公开(公告)号：US20250152451A1

公开(公告)日：2025-05-15

申请号：US18837046

申请日：2023-05-16

Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY

Inventor： Emily Alexis KAMIENSKI ,  Haruhiko Harry ASADA ,  Karen L. CHEN

IPC: A61H3/00

Abstract: Systems and devices are disclosed for mobility assistance of users with instability or reduced mobility when walking. The mobility device can be a garment (e.g., pants, shorts) that includes a wearable harness embedded or otherwise associated with the garment in a manner that allows the garment to be worn without the harness being outwardly noticeable. The garment can be worn in conjunction with being connected to a walker or other mobility aid vehicle, as well as in everyday use. The harness associated with the garment provides support for the user while a majority of the harness is invisible from outside the garment. A connector can be utilized in conjunction with the same to help manage the connection between the harness and the mobility aid vehicle. The connector can include the ability to mitigate or stop a fall in response to parameters detected by sensors associated with the garment or system.

公开(公告)号：US20160336878A1

公开(公告)日：2016-11-17

申请号：US15150724

申请日：2016-05-10

Applicant: Massachusetts Institute of Technology

Inventor： James TORRES ,  Haruhiko Harry ASADA

IPC: H02N2/04 ,  H01L41/083 ,  H01L41/09

CPC classification number: H02N2/043 ,  H02N2/02

Abstract: Similar to combustion engines including multiple cylinders engaged with a crankshaft, multiple piezoelectric stack actuators (PSA) engaged with a common output rod can produce smooth, long stroke motion with desired properties. In particular, when equally spaced multiple units are arranged to push sinusoidal gear teeth on the output rod, the system exhibits unique collective behaviors thanks to “harmonic” effects of the multiple units. For example, although the force-displacement characteristics of individual units are highly nonlinear, the undesirable nonlinearity, including singularity, may be eliminated. Here it presents harmonic analysis, design, and control of a class of actuators consisting of multiple driving units engaged with a sinusoidal transmission, termed a harmonic poly-actuator. Through theoretical analysis, it is obtained 1) conditions on the unit arrangement to eliminate their nonlinearity from the output force, 2) control algorithms for coordinating the multiple units to generate a commanded force with desired force-displacement characteristics, and 3) a method for compensating for output force ripples due to possible misalignment and heterogeneity of individual units. The control algorithms are implemented on a prototype harmonic poly-actuator with six units of PSAs. Experiments demonstrate the unique features of the poly-actuator exploiting inherent redundancy and harmonic properties of the system.

Abstract translation: 类似于包括与曲轴接合的多个气缸的内燃机，与公共输出杆接合的多个压电叠层致动器（PSA）可以产生具有期望特性的光滑的长行程运动。 特别地，当等间隔的多个单元布置成在输出杆上推动正弦齿轮齿时，由于多个单元的“谐波”效应，系统表现出独特的集体行为。 例如，虽然单个单元的力 - 位移特性是高度非线性的，但是可以消除包括奇异性在内的不期望的非线性。 这里介绍了一类致动器的谐波分析，设计和控制，由多个驱动单元组成，这些驱动单元与正弦变速器接合，称为谐波多驱动器。 通过理论分析得到1）单位布置条件以消除其输出力的非线性，2）用于协调多个单元以产生具有所需力位移特性的指令力的控制算法，以及3） 补偿由于各单元可能的不对准和异质性引起的输出力波动。 控制算法在具有六个单位的PSA的原型谐波多致动器上实现。 实验证明了利用系统的固有冗余和谐波特性的多致动器的独特特征。

公开(公告)号：US20230087850A1

公开(公告)日：2023-03-23

申请号：US18058805

申请日：2022-11-25

Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGY ,  SUMITOMO HEAVY INDUSTRIES, LTD.

Inventor： Haruhiko Harry ASADA ,  Haruhiko ETO

IPC: B62D57/024 ,  B60B19/00

Abstract: A vehicle may include a chassis, at least one wheel rotatably coupled to the chassis, and a magnet positioning inside of the at least one wheel. The magnet may be rotatably coupled to the wheel with a first shaft, such that the magnet is rotatable about a first axis. In some instances, the magnet may also be coupled to the first shaft with a second shaft, such that the magnet is rotatable relative to the wheel about a second axis. Accordingly, the magnet may have either one or two degrees of freedom of movement within the at least one wheel. The magnet may rotate passively, actively, or semi-actively in one or more directions to provide an attractive force toward a ferromagnetic surface to secure the vehicle to the ferromagnetic surface.