coupled to the prosthetic foot. The adapter portion can have a coupling member that removably couples the prosthetic foot to a prosthetic pylon or socket. The adapter portion can also have cylinders housing pistons slidably displaceable within the cylinders. An actuator is selectively actuatable to place the cylinders in fluid communication, allowing a fluid to flow between the cylinders as an angular position of the adapter portion is adjusted relative to the base portion, thereby adjusting the dorsi-plantar position between the adapter portion and the base portion of the ankle module. The actuator can be selectively actuatable to fluidly isolate the cylinders from each other so that the angular position of the adapter portion relative to the base portion remains substantially fixed.

34. 发明申请

US20150320574A1 PROSTHETIC WITH VOICE COIL VALVE 审中-公开
标题翻译：与声音线圈阀有关
公开(公告)号：US20150320574A1
公开(公告)日：2015-11-12
申请号：US14707957
申请日：2015-05-08
申请人： Freedom Innovations, LLC
发明人： Wilson Steele , Michael Palmer , Stephen Prince , Charlie Bisbee , Henry Hsu
IPC分类号： A61F2/68
CPC分类号： A61F2/68 , A61F2/64 , A61F2002/5003 , A61F2002/5006 , A61F2002/5033 , A61F2002/5035 , A61F2002/74 , A61F2002/741 , A61F2002/744 , A61F2002/745 , A61F2002/748 , A61F2002/7635
摘要： A prosthetic includes a pair of prosthetic members movably coupled together to allow movement of the pair of prosthetic members with respect to one another. A hydraulic actuator or damper including hydraulic fluid in a hydraulic chamber is coupled to one of the pair of prosthetic members. A hydraulic piston is movably disposed in the hydraulic chamber and coupled to another of the pair of prosthetic members. A hydraulic flow channel is fluidly coupled between opposite sides of the chamber to allow hydraulic fluid to move between the opposite sides of the chamber as the hydraulic piston moves therein. A voice coil valve is coupled to the hydraulic flow channel to vary resistance to flow of hydraulic fluid through the flow channel, and thus movement of the piston in the chamber, and thus influencing a rate of movement of the pair of prosthetic members with respect to one another.
摘要翻译：假体包括可移动地联接在一起以允许所述一对假肢构件相对于彼此运动的一对假肢构件。包括液压室中的液压流体的液压致动器或阻尼器联接到所述一对假肢构件中的一个。液压活塞可移动地设置在液压室中并联接到该对假肢构件中的另一个。液压流道在腔室的相对侧之间流体耦合，以允许液压流体在液压活塞在其中移动时在腔室的相对侧之间移动。音圈阀联接到液压流动通道以改变通过流动通道的液压流体的阻力，从而改变活塞在腔室中的运动，并因此影响该对假肢构件相对于另一个。

35. 发明授权

US09161847B2 Orthopedic device comprising a joint 有权
标题翻译：包括关节的矫形装置
公开(公告)号：US09161847B2
公开(公告)日：2015-10-20
申请号：US12993786
申请日：2009-05-19
申请人： Philipp Kampas , Roland Pawlik
发明人： Philipp Kampas , Roland Pawlik
IPC分类号： A61F2/64 , A61F2/68 , A61F2/50 , A61F2/76 , A61F2/70 , A61F2/74
CPC分类号： A61F2/68 , A61F2/64 , A61F2002/5006 , A61F2002/6854 , A61F2002/689 , A61F2002/704 , A61F2002/707 , A61F2002/741 , A61F2002/745 , A61F2002/748 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/7645 , A61F2002/765 , A61F2002/769
摘要： The application relates to an orthopedic device comprising a joint and to a method for controlling an orthopedic device, which has an upper part (1) and a lower part (2) supported pivotally thereon, wherein upper connecting means for fixation onto a limb are disposed on the upper part (1), and a locking device (3), which prevents a bending motion of the upper part (1) relative to the lower part (2), wherein the locking device (3) is configured such that it can be actively actuated by the user of the orthopedic device, wherein a control device (9) is associated with the locking device (3), the control device being attached to the device with at least one sensor (6, 7, 8) and automatically unlocking or locking the locking device (3) as a function of the sensor signal.
摘要翻译：本申请涉及一种包括关节的矫形装置和一种用于控制整形外科装置的方法，该矫形装置具有可枢转地支撑在其上的上部（1）和下部（2），其中用于固定在肢体上的上连接装置在上部（1）和锁定装置（3）上，其防止上部（1）相对于下部（2）的弯曲运动，其中锁定装置（3）构造成使得其可以由矫形装置的使用者主动致动，其中控制装置（9）与所述锁定装置（3）相关联，所述控制装置通过至少一个传感器（6,7,8）附接到所述装置并且自动地根据传感器信号解锁或锁定锁定装置（3）。

