公开(公告)号：US12201539B2

公开(公告)日：2025-01-21

申请号：US18058479

申请日：2022-11-23

Applicant: Otto Bock Healthcare LP

Inventor： Richard J. Casler, Jr. ,  Hugh M. Herr

IPC: A61F2/70 ,  A61F2/60 ,  A61F2/66 ,  A61F2/72 ,  A61F5/01 ,  A61H1/02 ,  A61H3/00 ,  B25J9/00 ,  G01L5/00 ,  G01P21/00 ,  H02K7/06 ,  A61F2/50 ,  A61F2/68 ,  A61F2/76 ,  H02K7/116

Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

公开(公告)号：US11529247B2

公开(公告)日：2022-12-20

申请号：US16236807

申请日：2018-12-31

Applicant: Otto Bock Healthcare LP

Inventor： Richard J. Casler, Jr. ,  Hugh M. Herr

IPC: A61F2/70 ,  A61F2/66 ,  A61H3/00 ,  A61F5/01 ,  B25J9/18 ,  B25J9/00 ,  H02K7/06 ,  A61H1/02 ,  A61F2/60 ,  G01P21/00 ,  A61F2/72 ,  G01L5/00 ,  A61F2/76 ,  A61F2/50 ,  H02K7/116 ,  A61F2/68

Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

公开(公告)号：US20230380995A1

公开(公告)日：2023-11-30

申请号：US18325683

申请日：2023-05-30

Applicant: Otto Bock Healthcare LP

Inventor： Hugh M. Herr ,  Richard J. Casler, JR.

IPC: A61F2/72 ,  A61F2/60 ,  A61F2/66 ,  H02K7/06

CPC classification number: A61F2/72 ,  A61F2/60 ,  A61F2/6607 ,  H02K7/06 ,  A61F2002/5003

Abstract: Knee orthoses or prostheses can be used to automatically, when appropriate, initiate a stand-up sequence based on the position of a person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to a position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.

公开(公告)号：US20230165693A1

公开(公告)日：2023-06-01

申请号：US18058479

申请日：2022-11-23

Applicant: Otto Bock Healthcare LP

Inventor： Richard J. Casler, JR. ,  Hugh M. Herr

IPC: A61F2/70 ,  B25J9/00 ,  H02K7/06 ,  A61H1/02 ,  A61F2/60 ,  A61F2/66 ,  G01P21/00 ,  A61F2/72 ,  A61H3/00 ,  G01L5/00

CPC classification number: A61F2/70 ,  B25J9/0006 ,  H02K7/06 ,  A61H1/0266 ,  A61F2/60 ,  A61F2/6607 ,  G01P21/00 ,  A61F2/72 ,  A61H3/00 ,  G01L5/0028 ,  G01L5/0061 ,  A61F2002/763

Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

公开(公告)号：US20220387205A1

公开(公告)日：2022-12-08

申请号：US17821088

申请日：2022-08-19

Applicant: Otto Bock Healthcare LP

Inventor： Zhixiu Han ,  Christopher Williams ,  Jeff Anthony Weber ,  Christopher Eric Barnhart ,  Hugh M. Herr ,  Richard James Casler, JR.

IPC: A61F5/01 ,  A61H1/02 ,  A61H3/00

Abstract: A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance, according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.

公开(公告)号：US11419747B2

公开(公告)日：2022-08-23

申请号：US16697763

申请日：2019-11-27

Applicant: Otto Bock Healthcare LP

Inventor： Zhixiu Han ,  Christopher Williams ,  Jeff Anthony Weber ,  Christopher Eric Barnhart ,  Hugh M. Herr ,  Richard James Casler, Jr.

IPC: A61F5/01 ,  A61H3/00 ,  A61H1/02

Abstract: A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.