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1. 发明申请

US20110266323A1 Wearable Material Handling System 有权
标题翻译：可穿戴材料处理系统
公开(公告)号：US20110266323A1
公开(公告)日：2011-11-03
申请号：US13139933
申请日：2009-12-17
申请人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
发明人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
IPC分类号： A45F3/00
CPC分类号： B25J9/0006
摘要： An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
摘要翻译：被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿支撑件。髋扭矩发生器在外骨骼躯干和各支腿支撑之间延伸。优选地，负载保持机构可旋转地联接到外骨骼躯干，所述外骨骼躯干被配置为支撑人的前方的负载。在使用中，髋扭矩发生器在姿态相位之间在外骨骼躯干和相应腿支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干与姿态中的第一和第二腿支撑之一之间产生第一扭矩相对于在外骨骼上产生的由负载的重量产生的第二扭矩。负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。

2. 发明申请

US20130303950A1 Exoskeleton Load Handling System and Method of Use 有权
标题翻译：外骨骼负荷处理系统及使用方法
公开(公告)号：US20130303950A1
公开(公告)日：2013-11-14
申请号：US13639984
申请日：2011-04-08
申请人： Russdon Angold , Adam Zoss , Homayoon Kazerooni , Jon Burns , Kurt Amundson , Nathan Harding
发明人： Russdon Angold , Adam Zoss , Homayoon Kazerooni , Jon Burns , Kurt Amundson , Nathan Harding
IPC分类号： A61H3/00
CPC分类号： A61H3/00 , A61H3/008 , A61H2003/002 , A61H2201/1207 , A61H2201/5023 , A61H2203/0406 , B25J9/0006 , B66D3/18
摘要： An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.
摘要翻译：可配置为耦合到人的外骨骼包括连接到相应髋关节处的第一和第二腿部支撑件的外骨骼躯干，其允许围绕相应髋部轴线的屈曲和伸展。包括辅助物料的配重装置通过致动器连接到外骨骼躯干，使得辅助物质在外骨骼躯干后面的位置延伸。外骨骼通过包括负载移动装置的负载支撑装置支撑前部负载，所述负载移动装置用于选择性地操作动力卷轴机构，以相对于外骨骼躯干提升或降低前部负载。辅助质量可以相对于外骨骼躯干选择性地移动，以平衡由辅助质量围绕髋部轴线产生的力矩以及由承载装置上的负载的向下的力产生的力矩。

3. 发明申请

US20070233279A1 Power generating leg 有权
标题翻译：发电腿
公开(公告)号：US20070233279A1
公开(公告)日：2007-10-04
申请号：US11716135
申请日：2007-03-09
申请人： Homayoon Kazerooni , Adam Zoss , Nathan Harding , Russdon Angold
发明人： Homayoon Kazerooni , Adam Zoss , Nathan Harding , Russdon Angold
IPC分类号： A61F2/70 , A61F2/74 , A61F5/052
CPC分类号： A61F2/68 , A61F2002/608 , A61F2002/701 , A61F2002/704 , A61F2002/708 , A61F2002/741 , A61F2002/745 , A61F2002/748 , A61F2002/7625 , A61F2002/7635 , A61H1/024 , A61H3/00 , A61H3/008 , A61H2201/1215 , A61H2201/1238 , A61H2201/1409 , A61H2201/1623 , A61H2201/1642 , A61H2201/165 , A61H2201/1676
摘要： A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque. When said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.
摘要翻译：可配置为联接到人的下肢的发电腿，包括大腿连杆，柄连杆，膝盖机构，扭矩发生器和动力单元。膝盖机构连接到所述大腿连杆和所述柄连杆，并且构造成允许所述大腿连杆和所述柄连杆相对于彼此的弯曲和伸展运动。扭矩发生器构造成在所述柄连杆和所述大腿连杆之间产生扭矩。动力单元联接到所述扭矩发生器，并且构造成使所述扭矩发生器产生扭矩。当所述动力单元处于动力再生模式时，所述动力单元使所述扭矩发生器产生与所述大腿连杆和所述柄连杆相对于彼此的角速度相对的转矩，并且所述动力单元将一部分相关联的动力其中所述扭矩和所述柄连杆和大腿连杆的所述角速度的乘积相对于彼此成为要被存储在存储装置中的电力的乘积。

