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1. 发明授权

US09504623B2 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：US09504623B2
公开(公告)日：2016-11-29
申请号：US13639984
申请日：2011-04-08
申请人： Russdon Angold , Adam Zoss , 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 , B25J9/00 , B66D3/18
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。

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

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。

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。

6. 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。

7. 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。

8. 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。

9. 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。

10. 发明申请

US20130231595A1 Human Machine Interface for Human Exoskeleton 有权
标题翻译：人类外骨骼人机界面
公开(公告)号：US20130231595A1
公开(公告)日：2013-09-05
申请号：US13824161
申请日：2011-09-19
申请人： Adam Zoss , Katherine Strausser , Tim Swift , Russ Angold , Jon Burns , Homayoon Kazerooni , Dylan Fairbanks , Nathan Harding
发明人： Adam Zoss , Katherine Strausser , Tim Swift , Russ Angold , Jon Burns , Homayoon Kazerooni , Dylan Fairbanks , Nathan Harding
IPC分类号： A61H1/00
CPC分类号： A61H1/00 , A61H1/0255 , A61H3/00 , A61H3/02 , A61H3/04 , A61H2201/1616 , A61H2201/163 , A61H2201/1642 , A61H2201/5007 , A61H2201/5061 , A61H2201/5064 , A61H2201/5069 , A61H2201/5079 , A61H2201/5092
摘要： A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.
摘要翻译：被配置为联接到人的下肢的动力外骨骼被控制以赋予人期望的运动。该人的意图由控制器确定，该控制器基于以下至少一个的监视：人的手臂部分的位置变化，人的头部的位置变化，人使用的助行器的方向，接触由人使用的步行助力与支撑表面之间的力，由人在步行助力上施加的力，由人在步行助手上施加的力，外骨骼的相对定向，外骨骼的可移动部件和人和外骨骼，外骨骼的可移动成分与人之间的相对速度。

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