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1. 发明申请

US20070162152A1 Artificial joints using agonist-antagonist actuators 审中-公开
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：US20070162152A1
公开(公告)日：2007-07-12
申请号：US11642993
申请日：2006-12-19
申请人： Hugh Herr , Lee Magnusson , Ken Endo
发明人： Hugh Herr , Lee Magnusson , Ken Endo
IPC分类号： A61F2/48 , 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 which behave like a biological limbs and joints employ a synthetic actuator which consume negligible power when exerting zero force, consume negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, are capable of independently engaging flexion and extension tendon-like, series springs, are capable of independently varying joint position and stiffness, and exploit series elasticity for mechanical power amplification.
摘要翻译：人造四肢和关节，其表现为生物肢体和关节采用合成致动器，当施加零力时消耗功率可忽略的功率，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，不保守的工作时，能够独立地接合弯曲和伸展肌腱系列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。

2. 发明申请

US20060249315A1 Artificial human limbs and joints employing actuators, springs, and variable-damper elements 审中-公开
标题翻译：使用致动器，弹簧和可变阻尼器元件的人造人体肢体和关节
公开(公告)号：US20060249315A1
公开(公告)日：2006-11-09
申请号：US11395448
申请日：2006-03-31
申请人： Hugh Herr , Daniel Paluska , Peter Dilworth
发明人： Hugh Herr , Daniel Paluska , Peter Dilworth
IPC分类号： B62D51/06 , A61F2/64
CPC分类号： A61F2/604 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/6607 , A61F2/68 , A61F2/70 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5072 , A61F2002/5075 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要： Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.
摘要翻译：用于生物启发肌肉骨骼结构的仿生混合动作器采用电动机来从人造关节或肢体以及诸如弹簧的弹性元件和可控制的可变阻尼器部件提供正能量并且存储负能量，用于被动存储和释放能量并提供适应性刚度以适应水平地面行走以及在具有不同斜率的楼梯和表面上的运动。

3. 发明授权

US07295892B2 Speed-adaptive control scheme for legged running robots 有权
标题翻译：用于腿式运行机器人的速度自适应控制方案
公开(公告)号：US07295892B2
公开(公告)日：2007-11-13
申请号：US10750573
申请日：2003-12-31
申请人： Hugh Herr , Andre Seyfarth , Hartmut Geyer
发明人： Hugh Herr , Andre Seyfarth , Hartmut Geyer
IPC分类号： G06F19/00
CPC分类号： B62D57/032
摘要： A control scheme for legged running machines which is based on a decoupled control of system energy and kinematic trajectory is described.
摘要翻译：描述了基于系统能量和运动轨迹的去耦控制的腿式跑步机的控制方案。

4. 发明申请

US20070016329A1 Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics 有权
标题翻译：用于假肢，矫形器和机器人的仿生运动和平衡控制器
公开(公告)号：US20070016329A1
公开(公告)日：2007-01-18
申请号：US11499853
申请日：2006-08-04
申请人： Hugh Herr , Andreas Hofmann , Marko Popovic
发明人： Hugh Herr , Andreas Hofmann , Marko Popovic
IPC分类号： G05B19/04
CPC分类号： B62D57/032 , A61F2/68
摘要： Systems for controlling the motion of multiple articulated elements connected by one or more joints in an artificial appendage system. Four different embodiments are disclosed and include a controller that reduces the dimension of joint state space by utilizing biomechanically inspired motion primitives; a quadratic proportional-derivative (PD) controller which employs a two-stage linearization method, applies constraints to variables for dynamic stability, and employs a corrective “sliding control” mechanism to account for errors in the linear model used; a non-prioritized balance control approach that employs enforced linear dynamics in which all control variables are truncated to linear terms in joint jerks; and a biomimetic motion and balance controller based on center of mass (CM) energetic and biomimetic zero moment conditions.
摘要翻译：用于控制由人造附属系统中的一个或多个接头连接的多个铰接元件的运动的系统。公开了四个不同的实施例，并且包括通过利用生物力学启发的运动原语来减小关节状态空间的尺寸的控制器; 采用两阶段线性化方法的二次比例导数（PD）控制器对动态稳定性变量应用约束，采用校正“滑动控制”机制来解决所使用的线性模型中的误差; 一种非优先级平衡控制方法，其采用强制线性动力学，其中所有控制变量在联合摇摆中被截断为线性项; 以及基于质心（CM）能量和仿生零矩条件的仿生运动和平衡控制器。

