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公开(公告)号：US20140195007A1
公开(公告)日：2014-07-10
申请号：US14148085
申请日：2014-01-06
申请人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason E. Mitchell , Thomas J. Withrow
发明人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason E. Mitchell , Thomas J. Withrow
CPC分类号： A61F2/66 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F2/68 , A61F2/72 , A61F2002/30359 , A61F2002/5073 , A61F2002/6642 , A61F2002/665 , A61F2002/6657 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/768 , A61F2220/0033
摘要： A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.
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2.发明申请POWERED LEG PROSTHESIS AND CONTROL METHODOLOGIES FOR OBTAINING NEAR NORMAL GAIT 有权用于获取近似正常血糖的动力眼球预测和控制方法公开(公告)号：US20120330439A1
公开(公告)日：2012-12-27
申请号：US13537530
申请日：2012-06-29
申请人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason Mitchell , Thomas J. Withrow
发明人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason Mitchell , Thomas J. Withrow
IPC分类号： A61F2/70
CPC分类号： A61F2/60 , A61F2/64 , A61F2/6607 , A61F2/68 , A61F2/70 , A61F2002/30359 , A61F2002/5073 , A61F2002/6642 , A61F2002/665 , A61F2002/6657 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/768 , A61F2220/0033
摘要： A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including an ankle joint and an ankle motor unit to deliver power to the ankle joint, a prosthetic foot coupled to the ankle joint, a plurality of sensors for measuring a real-time input, and controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.
摘要翻译： 一种动力腿假体，其包括具有膝关节的动力膝关节和用于向膝关节递送动力的膝盖电动机单元，联接到膝关节的动力踝关节，包括踝关节和脚踝马达单元以向踝部输送动力 关节，联接到踝关节的假脚，用于测量实时输入的多个传感器，以及用于基于实时输入来控制假体的运动的控制器。 在动力腿假体中，膝关节运动器单元或脚踝马达单元中的至少一个包括至少一个驱动台，其中驱动平台包括用于产生扭矩的旋转元件和固定在旋转元件周围的至少一个环形元件， 用于将扭矩传递到联接到待致动的接头的另一旋转元件。
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公开(公告)号：US20120150321A1
公开(公告)日：2012-06-14
申请号：US13391558
申请日：2010-08-20
IPC分类号： A61F2/68
CPC分类号： A61F2/72 , A61F2/583 , A61F2002/704 , A61F2002/7615 , A61F2002/7645 , B25J9/1612 , B25J15/0009
摘要： Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.
摘要翻译： 提供了用于控制接合的机械装置的系统和方法，其中基于具有一个或多个运动轴（D1，D2）并且并行地定义多个姿态和多个转变的地形状态（300）图来控制装置 其中一个运动轴在地图中，每个运动轴与装置中的互补运动类型相关联，并且每个转换与至少两个姿势相关联。 一种方法包括以下步骤：接收控制信号并确定在地形状态图内的装置的机械状态。 该方法还包括基于地形状态图来识别与机械状态相关联的潜在转变。 该方法还包括如果控制信号与所识别的转换之一相关联的运动类型相关联，则基于控制信号调整机械状态。
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4.发明授权Powered leg prosthesis and control methodologies for obtaining near normal gait 有权动力腿假体和控制方法获得近正常步态公开(公告)号：US09180025B2
公开(公告)日：2015-11-10
申请号：US13537530
申请日：2012-06-29
申请人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason Mitchell , Thomas J. Withrow
发明人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason Mitchell , Thomas J. Withrow
IPC分类号： A61F2/48 , A61F2/64 , A61F2/66 , A61F2/60 , A61F2/68 , A61F2/70 , A61F2/30 , A61F2/50 , A61F2/76
CPC分类号： A61F2/60 , A61F2/64 , A61F2/6607 , A61F2/68 , A61F2/70 , A61F2002/30359 , A61F2002/5073 , A61F2002/6642 , A61F2002/665 , A61F2002/6657 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/768 , A61F2220/0033
摘要： A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including an ankle joint and an ankle motor unit to deliver power to the ankle joint, a prosthetic foot coupled to the ankle joint, a plurality of sensors for measuring a real-time input, and controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.
