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公开(公告)号：US11642272B2
公开(公告)日：2023-05-09
申请号：US16344643
申请日：2018-02-07
Applicant: Ekso Bionics Holdings, Inc.
Inventor： Skyler Dalley , Spencer Murray , Ryan Farris , Michael Goldfarb , Scott Morrison
CPC classification number: A61H3/008 , A61F5/0123 , A61H1/0262 , B25J9/0006 , A61H2003/007 , A61H2201/1207 , A61H2201/165 , A61H2201/1642 , A61H2201/5084
Abstract: A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user. Automatic adjustments to the device components, including adjusting tension and resistance levels of the joint components, may then be made based the performance metrics.
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公开(公告)号：US11679056B2
公开(公告)日：2023-06-20
申请号：US16761928
申请日：2018-04-23
Applicant: Ekso Bionics Holdings, Inc.
Inventor： Skyler Dalley , Ryan Farris , Spencer Murray
CPC classification number: A61H3/00 , A61H1/0262 , B25J9/0006 , B25J13/088 , G05B19/042 , G16H40/40 , G16H40/67 , A61H2003/007 , A61H2201/5007 , A61H2201/5035 , A61H2201/5069 , A61H2201/5079 , A61H2201/5084 , G05B2219/25257 , G05B2219/25268
Abstract: A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle. Each step of the gait cycle thus blends into a next step by way of hip joint component swing-to-stance extension, and/or knee joint component stance-to-swing flexion.
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公开(公告)号：US11654280B2
公开(公告)日：2023-05-23
申请号：US16770104
申请日：2018-02-13
Applicant: Ekso Bionics Holdings, Inc.
Inventor： Spencer Murray , Don Truex , Michael Goldfarb , Scott Morrison , Ryan Farris
CPC classification number: A61N1/36003 , A61H3/00 , A61N1/36031 , A61H2201/10 , A61H2201/5097 , A61H2205/088 , A61H2230/605
Abstract: An integrated functional electrical stimulation (FES) system includes a component of a mobility assistance device, and an FES system mounted within the component. The FES system includes an FES stimulator that is embedded within the component, and a plurality of FES jacks that are electrically connected to the FES stimulator and are located on the component. The FES jacks are configured to receive a plurality of FES electrodes, and an electrical stimulation output from the FES stimulator is conducted through the FES jacks to the FES electrodes. In a wireless embodiment, the FES stimulator is configured to wirelessly transmit a control signal for applying an electrical stimulation output to the plurality of FES electrodes, and the FES jacks are eliminated. The FES stimulator may be embedded within a back portion of the hip component of an exoskeleton device, and in the wired embodiment the FES jacks are located on wing portions of the hip component.