4. 发明授权

US08968222B2 Wearable material handling system 有权
标题翻译：可穿戴材料处理系统
公开(公告)号：US08968222B2
公开(公告)日：2015-03-03
申请号：US13139933
申请日：2009-12-17
申请人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
发明人： Homayoon Kazerooni , Nathan Harding , Russdon Angold , Kurt Amundson , Jon William Burns , Adam Zoss
IPC分类号： A61H1/00 , B25J9/00
CPC分类号： B25J9/0006
摘要： An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
摘要翻译：被配置为耦合到人的外骨骼包括适于接触地面的外骨骼躯干和腿支撑件。髋扭矩发生器在外骨骼躯干和各支腿支撑之间延伸。优选地，负载保持机构可旋转地联接到外骨骼躯干，所述外骨骼躯干被配置为支撑人的前方的负载。在使用中，髋扭矩发生器在姿态相位之间在外骨骼躯干和相应腿支撑之间产生扭矩，其中至少一个扭矩发生器构造成在外骨骼躯干与姿态中的第一和第二腿支撑之一之间产生第一扭矩相对于在外骨骼上产生的由负载的重量产生的第二扭矩。负载传感器可用于确定由负载产生的扭矩并与控制器通信以控制扭矩发生器的功率。

5. 发明授权

US08801641B2 Exoskeleton and method for controlling a swing leg of the exoskeleton 有权
标题翻译：用于控制外骨骼摆动腿的外骨骼和方法
公开(公告)号：US08801641B2
公开(公告)日：2014-08-12
申请号：US12922918
申请日：2009-07-23
申请人： Homayoon Kazerooni , Kurt Amundson , Russdon Angold , Nathan Harding
发明人： Homayoon Kazerooni , Kurt Amundson , Russdon Angold , Nathan Harding
IPC分类号： A61H1/02 , A61H3/00 , B25J9/00
CPC分类号： A61H3/008 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2003/002 , A61H2201/0165 , A61H2201/1215 , A61H2201/1238 , A61H2201/1246 , A61H2201/1614 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5051 , A61H2201/5056 , A61H2201/5061 , A61H2201/5071 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
摘要翻译：可配置为耦合到人的下肢外骨骼包括可配置为联接到人的下肢的两个腿部支撑件，可配置为联接到人的上身的外骨骼躯干，其可旋转地连接到人的下肢的大腿连杆腿部支撑件允许腿部支撑件和外骨骼躯干之间的弯曲和伸展，配置成在外骨骼躯干和腿部支撑件之间产生扭矩的两个髋部致动器以及能够向髋部致动器提供动力的至少一个动力单元，其中功率单元构造成使摆动阶段的腿部支撑件的髋部致动器产生扭矩分布，使得在摆动阶段的至少一部分期间来自外骨骼腿的力支撑在人的下肢上是在人的方向下肢摆动速度。

