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    PROSTHETIC, ORTHOTIC OR EXOSKELETON DEVICE
    2.
    发明申请
    PROSTHETIC, ORTHOTIC OR EXOSKELETON DEVICE 审中-公开
    PROSTHETIC，ORTHOTIC或EXOSKELETON设备

    公开(公告)号：US20150127118A1

    公开(公告)日：2015-05-07

    申请号：US14407656

    申请日：2013-06-12

    Applicant: iWalk, Inc.

    Inventor： Hugh Miller Herr ,  Zhixiu Han ,  Christopher Eric Barnhart ,  Richard J. Casler, JR.

    IPC: A61F2/60 ,  A61F2/68

    CPC classification number: A61F2/60 ,  A61B5/112 ,  A61B5/4851 ,  A61F2/64 ,  A61F2/6607 ,  A61F2/68 ,  A61F2002/5003 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/607 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/764 ,  A61F2002/7645 ,  A61F2002/765

    Abstract: A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.

    Abstract translation: 在下肢，假肢，矫形器或外骨骼装置的操作期间，依赖于时间的衰减行为被并入到一个或多个关节致动器控制参数中。 这些参数可以包括关节平衡关节阻抗（例如，刚度，阻尼）和/或关节扭矩分量（例如，增益，指数）。 衰变行为可以是指数的，线性的，分段的，或者可以符合任何其他合适的功能。 本文提出的实施方案用于模拟生物肌肉 - 腱反射反应的控制系统，其提供自然行走经验。 此外，接头阻抗可以取决于接头的角速率。 角速率和关节阻抗之间的这种关系可以帮助佩戴者进行某些活动，例如站起来和升起梯子。

    CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME
    3.
    发明申请
    CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME 有权
    根据预测的跑步速度或同步进行预测控制功率

    公开(公告)号：US20140114437A1

    公开(公告)日：2014-04-24

    申请号：US14136344

    申请日：2013-12-20

    Applicant: iWalk, Inc.

    Inventor： Hugh Miller Herr ,  Richard J. Casler, JR. ,  Zhixiu Han ,  Christopher Eric Barnhart ,  Gary Girzon

    IPC: A61F2/68

    CPC classification number: A61F2/70 ,  A61F2/6607 ,  A61F2/68 ,  A61F5/0127 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/5018 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/607 ,  A61F2002/6685 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/745 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/7645 ,  A61F2002/7695 ,  A61F2005/0155

    Abstract: In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

    Abstract translation: 在假肢或矫形踝/脚的一些实施例中，预测在即将到来的步骤中步行速度将是什么。 当预测的步行速度慢时，该装置的特性随后被修改，使得在该步骤期间执行的较少的网络工作（与预测步行速度快的时间相比）。 这可以使用可以预测步行速度的一个传感器和可以确定踝扭矩的第二传感器来实现。 控制器接收来自这些传感器的输入，并控制电机的转矩，使慢行走速度的转矩低于快速行走速度的转矩。 这减少了执行器在步态周期中执行的工作以及在步态循环期间传递的峰值执行器功率。 在一些实施例中，串联弹性元件与可以驱动脚踝的马达串联连接，并且至少一个传感器设置有可以确定串联弹性元件偏转的输出。 控制器基于输出确定期望的转矩，并且基于所确定的期望转矩来控制电动机的转矩。

    BIOMIMETIC JOINT ACTUATORS
    4.
    发明申请
    BIOMIMETIC JOINT ACTUATORS 有权
    生物联合执行器

    公开(公告)号：US20150265427A1

    公开(公告)日：2015-09-24

    申请号：US14734662

    申请日：2015-06-09

    Applicant: IWALK, INC.

    Inventor： Hugh Miller Herr ,  Jeff Anthony Weber ,  Richard James Casler, JR.

    IPC: A61F2/68 ,  A61F2/66 ,  A61F2/60 ,  A61F2/64

    CPC classification number: A61F2/68 ,  A61F2/605 ,  A61F2/64 ,  A61F2/66 ,  A61F2/6607 ,  A61F2002/6664 ,  A61F2002/6809 ,  A61F2002/6836 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/7625

    Abstract: In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.

    Abstract translation: 在用于向接头提供扭矩，接头平衡和/或阻抗的动力致动器中，马达直接耦合到低减速比传动装置，例如具有小于约80至1的齿轮比的变速器。马达具有 低耗散常数，例如小于约50W /（Nm）2。 变速器串联连接到弹性元件，该弹性元件也联接到接头，从而在最小化致动器的功率消耗和/或声学噪声的同时向接头提供扭矩，接头平衡和/或阻抗。

    Variable-mechanical-impedance artificial legs
    7.
    发明授权
    Variable-mechanical-impedance artificial legs 有权
    可变机械阻抗人造腿

    公开(公告)号：US09084689B2

    公开(公告)日：2015-07-21

    申请号：US14090556

    申请日：2013-11-26

    Applicant: IWALK, INC.

    Inventor： Hugh Miller Herr

    IPC: A61F2/64 ,  A61F2/60 ,  A61F2/66 ,  A61F2/68 ,  A61F5/01 ,  A61F2/50

    CPC classification number: A61F2/64 ,  A61F2/60 ,  A61F2/602 ,  A61F2/66 ,  A61F2/6607 ,  A61F5/01 ,  A61F2002/5007 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/6614 ,  A61F2002/6621 ,  A61F2002/6845 ,  A61F2002/747 ,  A61F2005/0134 ,  A61F2005/0169

    Abstract: In one aspect, the invention provides methods and apparatus facilitating an adjustable-stiffness prosthesis or orthosis (including approximations to arbitrarily definable non-linear spring functions). Spring rates may be varied under no-load conditions during a walking gate cycle to minimize power consumption. In another aspect, the invention provides methods and apparatus for outputting positive power from a prosthesis or orthosis, facilitating high-performance artificial limbs. In one embodiment of the invention, the positive power is transferred from a functioning muscle to the prosthesis or orthosis, which mimics or assists a non-functioning or impaired muscle. In another embodiment of the invention, the positive power comes from an on-board power source in the prosthesis or orthosis.

