Patents by Inventor Nathan Harding
Nathan Harding 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: 9610208Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.Type: GrantFiled: December 10, 2012Date of Patent: April 4, 2017Assignee: Ekso Bionics, Inc.Inventors: Homayoon Kazerooni, Kurt Amundson, Nathan Harding
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Publication number: 20170000682Abstract: An ambulatory exoskeleton can be selectively operated in at least two different modes, with one mode constituting an unworn propulsion mode, used when the exoskeleton is not worn by a user, and another mode constituting a default or worn propulsion mode, used when the exoskeleton is worn by a user. With this arrangement, a physical therapist, or other operator, wishing to move an unworn exoskeleton, can balance the unworn exoskeleton, while simultaneously utilizing a control system and actuators of the exoskeleton to propel the unworn exoskeleton. Therefore, the exoskeleton walks by taking steps forward, as commanded by the operator using any of a plurality of input arrangements, while the operator balances and steers the exoskeleton by physically guiding the exoskeleton using a handle or other interaction surface of the exoskeleton.Type: ApplicationFiled: March 19, 2015Publication date: January 5, 2017Applicant: Ekso Bionics, Inc.Inventors: Nathan Harding, Adam Zoss
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Patent number: 9504623Abstract: An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.Type: GrantFiled: April 8, 2011Date of Patent: November 29, 2016Assignee: Ekso Bionics, Inc.Inventors: Russdon Angold, Adam Zoss, Jon Burns, Kurt Amundson, Nathan Harding
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Publication number: 20160250094Abstract: A lower extremity orthosis is configured to be coupled to across at least one joint of a person for gait assistance and can incorporate knee, thigh, hip and ankle/foot assistive orthotic devices which can be used in various combinations to aid in the rehabilitation and restoration of muscular function in patients with impaired muscular function or control.Type: ApplicationFiled: November 12, 2014Publication date: September 1, 2016Applicant: Ekso Bionics, Inc.Inventors: Kurt Amundson, Nathan Harding, Russdon Angold, Adam Zoss
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Patent number: 9295604Abstract: A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.Type: GrantFiled: September 19, 2011Date of Patent: March 29, 2016Assignees: Ekso Bionics, Inc., The Regents of the University of CaliforniaInventors: Adam Zoss, Katherine Strausser, Tim Swift, Russ Angold, Jon Burns, Dylan Fairbanks, Nathan Harding
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Publication number: 20150351991Abstract: A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.Type: ApplicationFiled: January 15, 2014Publication date: December 10, 2015Applicant: Ekso Bionics, Inc.Inventors: Kurt Amundson, Nathan Harding, James Stryker
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Publication number: 20150351995Abstract: An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.Type: ApplicationFiled: December 11, 2013Publication date: December 10, 2015Applicant: Ekso Bionics, Inc.Inventors: Adam Zoss, Jonathan Evans, Reuben Sandler, Nathan Harding, Aaron Julin, James Lubin, Taylor Heanue, Dylan Fairbanks, James Stryker
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Publication number: 20150134078Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.Type: ApplicationFiled: January 26, 2015Publication date: May 14, 2015Applicant: Ekso Bionics, Inc.Inventors: Kurt Amundson, Nathan Harding, Homayoon Kazerooni
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Patent number: 8968222Abstract: An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.Type: GrantFiled: December 17, 2009Date of Patent: March 3, 2015Assignees: Ekso Bionics, Inc., The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss
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Patent number: 8945028Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.Type: GrantFiled: May 19, 2009Date of Patent: February 3, 2015Assignee: Ekso Bionics, Inc.Inventors: Homayoon Kazerooni, Kurt Amundson, Nathan Harding
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Patent number: 8894592Abstract: A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.Type: GrantFiled: May 19, 2009Date of Patent: November 25, 2014Assignees: University of California at Berkekey, Ekso Bionics, Inc.Inventors: Kurt Amundson, Russdon Angold, Nathan Harding, Homayoon Kazerooni
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Patent number: 8801641Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.Type: GrantFiled: July 23, 2009Date of Patent: August 12, 2014Assignees: Ekso Bionics, Inc., The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Kurt Amundson, Russdon Angold, Nathan Harding