36. 发明申请

US20150289995A1 ROBOTIC EXOSKELETON MULTI-MODAL CONTROL SYSTEM 有权
标题翻译：机器人EXOSKELETON多模式控制系统
公开(公告)号：US20150289995A1
公开(公告)日：2015-10-15
申请号：US14452851
申请日：2014-08-06
申请人： HARRIS CORPORATION
发明人： Loran J. Wilkinson , Paul M. Bosscher , Matthew D. Summer
IPC分类号： A61F2/60
CPC分类号： A61F2/60 , A61F2/68 , A61F2/70 , A61F2002/5081 , A61F2002/701 , A61F2002/741 , A61F2002/745 , B25J9/0006 , B25J19/0091 , Y02P90/265 , Y10S901/49
摘要： System and method for operating a robotic exoskeleton involves using a control system (107) to monitor an output one or more electrical activity sensors (202) disposed on a human operator. The control system determines if an output of the electrical activity sensors corresponds to a predetermined neural or neuromuscular condition of the user. Based on the determining step, the control system automatically chooses an operating mode from among a plurality of different operating modes. The operating mode selected determines the response the control system will have to control inputs from the human operator.
摘要翻译：用于操作机器人外骨骼的系统和方法涉及使用控制系统（107）来监测输出设置在人操作者上的一个或多个电活动传感器（202）。控制系统确定电活动传感器的输出是否对应于用户的预定神经或神经肌肉状况。基于确定步骤，控制系统从多个不同的操作模式中自动选择操作模式。所选择的操作模式确定控制系统将必须控制来自人类操作员的输入的响应。

37. 发明申请

US20150265436A1 VACUUM PUMP SYSTEMS FOR PROSTHETIC LIMBS AND METHODS OF USING THE SAME 有权
标题翻译：真空泵的真空泵系统及其使用方法
公开(公告)号：US20150265436A1
公开(公告)日：2015-09-24
申请号：US14730816
申请日：2015-06-04
申请人： Ryan J. Caldwell , Andrew H. Hansen , Sean M. Wood , Wei Chen , Regan A. Radcliffe , Kevin A. Yngve , Bennett E. Kuhar , Andrew J. Nelson , Eric Nickel
发明人： Ryan J. Caldwell , Andrew H. Hansen , Sean M. Wood , Wei Chen , Regan A. Radcliffe , Kevin A. Yngve , Bennett E. Kuhar , Andrew J. Nelson , Eric Nickel
IPC分类号： A61F2/80 , A61F2/70
CPC分类号： A61F2/80 , A61F2/60 , A61F2/68 , A61F2/70 , A61F2002/501 , A61F2002/5073 , A61F2002/607 , A61F2002/608 , A61F2002/6809 , A61F2002/689 , A61F2002/704 , A61F2002/741 , A61F2002/742 , A61F2002/747 , A61F2002/7655 , A61F2002/802
摘要： Pump systems for use in suspension of a prosthetic device from a residual limb and methods of suspending a prosthetic device from a residual limb are disclosed. The pump systems include a mechanically activated pump having a first compression member coupled to a second compression member, a compressible bladder disposed between the first and second compression members, and coupling elements that engage and couple together the first and second compression members. The mechanically activated pump may be connected with an electrically activated pump within a fluid circuit of a hybrid pump system to provide vacuum engagement between a prosthetic device and a residual limb.
摘要翻译：公开了用于从肢体悬挂假体装置的泵系统和从残肢悬挂假肢装置的方法。泵系统包括机械活动的泵，其具有联接到第二压缩构件的第一压缩构件，设置在第一和第二压缩构件之间的可压缩气囊，以及接合并联接在一起的第一和第二压缩构件的联接元件。机械激活的泵可以与混合泵系统的流体回路内的电活动泵连接，以在假肢装置和残肢之间提供真空接合。

