Patents by Inventor Lee-Huang Chen
Lee-Huang Chen 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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Publication number: 20210007875Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.Type: ApplicationFiled: September 30, 2020Publication date: January 14, 2021Inventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
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Patent number: 10821017Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.Type: GrantFiled: March 24, 2017Date of Patent: November 3, 2020Assignee: The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
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Patent number: 10630208Abstract: A DNA-structured linear actuator comprised of a ladder-like structure that twists to generate linear motion. In its base state, the DNA structured linear actuator best resembles a rope ladder. When this ladder is twisted, it takes on the appearance of a DNA double-helix structure. By application of a torsional force on one end, the ladder-like structure extends or contracts to allow linear translation of one end of the structure.Type: GrantFiled: November 15, 2017Date of Patent: April 21, 2020Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIAInventors: Alice Agogino, Kyle Zampaglione, Lee-Huang Chen, Andrew P. Sabelhaus
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MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS
Publication number: 20200061810Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.Type: ApplicationFiled: November 10, 2016Publication date: February 27, 2020Applicant: The Regents of the University of CaliforniaInventors: Lee-Huang Chen, Azhar Khaderi, Alexander Y. Lim, Kyunam Kim, Deaho Moon, Peadar Keegan, Alice M. Agogino, Adrian Agogino -
Publication number: 20190382995Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members; and a plurality of interconnecting tensile members connected to the plurality of compressive members to form a spatially defined structure without the plurality of compressive members forming direct load-transmitting connections with each other. The plurality of interconnecting tensile members forms a lattice, and the lattice comprises an elastic material.Type: ApplicationFiled: March 5, 2018Publication date: December 19, 2019Applicant: The Regents of the University of CaliforniaInventors: Lee-Huang Chen, Alice M. Agogino, Mallory Daly, Andrew P. Sabelhaus, Adrian Agogino
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MODULAR ROD-CENTERED, DISTRIBUTED ACTUATION AND CONTROL ARCHITECTURE FOR SPHERICAL TENSEGRITY ROBOTS
Publication number: 20180326577Abstract: According to some embodiments of the invention, a tensegrity robot includes a plurality of compressive members, and a plurality of tensile members connected to the compressive members to form a spatially defined structure without the compressive members forming direct load-transmitting connections with each other. Each compressive member has an axial extension with a first axial end and a second axial end and a central axial region. The tensegrity robot also includes a plurality of actuators, each attached to one of the compressive members within a corresponding central axial region thereof. The tensegrity robot also includes a plurality of controllers, each attached to one of the compressive members. Each actuator is operatively connected to a corresponding tensile member so as to selectively change a tension on the tensile member in response to commands from a controllers to thereby change a center of mass of the tensegrity robot to effect movement thereof.Type: ApplicationFiled: November 10, 2015Publication date: November 15, 2018Applicant: The Regents of the University of CaliforniaInventors: Lee-Huang Chen, Azhar Khaderi, Alexander Y. Lim, Kyunam Kim, Deaho Moon, Peadar Keegan, Alice M. Agogino, Adrian Agogino -
Publication number: 20180138832Abstract: A DNA-structured linear actuator comprised of a ladder-like structure that twists to generate linear motion. In its base state, the DNA structured linear actuator best resembles a rope ladder. When this ladder is twisted, it takes on the appearance of a DNA double-helix structure. By application of a torsional force on one end, the ladder-like structure extends or contracts to allow linear translation of one end of the structure.Type: ApplicationFiled: November 15, 2017Publication date: May 17, 2018Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIAInventors: Alice Agogino, Kyle Zampaglione, Lee-Huang Chen, Andrew P. Sabelhaus
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Patent number: 9744066Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.Type: GrantFiled: November 18, 2015Date of Patent: August 29, 2017Assignee: The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen, Wayne Tung, Nathan Poon, Theerapat Yangyuenthanasan
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Publication number: 20170196712Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.Type: ApplicationFiled: March 24, 2017Publication date: July 13, 2017Applicant: The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
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Patent number: 9655762Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.Type: GrantFiled: June 11, 2012Date of Patent: May 23, 2017Assignee: The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
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Publication number: 20160206498Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.Type: ApplicationFiled: November 18, 2015Publication date: July 21, 2016Inventors: Homayoon KAZEROONI, Erich HACKER, Lee-Huang CHEN, Wayne TUNG, Nathan POON, Theerapat YANGYUENTHANASAN
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Publication number: 20140121573Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.Type: ApplicationFiled: June 11, 2012Publication date: May 1, 2014Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIAInventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen