Having Fluid Actuator Patents (Class 623/26)
  • Patent number: 11478366
    Abstract: An actuator-damper unit for use in orthotic or prosthetic devices. The actuator-damper unit includes a housing which may be fastened on the orthotic or prosthetic device and in which a cylinder is formed. A first piston is displaceably mounted in the cylinder and is coupled to a piston rod. The piston rod is disposed, via a first end, on the first piston and may be coupled, via a second end, to the orthotic or prosthetic device. The first piston separates two fluid chambers in the cylinder from each other and forms a piston-cylinder unit, wherein at least one further piston is coupled to the first piston in order to form at least one further, variable-volume fluid chamber.
    Type: Grant
    Filed: October 6, 2017
    Date of Patent: October 25, 2022
    Assignee: OTTO BOCK HEALTHCARE PRODUCTS GMBH
    Inventors: Roland Auberger, Harald Sima, Martin Seyr
  • Patent number: 11439520
    Abstract: An orthopedic device with a hydraulic damping device, a valve with a valve seat and a valve body that is subjected to a closing force. The closing force is applied via a valve spring that is pre-loaded towards the valve seat. A fluid connection between the hydraulic damping device and the valve seat is provided. The valve features an adjustment device for adjusting the preload of the valve spring.
    Type: Grant
    Filed: May 15, 2019
    Date of Patent: September 13, 2022
    Inventors: Julian Rumpler, Kay Bodenstein, Juan Pablo Mejia Nino
  • Patent number: 11413207
    Abstract: A wearable apparatus for assisting muscular strength includes: a main body mechanism extending in a vertical direction of a wearer's torso, and being fixed to a side of a wearer's torso under a wearer's shoulder; a fastening mechanism extending along an extension direction of a wearer's upper arm, and being disposed at and being in contact with a lower surface of the wearer's upper arm; a connecting mechanism having a first end coupled to the fastening mechanism and a second end movably coupled to the main body mechanism so as to be movable with respect to the main body mechanism; and a support mechanism movably coupled between the first end and the second end of the connecting mechanism to apply a support force to the connecting mechanism, and coupled to the main body mechanism and movable with respect thereto.
    Type: Grant
    Filed: November 19, 2019
    Date of Patent: August 16, 2022
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Kyu Jung Kim, Hyun Seop Lim, Beom Su Kim, Ju Young Yoon, Dong Jin Hyun, Ki Hyeon Bae
  • Patent number: 11388809
    Abstract: The present invention provides a plasma generating system that includes: a programmable logic controller (PLC) and a plurality of reactor systems coupled to the PLC by a daisy chain network. Each of the plurality of reactor systems include: a microwave generator for generating microwave energy; and a power supply for providing electrical power to the microwave generator and including a controller, where the controller comprises: at least one microprocessor; and a module communicatively coupled to the at least one processor and including at least one of digital input-output (DIO) and analogue input-output (AIO).
    Type: Grant
    Filed: March 10, 2020
    Date of Patent: July 12, 2022
    Assignee: RECARBON, INC.
    Inventors: Curtis Peter Tom, Fei Xie, Wei Li
  • Patent number: 11376139
    Abstract: A prosthetic system includes first and second parts rotatable relative to one another about a joint. The first and second parts are adapted to form at least part of a weight bearing connection between a prosthetic foot and a socket. A pump system includes a pump mechanism operatively connected to the first and second parts. Rotation of the first part and/or the second part about the joint moves the pump mechanism between an original configuration in which the volume of a fluid chamber defined by the pump mechanism is zero or near-zero, and an expanded configuration in which the volume of the fluid chamber is increased.
    Type: Grant
    Filed: November 18, 2019
    Date of Patent: July 5, 2022
    Assignee: OSSUR ICELAND EHF
    Inventors: David Sandahl, Dana Stewart Marlin, Hafsteinn Jonasson
  • Patent number: 11337817
    Abstract: The present disclosure includes prosthetic devices, including implants for joints and external prosthetics. The prosthetic devices allow for full articulation of the joint, while absorbing impact of the components during normal use that will reduce wear on the device components and prolong life. The device may include a bone implantable component and a bearing component having an articulation surface that is sized and shaped to substantially mate with at least a portion of the bone implantable component and a damping mechanism that includes a contact member disposed at least primarily inside a cavity; a biasing member biasing the contact member toward an upper aperture of the cavity and means for capturing the contact member within the cavity.
    Type: Grant
    Filed: February 4, 2019
    Date of Patent: May 24, 2022
    Assignee: Newtonoid Technologies, L.L.C.