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Publication number: 20130303950Abstract: An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.Type: ApplicationFiled: April 8, 2011Publication date: November 14, 2013Applicant: EKSO BIONICSInventors: Russdon Angold, Adam Zoss, Homayoon Kazerooni, Jon Burns, Kurt Amundson, Nathan Harding
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Publication number: 20130231595Abstract: A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.Type: ApplicationFiled: September 19, 2011Publication date: September 5, 2013Applicants: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, EKSO BIONICSInventors: Adam Zoss, Katherine Strausser, Tim Swift, Russ Angold, Jon Burns, Homayoon Kazerooni, Dylan Fairbanks, Nathan Harding
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Patent number: 8231688Abstract: A semi-actuated above knee prosthetic system, which is mostly passive in nature and includes a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link attached to an above-knee remaining lower limb of an amputee, is operable in either an actuated mode or an un-actuated mode controlled by a signal processor linked to various prosthetic mounted sensors which may include combinations of knee angle, stance, thigh angle and shank angle sensors. Power is delivered through an electric motor connected to a battery source and employed to drive a hydraulic pump which is part of an overall hydraulic power unit including the torque generator. A signal processor selects a swing state from at least forward, combination forward and descent, combination forward and ascent, reverse, combination reverse and descent, and combination reverse and ascent swing states.Type: GrantFiled: June 16, 2009Date of Patent: July 31, 2012Assignees: Berkeley Bionics, The Regents of the University of CaliforniaInventors: Dylan Miller Fairbanks, Adam Brian Zoss, Minerva Vasudevan Pillai, Miclas Schwartz, Nathan Harding, Matthew Rosa, Bram Gilbert Antoon Lambrecht, Sebastian Kruse, Homayoon Kazerooni
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Publication number: 20110266323Abstract: An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.Type: ApplicationFiled: December 17, 2009Publication date: November 3, 2011Applicants: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, BERKELEY BIONICSInventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss
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Publication number: 20110105966Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.Type: ApplicationFiled: July 23, 2009Publication date: May 5, 2011Applicants: BERKELEY BIONICS, THE REGENTS OF THE UNIVERSITY OF CALIFORNIAInventors: Homayoon Kazerooni, Kurt Amundson, Russdon Angold, Nathan Harding
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Publication number: 20100094185Abstract: A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.Type: ApplicationFiled: May 19, 2009Publication date: April 15, 2010Applicants: UNIVERSITY OF CALIFORNIA AT BERKELEY, BERKELEY BIONICSInventors: Kurt Amundson, Russdon Angold, Nathan Harding, Homayoon Kazerooni
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Publication number: 20100023133Abstract: A semi-actuated above knee prosthetic system, which is mostly passive in nature and includes a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link attached to an above-knee remaining lower limb of an amputee, is operable in either an actuated mode or an un-actuated mode controlled by a signal processor linked to various prosthetic mounted sensors. In the actuated mode, power is delivered to a torque generator connected to the knee mechanism to cause a forced movement between the thigh and shank links. In the un-actuated mode, a control circuit operates in a non-powered manner to allow operation of the knee mechanism with modulated resistance. Power is delivered through an electric motor connected to a battery source and employed to drive a hydraulic pump which is part of an overall hydraulic power unit including the torque generator.Type: ApplicationFiled: June 16, 2009Publication date: January 28, 2010Applicants: Berkeley Bionics, The Regents of the University of CaliforniaInventors: Dylan Miller Fairbanks, Adam Brian Zoss, Minerva Vasudevan Pillai, Miclas Schwartz, Nathan Harding, Matthew Rosa, Bram Gilbert Antoon Lambrecht, Sebastian Kruse, Homayoon Kazerooni
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Publication number: 20090292369Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.Type: ApplicationFiled: May 19, 2009Publication date: November 26, 2009Applicant: BERKELEY BIONICSInventors: Homayoon Kazerooni, Kurt Amundson, Nathan Harding