5. 发明授权

US08808214B2 Active ankle foot orthosis 有权
标题翻译：活动性踝足矫形器
公开(公告)号：US08808214B2
公开(公告)日：2014-08-19
申请号：US13299953
申请日：2011-11-18
申请人： Hugh Herr , Joaquin Blaya , Gill A. Pratt
发明人： Hugh Herr , Joaquin Blaya , Gill A. Pratt
IPC分类号： A61F5/00
CPC分类号： A61H3/00 , A61B5/1038 , A61B5/1071 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61F2/68 , A61F5/0113 , A61F5/0127 , A61F2002/701 , A61H2003/007 , A61H2201/12 , A61H2205/10
摘要： An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
摘要翻译：提供活动性踝足矫形器（AAFO），其中矫正关节的阻抗在整个行走周期中被调节以治疗脚踝脚步病理学，例如脚踏步态。在受控的足底屈曲期间，应用仿生扭转弹簧控制，其中主动调节矫正关节刚度以最小化与地面的前脚碰撞。在整个后期姿势中，关节阻抗最小化，以免阻碍动力足底弯曲运动，并且在摆动阶段期间，扭转弹簧阻尼器（PD）控制器提升脚部以提供脚趾间隙。为了评估可变阻抗控制的临床效果，在穿着AAFO的两个落脚参与者上收集动力学和运动步态数据。已经发现，主动调节关节阻抗减少了脚掌的发生，允许更大的动力足底屈曲，并且在与法线相比时在摆动期间提供较少的运动学差异。

6. 发明授权

US08287477B1 Active ankle foot orthosis 有权
标题翻译：活动性踝足矫形器
公开(公告)号：US08287477B1
公开(公告)日：2012-10-16
申请号：US13363993
申请日：2012-02-01
申请人： Hugh Herr , Joaquin Blaya , Gill A. Pratt
发明人： Hugh Herr , Joaquin Blaya , Gill A. Pratt
IPC分类号： A61F5/00
CPC分类号： A61H3/00 , A61B5/1038 , A61B5/1071 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61F2/68 , A61F5/0113 , A61F5/0127 , A61F2002/701 , A61H2003/007 , A61H2201/12 , A61H2205/10
摘要： An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
摘要翻译：提供活动性踝足矫形器（AAFO），其中矫正关节的阻抗在整个行走周期中被调节以治疗脚踝脚步病理学，例如脚踏步态。在受控的足底屈曲期间，应用仿生扭转弹簧控制，其中主动调节矫正关节刚度以最小化与地面的前脚碰撞。在整个后期姿势中，关节阻抗最小化，以免阻碍动力足底弯曲运动，并且在摆动阶段期间，扭转弹簧阻尼器（PD）控制器提升脚部以提供脚趾间隙。为了评估可变阻抗控制的临床效果，在穿着AAFO的两个落脚参与者上收集动力学和运动步态数据。已经发现，主动调节关节阻抗减少了脚掌的发生，允许更大的动力足底屈曲，并且在与法线相比时在摆动期间提供较少的运动学差异。