    Inventors: Fielding B. Staton, David Strumpf
  • Patent number: 11337880
    Abstract: A system is provided for supporting an arm of a user that includes a harness configured to be worn by the user, and an arm support coupled to the harness and including an arm rest to support an arm of the user. The arm support is configured to accommodate and follow movement of the arm without substantially interfering in such movement. The arm support may at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm. For example, the arm support may transfer at least a portion of the weight of the user's arm to the torso or other region of the user's body and/or may apply an opposing force to at least partially offset the gravitational force acting on the arm.
    Type: Grant
    Filed: August 19, 2019
    Date of Patent: May 24, 2022
    Assignee: ENHANCE TECHNOLOGIES, LLC
    Inventor: Mark C. Doyle
  • Patent number: 11285025
    Abstract: A prosthetic foot assembly is disclosed. The assembly includes a pivoting ankle joint with a hydraulic system, a prosthetic foot connected to the distal side of the ankle joint, and, at the proximal side, the ankle joint includes a transducer with pyramid adaptor for attaching to a pylon. The ankle joint sensor provides data collection during the stance and optionally, the swing, phases of walking using, for example, strain gages and accelerometers. Also disclosed are methods for real-time feature extraction. Key parameters are captured to which are applied linear, fuzzy logic, neural net, or generic algorithms to determine current state (walking flat, uphill, downhill etc.) in real time and execute changes to the angle between the ankle and foot almost instantaneously based on those parameters.
    Type: Grant
    Filed: May 22, 2019
    Date of Patent: March 29, 2022
    Inventors: Adam Arabian, David Alan Boone, Ben Gilbert Macomber, Tyler Butel, Robert Dustin Lane
  • Patent number: 11173056
    Abstract: A dynamic support apparatus having a frame, a dynamic interface, a temperature control mechanism, and a control system. The dynamic interface is capable of changing its geometry and is disposed on the top surface of the frame. The control system is operably connected to the dynamic interface and controls the changing geometry of the dynamic interface. There is also a temperature control mechanism disposed on the top surface of the frame for maintaining a comfortable temperature and moisture environment between the apparatus and the user's body.
    Type: Grant
    Filed: October 27, 2014
    Date of Patent: November 16, 2021
    Assignee: DEKA PRODUCTS LIMITED PARTNERSHIP
    Inventors: David E. Altobelli, N. Christopher Perry
  • Patent number: 11160714
    Abstract: A foot for a robotic exoskeleton includes three rigid foot segments, namely a middle foot segment arranged to be connected to a leg of the robotic exoskeleton, a front foot segment elastically connected to the front end of the middle foot segment by a first set of leaf springs and a rear foot segment elastically connected to the rear end of the middle foot segment by a second set of leaf springs. The foot has laces for fastening the foot to a person's shoe. In the condition where the front foot segment and the rear foot segment are both in contact with the ground, and no load is applied onto the foot, the middle foot segment is not in contact with the ground, but is elastically suspended by the first and second sets of springs.
    Type: Grant
    Filed: July 14, 2016
    Date of Patent: November 2, 2021
    Assignee: FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
    Inventors: Matteo Laffranchi, Stefano D'Angella, Paolo Uboldi, Jody Alessandro Saglia, Carlo Sanfilippo
  • Patent number: 11141294
    Abstract: A prosthetic system includes a prosthetic foot defining an upper surface and having a flexible configuration and a pump system attached to the prosthetic foot. The pump system includes a pump mechanism defining a fluid chamber having variable configuration and an actuating part. The actuating part is arranged to selectively engage with and separate a distance from the upper surface of the foot plate to move the pump mechanism between a first position in which a volume of the fluid chamber is zero or near-zero and a second position in which the volume of the fluid chamber is expanded relative to the first position. The volume of the fluid chamber increases when the actuating part moves away from the upper surface of the foot plate.
    Type: Grant
    Filed: September 17, 2018
    Date of Patent: October 12, 2021
    Assignee: OSSUR HF
    Inventors: Olafur Freyr Halldorsson, David Sandahl, Bjarni Gunnarsson, Egill Sveinbjorn Egilsson
  • Patent number: 11014230
    Abstract: A shear force actuator is described, including: two substantially parallel first structural components disposed along a first axis; a plurality of substantially parallel second structural components disposed between and bridging the two first structural components; a plurality of joint sections each joining the second structural component with the first structural components at an oblique angle of between 0 and 90 degrees to define a plurality of cells, each capable of being connected with a fluid inflation or deflation source; an elastic surface covering the remaining surfaces of the cells in a fluid-tight manner, wherein at least one of the joint section, the first structural components, and the second structural components is elastic so that cell collapses upon removal of fluid from the cell to generate a linear force along the first axis.