摘要翻译： 一种动力腿假体，其包括具有膝关节的动力膝关节和用于向膝关节递送动力的膝盖电动机单元，联接到膝关节的动力踝关节，包括踝关节和脚踝马达单元以向踝部输送动力 关节，联接到踝关节的假脚，用于测量实时输入的多个传感器，以及用于基于实时输入来控制假体的运动的控制器。 在动力腿假体中，膝关节运动器单元或脚踝马达单元中的至少一个包括至少一个驱动台，其中驱动平台包括用于产生扭矩的旋转元件和固定在旋转元件周围的至少一个环形元件， 用于将扭矩传递到联接到待致动的接头的另一旋转元件。
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公开(公告)号：US08840680B2
公开(公告)日：2014-09-23
申请号：US13391558
申请日：2010-08-20
CPC分类号： A61F2/72 , A61F2/583 , A61F2002/704 , A61F2002/7615 , A61F2002/7645 , B25J9/1612 , B25J15/0009
摘要： Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.
摘要翻译： 提供了用于控制接合的机械装置的系统和方法，其中基于具有一个或多个运动轴（D1，D2）并且并行地定义多个姿态和多个转变的地形状态（300）图来控制装置 其中一个运动轴在地图中，每个运动轴与装置中的互补运动类型相关联，并且每个转换与至少两个姿势相关联。 一种方法包括以下步骤：接收控制信号并确定在地形状态图内的装置的机械状态。 该方法还包括基于地形状态图来识别与机械状态相关联的潜在转变。 该方法还包括如果控制信号与所识别的转换之一相关联的运动类型相关联，则基于控制信号调整机械状态。
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6.发明申请SYSTEMS AND METHOD FOR VOLITIONAL CONTROL OF JOINTED MECHANICAL DEVICES BASED ON SURFACE ELECTROMYOGRAPHY 有权基于表面电子学的接合机械装置的电压控制系统和方法公开(公告)号：US20120004736A1
公开(公告)日：2012-01-05
申请号：US13150773
申请日：2011-06-01
申请人： Michael Goldfarb , Huseyin Atakan Varol , Kevin Ha
发明人： Michael Goldfarb , Huseyin Atakan Varol , Kevin Ha
CPC分类号： A61F2/72 , A61B5/04888 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F5/01 , A61F2002/6827 , A61F2002/701 , A61F2002/704 , A61F2002/7615 , A61F2002/764
摘要： Systems and methods for controlling a weight bearing member having at least one powered joint are provided. A system includes a velocity reference module for receiving myoelectric control signals from a user during a non-weight bearing mode for the powered joint and generating a velocity reference for the powered joint based on the myoelectric control signals. The system further includes a volitional impedance module for generating a torque control signal for actuating the powered joint based at least on the velocity reference.
摘要翻译： 提供了用于控制具有至少一个动力接头的承重构件的系统和方法。 系统包括速度参考模块，用于在用于动力接头的非重量承载模式期间从用户接收肌电控制信号，并且基于肌电控制信号产生用于动力接头的速度参考。 该系统还包括一个用于产生用于至少基于速度基准致动动力接头的转矩控制信号的阻力模块。
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7.发明授权Powered leg prosthesis and control methodologies for obtaining near normal gait 有权动力腿假体和控制方法获得近正常步态公开(公告)号：US08986396B2
公开(公告)日：2015-03-24
申请号：US13973191
申请日：2013-08-22
申请人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason Mitchell , Thomas J. Withrow
发明人： Michael Goldfarb , Huseyin Atakan Varol , Frank Charles Sup, IV , Jason Mitchell , Thomas J. Withrow
IPC分类号： A61F2/62 , A61F2/64 , A61F2/48 , A61F2/66 , A61F2/60 , A61F2/68 , A61F2/72 , A61F2/30 , A61F2/50 , A61F2/70 , A61F2/76
CPC分类号： A61F2/66 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F2/68 , A61F2/72 , A61F2002/30359 , A61F2002/5073 , A61F2002/6642 , A61F2002/665 , A61F2002/6657 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/768 , A61F2220/0033
摘要： A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.