7. 发明申请

US20070043449A1 Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components 审中-公开
标题翻译：具有弹簧，可变阻尼和串联弹性致动器部件的人造脚踝系统
公开(公告)号：US20070043449A1
公开(公告)日：2007-02-22
申请号：US11495140
申请日：2006-07-29
申请人： Hugh Herr , Samuel Au , Peter Dilworth , Daniel Paluska
发明人： Hugh Herr , Samuel Au , Peter Dilworth , Daniel Paluska
IPC分类号： A61F2/48
CPC分类号： A61F2/6607 , A61F2/60 , A61F2/605 , A61F2/64 , A61F2/68 , A61F2002/5004 , A61F2002/5006 , A61F2002/503 , A61F2002/5033 , A61F2002/5073 , A61F2002/5075 , A61F2002/5079 , A61F2002/509 , A61F2002/6657 , A61F2002/6678 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要： An artificial foot and ankle joint consisting of a curved leaf spring foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position, and a controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and a sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent and stair descent.
摘要翻译：由弯曲的板簧构件构成的人造脚和踝关节，其限定脚跟末端和脚趾末端，以及柔性弹性脚踝构件，其连接所述脚构件以在踝关节处旋转。致动器马达向脚踝接头施加扭矩，当脚不与支撑表面接触时将脚定向，并且将能量存储在与储存在板簧中的能量一起释放的弹射弹簧中以推动佩戴者前进。带状离合器防止脚部件在一个方向上旋转超过预定的极限位置，并且采用可控阻尼器来锁定踝关节或根据需要吸收机械能。控制器和传感机构在行走阶梯，楼梯上升和楼梯下降的步行循环期间的不同时间控制致动器马达和可控制的阻尼器。

8. 发明申请

US20050085948A1 Speed-adaptive control scheme for legged running robots 有权
标题翻译：用于腿式运行机器人的速度自适应控制方案
公开(公告)号：US20050085948A1
公开(公告)日：2005-04-21
申请号：US10750573
申请日：2003-12-31
申请人： Hugh Herr , Andre Seyfarth , Hartmut Geyer
发明人： Hugh Herr , Andre Seyfarth , Hartmut Geyer
IPC分类号： B62D57/032 , G06F19/00
CPC分类号： B62D57/032
摘要： A control scheme for legged running machines which is based on a decoupled control of system energy and kinematic trajectory is described.
摘要翻译：描述了基于系统能量和运动轨迹的去耦控制的腿式跑步机的控制方案。

9. 发明授权

US4923475A Inflatable limb prosthesis with preformed inner surface 失效
标题翻译：充气假肢具有预先形成的内表面
公开(公告)号：US4923475A
公开(公告)日：1990-05-08
申请号：US312448
申请日：1989-02-21
申请人： Barry M. Gosthnian , Hugh Herr
发明人： Barry M. Gosthnian , Hugh Herr
IPC分类号： A61F2/50 , A61F2/78 , A61F2/80
CPC分类号： A61F2/80 , A61F2/7843 , A61F2002/5012
摘要： A prosthesis having a stump-receiving socket and a plurality of inflatable bladders with a means for the user to vary the pressures therein. The inflatable bladders each include a relatively soft, flexible membrane made of a suitable material such as polyurethane. The membranes are shaped to meet the anatomical characteristic of the wearer. Those membranes located adjacent the weight-bearing portions of the stump will provide a relatively soft uniform surface to support the stump. For those locations near the weight-bearing portions of the stump that should not be subjected to pressures, the adjacent bladder areas are non-inflatable and, therefore, not force inducing. The static pressures in the various bladders are independent of each other and may be regulated by the user.
摘要翻译：假体具有残端接收插座和多个可充气气囊，其具有用于使用者改变其中的压力的装置。充气囊各自包括由诸如聚氨酯的合适材料制成的相对柔软的柔性膜。膜被成形为符合佩戴者的解剖特征。位于残端的承重部分附近的那些膜将提供相对柔软的均匀表面以支撑残端。对于不应承受压力的残端承重部分附近的那些位置，相邻的膀胱区域是不可充气的，因此不会受到力的诱导。各种气囊中的静态压力彼此独立，并且可由用户调节。

10. 发明授权

US08376971B1 Active ankle foot orthosis 有权
公开(公告)号：US08376971B1
公开(公告)日：2013-02-19
申请号：US13364010
申请日：2012-02-01
申请人： Hugh Herr , Joaquin Blaya , Gill A. Pratt
发明人： Hugh Herr , Joaquin Blaya , Gill A. Pratt
IPC分类号： A61H1/00
CPC分类号： A61H3/00 , A61B5/1038 , A61B5/1071 , A61B5/4519 , A61B5/4523 , A61B5/4528 , A61F2/68 , A61F5/0113 , A61F5/0127 , A61F2002/701 , A61H2003/007 , A61H2201/12 , A61H2205/10
摘要： An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.

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