38. 发明授权

US08920519B2 Multiple grasp prosthetic terminal device 有权
标题翻译：多把握假肢终端设备
公开(公告)号：US08920519B2
公开(公告)日：2014-12-30
申请号：US13756664
申请日：2013-02-01
申请人： The Johns Hopkins University
发明人： Matthew S. Johannes , Robert S. Armiger , Jonathan Kuniholm
IPC分类号： A61F2/58 , A61F2/72 , A61F2/74
CPC分类号： A61F2/585 , A61F2/583 , A61F2/586 , A61F2/72 , A61F2002/587 , A61F2002/741
摘要： A prosthetic terminal device includes a wrist interface portion, a passive element and an active element. The passive element includes at least two finger-like projections extending from a base in a direction substantially away from the wrist interface portion. The passive element is fixed in relation to the wrist interface portion. The active element is configured to be positioned relative to the passive element and the wrist interface portion to achieve a plurality of grasp positions of the prosthetic terminal device based on one dimension of closure control of the active element in combination with a plurality of different fixable orientation positions of the active element. Each of the different fixable orientation positions is associated with at least one grasp position and at least one of the fixable orientation positions is associated with at least two grasp positions.
摘要翻译：假体终端装置包括手腕接口部分，无源元件和有源元件。无源元件包括从大致远离腕部接口部分的方向从基部延伸的至少两个指状突起。无源元件相对于手腕接口部分固定。有源元件被配置为相对于无源元件和腕部接口部分定位，以基于有源元件的闭合控制的一个维度来结合多个不同的可定向取向来实现假肢终端装置的多个把持位置有源元件的位置。每个不同的可固定取向位置与至少一个抓握位置相关联，并且至少一个可固定取向位置与至少两个抓握位置相关联。

39. 发明申请

US20140330393A1 Quasi-Active Prosthetic Joint System 有权
标题翻译：准活动假体关节系统
公开(公告)号：US20140330393A1
公开(公告)日：2014-11-06
申请号：US14269103
申请日：2014-05-03
申请人： SpringActive, Inc.
发明人： Jeffrey A. Ward , Robert Holgate , Kevin Hollander
IPC分类号： A61F2/66
CPC分类号： A61F2/68 , A61F2/66 , A61F2/6607 , A61F2002/5003 , A61F2002/5018 , A61F2002/502 , A61F2002/5021 , A61F2002/503 , A61F2002/5075 , A61F2002/6614 , A61F2002/6664 , A61F2002/6845 , A61F2002/6854 , A61F2002/701 , A61F2002/704 , A61F2002/74 , A61F2002/741 , A61F2002/748 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , Y10T29/49826
摘要： A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity.The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.
摘要翻译：假体关节装置包括脚部和在第一关节处可枢转地联接到脚部的主体。第一柔顺构件联接到主体和脚部。第一离合器联接到第一顺应构件。致动器联接到第一离合器以锁定和解锁第一离合器并使第一顺应构件接合和分离。控制系统耦合到致动器以基于步态活动来控制致动器。第一离合器被锁定以接合第一顺应构件。第二柔顺构件联接到主体和脚部。传感器联接到假肢关节装置以测量假体关节装置的物理状态。基于假肢关节装置的物理状态对第一顺应性构件的接合和分离进行定时。

40. 发明授权

US08870967B2 Artificial joints using agonist-antagonist actuators 有权
标题翻译：使用激动剂 - 拮抗剂致动器的人造关节
公开(公告)号：US08870967B2
公开(公告)日：2014-10-28
申请号：US12608627
申请日：2009-10-29
申请人： Hugh M. Herr , Lee Harris Magnusson , Ken Endo
发明人： Hugh M. Herr , Lee Harris Magnusson , Ken Endo
IPC分类号： A61F2/70 , A61F2/64 , A61F2/66 , A61F5/00 , A61F2/60 , A61F2/68 , B62D57/032 , B25J19/00 , A61F2/50 , A61F2/76 , A61F2/72 , A61F2/74
CPC分类号： A61F2/64 , A61F2/60 , A61F2/605 , A61F2/6607 , A61F2/68 , A61F2/72 , A61F2002/5003 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6657 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/741 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要： Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.
摘要翻译：像生物肢体和关节一样表现的人造四肢和关节采用合成执行器，当施加零力时消耗能量可忽略的功率，当输出恒定长度（等距）的力时消耗可忽略的功率，并且在执行耗散的非保守性工作时，能够独立地接合屈曲延伸腱状串联弹簧能够独立地改变关节位置和刚度，并且利用系列弹性进行机械功率放大。

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