Patents by Inventor Hugh Miller Herr
Hugh Miller Herr has filed for patents to protect the following inventions. This listing includes patent applications that are pending as well as patents that have already been granted by the United States Patent and Trademark Office (USPTO).
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Patent number: 10080672Abstract: 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.Type: GrantFiled: September 1, 2009Date of Patent: September 25, 2018Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Rick Casler, Hugh Miller Herr, Zhixiu Han, Christopher E. Barnhart
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Publication number: 20180153713Abstract: 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.Type: ApplicationFiled: January 23, 2018Publication date: June 7, 2018Inventors: Hugh Miller Herr, Jeff Anthony Weber, Richard James Casler, JR.
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Patent number: 9872782Abstract: 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.Type: GrantFiled: June 9, 2015Date of Patent: January 23, 2018Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Hugh Miller Herr, Jeff Anthony Weber, Richard James Casler
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Publication number: 20170250632Abstract: In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.Type: ApplicationFiled: March 15, 2017Publication date: August 31, 2017Inventors: Hugh Miller Herr, Christopher Williams, Christopher Eric Barnhart, Zhixiu Han, Charles E. Rohrs, Richard J. Casler, JR.
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Patent number: 9737419Abstract: In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.Type: GrantFiled: November 2, 2012Date of Patent: August 22, 2017Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Hugh Miller Herr, Christopher Williams, Christopher Eric Barnhart, Zhixiu Han, Charles E. Rohrs, Richard J. Casler, Jr.
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Publication number: 20170216055Abstract: 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.Type: ApplicationFiled: January 24, 2017Publication date: August 3, 2017Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon, David Adams Garlow
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Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
Patent number: 9693883Abstract: 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 by 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.Type: GrantFiled: December 20, 2013Date of Patent: July 4, 2017Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon -
Patent number: 9687363Abstract: 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.Type: GrantFiled: July 21, 2015Date of Patent: June 27, 2017Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventor: Hugh Miller Herr
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CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME
Publication number: 20170143516Abstract: 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.Type: ApplicationFiled: December 13, 2016Publication date: May 25, 2017Inventors: HUGH MILLER HERR, RICHARD J. CASLER, ZHIXIU HAN, CHRISTOPHER ERIC BARNHART, GARY GIRZON -
Publication number: 20170042467Abstract: Knee adduction moment of an untethered human during gait is modulated by determining at least one feature associated with instantaneous knee adduction moment of the untethered human during a gait cycle. Feedback to be transmitted to the human is, optionally, derived from the feature, such as by comparing the at least one feature to a value, such as a target value. The feature, or feedback derived from the feature, is transmitted to the human for response by the human, thereby modulating knee adduction moment of the untethered human during the gait.Type: ApplicationFiled: April 24, 2015Publication date: February 16, 2017Inventors: Hugh Miller Herr, Madeleine Rose Abromowitz
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Publication number: 20160235557Abstract: 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.Type: ApplicationFiled: April 28, 2016Publication date: August 18, 2016Inventors: Hugh Miller Herr, Richard J. Casler, Zhixiu Han
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Patent number: 9351856Abstract: 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.Type: GrantFiled: September 24, 2013Date of Patent: May 31, 2016Assignee: IWALK, INC.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han
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Publication number: 20160067058Abstract: 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.Type: ApplicationFiled: July 21, 2015Publication date: March 10, 2016Inventor: Hugh Miller Herr
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Patent number: 9211201Abstract: 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.Type: GrantFiled: March 15, 2013Date of Patent: December 15, 2015Assignee: iWalk, Inc.Inventors: Hugh Miller Herr, Rick Casler, Zhixiu Han
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Publication number: 20150265427Abstract: 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.Type: ApplicationFiled: June 9, 2015Publication date: September 24, 2015Inventors: Hugh Miller Herr, Jeff Anthony Weber, Richard James Casler, JR.
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Patent number: 9084689Abstract: 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.Type: GrantFiled: November 26, 2013Date of Patent: July 21, 2015Assignee: IWALK, INC.Inventor: Hugh Miller Herr
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Publication number: 20150127118Abstract: 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.Type: ApplicationFiled: June 12, 2013Publication date: May 7, 2015Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Zhixiu Han, Christopher Eric Barnhart, Richard J. Casler, JR.
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Patent number: 8900325Abstract: 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.Type: GrantFiled: September 24, 2013Date of Patent: December 2, 2014Assignee: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han
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Publication number: 20140296997Abstract: In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.Type: ApplicationFiled: November 2, 2012Publication date: October 2, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Christopher Williams, Christopher Eric Barnhart, Zhixiu Han, Charles E. Rohrs, Richard J. Casler, JR.
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Publication number: 20140121782Abstract: 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.Type: ApplicationFiled: January 9, 2014Publication date: May 1, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon, David Adams Garlow