    Abstract translation: 一方面，本发明提供了促进可调节刚度假体或矫形器（包括对任意可定义的非线性弹簧功能的近似）的方法和设备。 弹簧速率可以在行走门循环期间的空载条件下变化以最小化功率消耗。 另一方面，本发明提供了用于从假体或矫形器输出正功率的方法和装置，便于高性能假肢。 在本发明的一个实施例中，正功率从功能肌肉转移到假体或矫形器，其模拟或辅助不起作用或受损的肌肉。 在本发明的另一实施例中，正功率来自假体或矫形器中的车载电源。

    CONTROLLING TORQUE IN A PROSTHESIS OR ORTHOSIS BASED ON A DEFLECTION OF SERIES ELASTIC ELEMENT
    8.
    发明申请
    CONTROLLING TORQUE IN A PROSTHESIS OR ORTHOSIS BASED ON A DEFLECTION OF SERIES ELASTIC ELEMENT 审中-公开
    根据系列弹性元件的偏差控制扭矩或矫正

    公开(公告)号：US20140121782A1

    公开(公告)日：2014-05-01

    申请号：US14150840

    申请日：2014-01-09

    Applicant: iWalk, Inc.

    Inventor： Hugh Miller Herr ,  Richard J. Casler, JR. ,  Zhixiu Han ,  Christopher Eric Barnhart ,  Gary Girzon ,  David Adams Garlow

    IPC: A61F2/68

    CPC classification number: A61F2/70 ,  A61F2/6607 ,  A61F2/68 ,  A61F5/0127 ,  A61F2002/5003 ,  A61F2002/5007 ,  A61F2002/5018 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/607 ,  A61F2002/6685 ,  A61F2002/701 ,  A61F2002/704 ,  A61F2002/745 ,  A61F2002/7625 ,  A61F2002/7635 ,  A61F2002/7645 ,  A61F2002/7695 ,  A61F2005/0155

    Abstract: In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

    Abstract translation: 在假肢或矫形踝/脚的一些实施例中，预测在即将到来的步骤中步行速度将是什么。 当预测的步行速度慢时，该装置的特性随后被修改，使得在该步骤期间执行的较少的网络工作（与预测步行速度快的时间相比）。 这可以使用可以预测步行速度的一个传感器和可以确定踝扭矩的第二传感器来实现。 控制器接收来自这些传感器的输入，并控制电机的转矩，使慢行走速度的转矩低于快速行走速度的转矩。 这减少了执行器在步态周期中执行的工作以及在步态循环期间传递的峰值执行器功率。 在一些实施例中，串联弹性元件与可以驱动脚踝的马达串联连接，并且至少一个传感器设置有可以确定串联弹性元件偏转的输出。 控制器基于输出确定期望的转矩，并且基于所确定的期望转矩来控制电动机的转矩。

    VARIABLE-MECHANICAL-IMPEDANCE ARTIFICIAL LEGS
    9.
    发明申请
    VARIABLE-MECHANICAL-IMPEDANCE ARTIFICIAL LEGS 有权
    可变机械阻抗人为伤害

    公开(公告)号：US20140088728A1

    公开(公告)日：2014-03-27

    申请号：US14090556

    申请日：2013-11-26

    Applicant: iWalk, Inc.

    Inventor： Hugh Miller Herr

    IPC: A61F2/60

    CPC classification number: A61F2/64 ,  A61F2/60 ,  A61F2/602 ,  A61F2/66 ,  A61F2/6607 ,  A61F5/01 ,  A61F2002/5007 ,  A61F2002/503 ,  A61F2002/5033 ,  A61F2002/6614 ,  A61F2002/6621 ,  A61F2002/6845 ,  A61F2002/747 ,  A61F2005/0134 ,  A61F2005/0169

    Abstract: In one aspect, the invention provides methods and apparatus facilitating an adjustable-stiffness prosthesis or orthosis (including approximations to arbitrarily definable non-linear spring functions). Spring rates may be varied under no-load conditions during a walking gate cycle to minimize power consumption. In another aspect, the invention provides methods and apparatus for outputting positive power from a prosthesis or orthosis, facilitating high-performance artificial limbs. In one embodiment of the invention, the positive power is transferred from a functioning muscle to the prosthesis or orthosis, which mimics or assists a non-functioning or impaired muscle. In another embodiment of the invention, the positive power comes from an on-board power source in the prosthesis or orthosis.

    Abstract translation: 一方面，本发明提供了促进可调节刚度假体或矫形器（包括对任意可定义的非线性弹簧功能的近似）的方法和设备。 弹簧速率可以在行走门循环期间的空载条件下变化以最小化功率消耗。 另一方面，本发明提供了用于从假体或矫形器输出正功率的方法和装置，便于高性能假肢。 在本发明的一个实施例中，正功率从功能肌肉转移到假体或矫形器，其模拟或辅助不起作用或受损的肌肉。 在本发明的另一实施例中，正功率来自假体或矫形器中的车载电源。

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