6. 发明申请

US20110105966A1 Exoskeleton and Method for Controlling a Swing Leg of the Exoskeleton 有权
标题翻译：用于控制外骨骼摆动腿的外骨骼和方法
公开(公告)号：US20110105966A1
公开(公告)日：2011-05-05
申请号：US12922918
申请日：2009-07-23
申请人： Homayoon Kazerooni , Kurt Amundson , Russdon Angold , Nathan Harding
发明人： Homayoon Kazerooni , Kurt Amundson , Russdon Angold , Nathan Harding
IPC分类号： A61H1/02
CPC分类号： A61H3/008 , A61H1/0244 , A61H1/0255 , A61H3/00 , A61H2003/002 , A61H2201/0165 , A61H2201/1215 , A61H2201/1238 , A61H2201/1246 , A61H2201/1614 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5051 , A61H2201/5056 , A61H2201/5061 , A61H2201/5071 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
摘要翻译：可配置为耦合到人的下肢外骨骼包括可配置为联接到人的下肢的两个腿部支撑件，可配置为联接到人的上身的外骨骼躯干，其可旋转地连接到人的下肢的大腿连杆腿部支撑件允许腿部支撑件和外骨骼躯干之间的弯曲和伸展，配置成在外骨骼躯干和腿部支撑件之间产生扭矩的两个髋部致动器以及能够向髋部致动器提供动力的至少一个动力单元，其中功率单元构造成使摆动阶段的腿部支撑件的髋部致动器产生扭矩分布，使得在摆动阶段的至少一部分期间来自外骨骼腿的力支撑在人的下肢上是在人的方向下肢摆动速度。

7. 发明授权

US08894592B2 Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton 有权
标题翻译：通过使用负载外骨骼在稳定步行期间减少人的氧消耗的装置和方法
公开(公告)号：US08894592B2
公开(公告)日：2014-11-25
申请号：US12468487
申请日：2009-05-19
申请人： Kurt Amundson , Russdon Angold , Nathan Harding , Homayoon Kazerooni
发明人： Kurt Amundson , Russdon Angold , Nathan Harding , Homayoon Kazerooni
IPC分类号： A61H3/00 , B25J9/00 , A61F5/01
CPC分类号： B25J9/0006 , A61F5/0102 , A61H3/008
摘要： A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
摘要翻译：下肢外骨骼包括：至少一个动力单元; 两腿支撑设计在地面上; 两个膝关节构造成允许在腿部支撑件的相应的柄部和大腿连接部之间弯曲和延伸; 可拆卸地连接到腿支撑的外骨骼躯干; 以及两个髋部致动器，其构造成在外骨骼躯干和腿部支撑件之间产生扭矩。在使用中，臀部执行器在姿态阶段期间产生相对于外骨骼躯干向后移动腿部支撑的力矩，其将外骨骼躯干向前推动。可以使用第二扭矩来将腿支撑件相对于外骨骼躯干向前移动到摆动阶段。此外，在摆动阶段期间可能产生摆动扭矩，以使脚部支撑件相对于外骨骼躯干向前移动。这导致佩戴外骨骼的使用者的氧气消耗和心率降低。

8. 发明申请

US20100094185A1 Device and Method for Decreasing Oxygen Consumption of a Person During Steady Walking by Use of a Load-Carrying Exoskeleton 有权
标题翻译：通过使用负载携带骨骼在稳定行走期间减少人的氧气消耗的装置和方法
公开(公告)号：US20100094185A1
公开(公告)日：2010-04-15
申请号：US12468487
申请日：2009-05-19
申请人： Kurt Amundson , Russdon Angold , Nathan Harding , Homayoon Kazerooni
发明人： Kurt Amundson , Russdon Angold , Nathan Harding , Homayoon Kazerooni
IPC分类号： A61F5/00 , A61F2/60
CPC分类号： B25J9/0006 , A61F5/0102 , A61H3/008
摘要： A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
摘要翻译：下肢外骨骼包括：至少一个动力单元; 两腿支撑设计在地面上; 两个膝关节构造成允许在腿部支撑件的相应的柄部和大腿连接部之间弯曲和延伸; 可拆卸地连接到腿支撑的外骨骼躯干; 以及两个髋部致动器，其构造成在外骨骼躯干和腿部支撑件之间产生扭矩。在使用中，臀部执行器在姿态阶段期间产生相对于外骨骼躯干向后移动腿部支撑的力矩，其将外骨骼躯干向前推动。可以使用第二扭矩来将腿支撑件相对于外骨骼躯干向前移动到摆动阶段。此外，在摆动阶段期间可能产生摆动扭矩，以使脚部支撑件相对于外骨骼躯干向前移动。这导致佩戴外骨骼的使用者的氧气消耗和心率降低。