摘要翻译： 动力腿假体包括动力膝关节，其包括膝关节和用于向膝关节递送动力的膝盖电动机单元。 假体还包括具有与膝关节联接的插座接口的假肢小腿和联接到膝关节相对的下腿的动力踝关节，包括踝关节和脚踝马达单元以向踝关节递送动力。 假体还包括联接到踝关节的假脚，用于测量实时输入的至少一个传感器，以及用于基于实时输入来控制假体运动的至少一个控制器。
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8.发明授权公开(公告)号：US08623098B2
公开(公告)日：2014-01-07
申请号：US13150773
申请日：2011-06-01
申请人： Michael Goldfarb , Huseyin Atakan Varol , Kevin Ha
发明人： Michael Goldfarb , Huseyin Atakan Varol , Kevin Ha
IPC分类号： A61F2/70
CPC分类号： A61F2/72 , A61B5/04888 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F5/01 , A61F2002/6827 , A61F2002/701 , A61F2002/704 , A61F2002/7615 , A61F2002/764
摘要： Systems and methods for controlling a weight bearing member having at least one powered joint are provided. A system includes a velocity reference module for receiving myoelectric control signals from a user during a non-weight bearing mode for the powered joint and generating a velocity reference for the powered joint based on the myoelectric control signals. The system further includes a volitional impedance module for generating a torque control signal for actuating the powered joint based at least on the velocity reference.
摘要翻译： 提供了用于控制具有至少一个动力接头的承重构件的系统和方法。 系统包括速度参考模块，用于在用于动力接头的非重量承载模式期间从用户接收肌电控制信号，并且基于肌电控制信号产生用于动力接头的速度参考。 该系统还包括一个用于产生用于至少基于速度基准致动动力接头的转矩控制信号的阻力模块。
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9.发明申请SYSTEMS AND CONTROL METHODOLOGIES FOR IMPROVING STABILITY IN POWERED LOWER LIMB DEVICES 有权用于提高动力下限装置稳定性的系统和控制方法公开(公告)号：US20120221119A1
公开(公告)日：2012-08-30
申请号：US13508175
申请日：2010-10-29
IPC分类号： A61F2/68
CPC分类号： A61F2/68 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F2002/5033 , A61F2002/607 , A61F2002/701 , A61F2002/704 , A61F2002/7635 , A61F2002/764
摘要： Systems and methods are provided for controlling a lower limb device having at least one powered joint. The method includes detecting a stumble event based on one or more sensor signals associated with an overall motion lower limb device, classifying the stumble event based on sensor signals following the sensor signals associated with the stumble event, and selecting a stumble recovery strategy for the lower limb device based on the classification of the stumble event.
摘要翻译： 提供了用于控制具有至少一个动力接头的下肢装置的系统和方法。 该方法包括基于与整个运动下肢装置相关联的一个或多个传感器信号来检测绊倒事件，基于与绊倒事件相关联的传感器信号之后的传感器信号对绊倒事件进行分类，以及为下部的选择绊倒恢复策略 肢体装置基于绊倒事件的分类。
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公开(公告)号：US09750620B2
公开(公告)日：2017-09-05
申请号：US13508175
申请日：2010-10-29
CPC分类号： A61F2/68 , A61F2/60 , A61F2/64 , A61F2/6607 , A61F2002/5033 , A61F2002/607 , A61F2002/701 , A61F2002/704 , A61F2002/7635 , A61F2002/764
摘要： Systems and methods are provided for controlling a lower limb device having at least one powered joint. The method includes detecting a stumble event based on one or more sensor signals associated with an overall motion lower limb device, classifying the stumble event based on sensor signals following the sensor signals associated with the stumble event, and selecting a stumble recovery strategy for the lower limb device based on the classification of the stumble event.
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