公开(公告)号：US20150173929A1

公开(公告)日：2015-06-25

申请号：US14641039

申请日：2015-03-06

申请人： THE REGENTS OF THE UNIVERSITY OF CALIFORNIA

发明人： Homayoon KAZEROONI ,  Wayne TUNG ,  Don Jin HYUN ,  Stephen MCKINLEY ,  Yoon Jung JEONG

IPC分类号： A61F5/01

摘要： An exoskeleton (100) adapted to be coupled to a lower extremity of a person includes a thigh link (102), a shank link (104) and a knee joint (106) allowing flexion and extension between the thigh and shank links (102, 104). A torque generator (156) connected to the knee joint (106) includes a wrap spring (110) having a first end (112) coupled to the thigh link (102), and a second end (118) coupled to an electric actuator (116) capable of selectively positioning the second end (118) of the wrap spring (110). A controller (120) causes the electric actuator (116) to position the wrap spring (110) to provide a selective torque between the thigh and shank links (102, 104) based on a signal (212, 214, 216) produced by a sensor (164, 166, 168).

摘要翻译： 适于联接到人的下肢的外骨骼（100）包括大腿连杆（102），柄连杆（104）和膝关节（106），其允许大腿和小腿链节（102， 104）。 连接到膝关节（106）的扭矩发生器（156）包括具有联接到大腿连杆（102）的第一端（112）和与电致动器（102）连接的第二端（118）的卷簧（110） 116），其能够选择性地定位卷绕弹簧（110）的第二端部（118）。 控制器（120）使得电动致动器（116）定位卷绕弹簧（110），以便在大腿和小腿链节（102,104）之间基于由 传感器（164,166,168）。

公开(公告)号：US20180110632A1

公开(公告)日：2018-04-26

申请号：US15848363

申请日：2017-12-20

申请人： The Regents of the University of California

发明人： Nicholas Errico ,  Homayoon KAZEROONI ,  Yoon Jung JEONG

IPC分类号： A61F2/76 ,  A61F2/64 ,  A61F2/60 ,  A61H3/00 ,  A61H1/02

CPC分类号： A61F2/76 ,  A61F2/605 ,  A61F2/64 ,  A61H1/0255 ,  A61H3/00 ,  A61H2201/1207 ,  A61H2201/1454 ,  A61H2201/1463 ,  A61H2201/1628 ,  A61H2201/164 ,  A61H2201/165 ,  A61H2201/1676 ,  A61H2201/5007 ,  B25J9/0006

摘要： A manual apparatus of the present disclosure enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.