9. 发明申请

US20060260620A1 Lower extremity exoskeleton 有权
标题翻译：下肢外骨骼
公开(公告)号：US20060260620A1
公开(公告)日：2006-11-23
申请号：US11335392
申请日：2006-01-18
申请人： Homayoon Kazerooni , Nathan Harding , Russdon Angold
发明人： Homayoon Kazerooni , Nathan Harding , Russdon Angold
IPC分类号： A61G15/00
CPC分类号： A61B5/1038 , A61B5/4528 , A61B5/6829 , A61B2562/0219 , A61F5/0102 , B25J9/0006
摘要： A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.
摘要翻译：可配置为耦合到人的下肢外骨骼包括可配置为联接到人的下肢并被配置为在其姿态阶段期间搁置在地面上的两个腿部支撑件。每个腿部支撑件包括大腿连杆，小腿连杆和两个膝关节。每个膝关节被构造成允许在相应的小腿连杆和相应的大腿连杆之间弯曲和伸展。下肢外骨骼还包括可配置成与人的上身联接的外骨骼躯干。外骨骼躯干可旋转地连接到腿部支撑件的大腿连接部，允许脚部支撑件和外骨骼躯干之间的弯曲和伸展。在该示例性实施例中，由腿部支撑件和腿部支撑件的相应大腿连接件之间的弯曲和伸展运动所需的能量在循环膝盖运动上提供。

10. 发明申请

US20070056592A1 Semi-powered lower extremity exoskeleton 有权
标题翻译：半动力下肢外骨骼
公开(公告)号：US20070056592A1
公开(公告)日：2007-03-15
申请号：US11404719
申请日：2006-04-13
申请人： Russdon Angold , Nathan Harding , Homayoon Kazerooni
发明人： Russdon Angold , Nathan Harding , Homayoon Kazerooni
IPC分类号： A61G15/00 , A61F2/74
CPC分类号： A61H3/00 , A61B5/1038 , A61B5/4528 , A61F5/0102 , A61H1/0237 , A61H1/024 , A61H3/008 , A61H2201/1238 , A61H2201/1614 , A61H2201/1616 , A61H2201/1621 , A61H2201/1623 , A61H2201/1628 , A61H2201/163 , A61H2201/1635 , A61H2201/164 , A61H2201/1642 , A61H2201/165 , A61H2201/1676 , A61H2201/5061 , B25J9/0006
摘要： The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.
摘要翻译：下肢外骨骼包括可连接到人的下肢并配置为在其姿态阶段休息在地面上的两个腿部支撑。每个腿支撑件包括大腿连杆和小腿连杆; 膝关节，其构造成允许柄连杆和大腿连杆之间的屈曲和伸展。下肢外骨骼还包括可连接到人的身体的外骨骼躯干。外骨骼躯干可连接到腿部支撑的大腿连接部，允许脚部支撑件和外骨骼躯干之间的弯曲和伸展。两个扭矩发生器联接到每个膝关节。能够提供动力的动力单元联接到扭矩发生器。在腿部支撑处于阶梯状态并爬坡或爬坡的情况下，动力单元将动力喷射到相应的扭矩发生器中，从而延伸相应的拐角。当腿部支架处于阶梯状态而不爬坡或斜坡时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储动力的情况下，迫使扭矩发生器抵抗屈曲相应的膝关节。当腿部支撑件处于摆动阶段时，动力单元不向相应的扭矩发生器注入任何动力，但是在不消耗所述动力单元中的任何存储的功率的情况下，迫使扭矩发生器将其抵抗膝盖的屈曲和伸展最小化。

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