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1. 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。

2. 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。

3. 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。

4. 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。

5. 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。

6. 发明授权

US06738691B1 Control handle for intelligent assist devices 失效
标题翻译：智能辅助装置控制手柄
公开(公告)号：US06738691B1
公开(公告)日：2004-05-18
申请号：US10147141
申请日：2002-05-16
申请人： J. Edward Colgate , Michael A. Peshkin , Julio Santos-Munné , Alex Makhlin , Paul F. Decker , Stephen H. Klostermeyer
发明人： J. Edward Colgate , Michael A. Peshkin , Julio Santos-Munné , Alex Makhlin , Paul F. Decker , Stephen H. Klostermeyer
IPC分类号： G06F1900
CPC分类号： B25J9/1689 , G05B2219/35416
摘要： A method and system for controlling an intelligent assist device, robot, or other powered system that is partially or fully directed by the intent of a human operator. The method and system includes measuring a force or motion imparted by the human operator to a control. The measurement is determined with respect to the motion of the machine at a point of the machine that allows the benefit of collocation of sensing and actuation, or of approximation of such collocation. The system includes a support attached to the machine at the beneficial point, and a plurality of sensors to measure the force, torque, or motion imparted by the human operator to the support with respect to the beneficial point. The method and system provide improved stability of control of the system, and improved responsiveness to the intent of the human operator.
摘要翻译：一种用于控制智能辅助装置，机器人或其他动力系统的方法和系统，其由人类操作者的意图部分地或完全地引导。该方法和系统包括测量由操作人员向控制器施加的力或运动。该测量是关于机器在机器上的运动来确定的，其允许感测和致动的配置，或者这种配置的近似。该系统包括在有益点处附接到机器的支撑件和多个传感器，用于测量人类操作者相对于有益点向支撑件施加的力，扭矩或运动。该方法和系统提供了对系统的控制的改进的稳定性，并且改善了对人类操作者的意图的响应性。

7. 发明授权

US06459228B1 Dual input servo coupled control sticks 失效
标题翻译：双输入伺服控制棒
公开(公告)号：US06459228B1
公开(公告)日：2002-10-01
申请号：US09815117
申请日：2001-03-22
申请人： Zenon Szulyk , Brian Dyra , Alex Makhlin
发明人： Zenon Szulyk , Brian Dyra , Alex Makhlin
IPC分类号： G05B501
CPC分类号： G05D1/085 , B64C13/12
摘要： The present invention provides an active control system for coupling the movements of a pair of independently operated manual input devices such as dual flight control sticks operated by a pilot and co-pilot flying an aircraft. Each input device is configured to receive manual input data in the form of angular displacement of the device about one or more rotational axes. The active control system provides desired tactile feedback to an operator who displaces one of the manual input devices in the form of a restorative centering force. If an external system such as an auto-pilot system is engaged, the restorative force may be in a direction necessary to reconcile manual displacement of the input device with a position commanded by the external system, rather than directed toward the center position. The system also acts to reflect manual displacement of each input device as a force applied to the other. For example, when a pilot moves his or her control stick forward, the co-pilot will feel a like force tending to move the co-pilot's control stick forward.
摘要翻译：本发明提供了一种用于联接一对独立操作的手动输入装置的运动的主动控制系统，例如由飞行员和副飞行员飞行的飞行器操作的双飞行控制杆。每个输入装置被配置为以装置围绕一个或多个旋转轴的角位移的形式接收手动输入数据。主动控制系统为操作者提供期望的触觉反馈，操作者以恢复性对中力的形式移动手动输入装置中的一个。如果诸如自动驾驶员系统的外部系统被接合，则修复力可以在必要的方向上将调节输入装置的手动位移与由外部系统命令的位置，而不是指向中心位置。该系统还用于反映每个输入装置的手动位移作为施加到另一个的力。例如，当一名飞行员向前移动控制杆时，副驾驶员将会感觉到一种倾向于将副驾驶的控制杆向前移动的力量。

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