    Type: Grant
    Filed: November 9, 2016
    Date of Patent: May 25, 2021
    Assignee: President and Fellows of Harvard College
    Inventors: Dian Yang, George M. Whitesides
  • Patent number: 11006806
    Abstract: An evacuation station for collecting debris from a cleaning robot includes a controller configured to execute instructions to perform one or more operations. The one or more operations includes initiating an evacuation operation such that an air mover draws air containing debris from the cleaning robot, through an intake of the evacuation station, and through a canister of the evacuation station and such that a receptacle received by the evacuation station receives at least a portion of the debris drawn from the cleaning robot. The one or more operations includes ceasing the evacuation operation in response to a pressure value being within a range. The pressure value is determined based at least in part on data indicative of an air pressure, and the range is set based at least in part on a number of evacuation operations initiated before the evacuation operation.
    Type: Grant
    Filed: August 29, 2019
    Date of Patent: May 18, 2021
    Assignee: iRobot Corporation
    Inventors: Ellen B. Cargill, Douglas Dell'Accio, Benjamin Pheil, Flavia Pastore, Paul Schmitt, John P. O'Brien
  • Patent number: 10932923
    Abstract: The disclosure discloses an ankle prosthesis hydraulic drive circuit for achieving damping control and energy recovery, belonging to the technical field of prosthesiss and orthotic devices. The hydraulic drive circuit particularly includes a motor, a hydraulic pump, a first check valve, a first high-pressure energy accumulator, a three-position four-way valve, an electromagnetic normally-closed valve, a second high-pressure energy accumulator, a single-rod hydraulic cylinder, an electromagnetic normally-opened valve, a low-pressure energy accumulator, a second check valve, an oil inlet line, an oil outlet line, a first line and a second line. The hydraulic drive circuit provided by the disclosure is capable of outputting enough peak power to meet a normal walking demand, and meanwhile actively controlling the damping of the circuit and recycling energy during the walking.
    Type: Grant
    Filed: September 5, 2019
    Date of Patent: March 2, 2021
    Assignee: Beihang University
    Inventors: Xingjian Wang, Shaoping Wang, Rufei Li, Jing Fang, Changhong Lin
  • Patent number: 10834997
    Abstract: An article of footwear including an adaptive support system includes a plurality of support members. Each support member includes an outer chamber and an inner chamber, the inner chamber being filled with a magnetorheological fluid. An electromagnet is disposed adjacent to the inner chamber and can be used to vary the viscosity of the magnetorheological fluid.
    Type: Grant
    Filed: August 1, 2018
    Date of Patent: November 17, 2020
    Assignee: NIKE, Inc.
    Inventors: James C. Meschter, Mike A Chamblin, Andrew A. Owings
  • Patent number: 10716688
    Abstract: A prosthetic system includes a prosthetic knee having a controller and a hydraulic unit pivotally connected to the controller. The hydraulic includes a reserve hydraulic cylinder, a brake hydraulic cylinder, and a hydraulic cylinder having a lower hydraulic compartment. A flow system fluidly connects the hydraulic cylinder, the reserve hydraulic cylinder, and the brake cylinder. The flow system has first and second flow paths in communication with the lower hydraulic compartment and the reserve hydraulic cylinder. The first flow path is in communication with lower hydraulic compartment and the reserve hydraulic cylinder via the brake cylinder. The second flow path bypasses the brake hydraulic cylinder.
    Type: Grant
    Filed: September 13, 2017
    Date of Patent: July 21, 2020
    Assignee: OSSUR ICELAND EHF
    Inventor: Hsin-Fa Shen
  • Patent number: 10646356
    Abstract: The present disclosure includes a finger exoskeleton including a plurality of joints and a plurality of sensors configured to measure rotation of at least some of the plurality of joints of the finger exoskeleton. The finger exoskeleton also includes a series elastic actuator comprising a spring element, the series elastic actuator configured to rotate at least one of the plurality of joints. The finger exoskeleton also includes a computing device configured to control operation of the series elastic actuator based on a torque of the at least one of the plurality of joints, the torque determined at least based on the spring element and rotation of the at least one of the plurality of joints. The present disclosure also includes associated methods and hand exoskeletons.
    Type: Grant
    Filed: June 16, 2016
    Date of Patent: May 12, 2020
    Assignee: Board of Regents, The University of Texas System
    Inventors: Ashish Deshpande, Priyanshu Agarwal
  • Patent number: 10603192
    Abstract: A prosthetic liner for application on a stump, comprising an elastic base, which has a proximal opening for insertion of the stump in a receiving space, and a distal end. At least one pneumatic piston is arranged on the outer face of the prosthetic liner.
    Type: Grant
    Filed: May 30, 2014
    Date of Patent: March 31, 2020
    Assignee: OTTOBOCK SE & CO. KGAA
    Inventor: Andre Muller
  • Patent number: 10543109
    Abstract: A prosthetic device has a movable body and foot member with an end effector for contacting an external surface. A base body is coupled to a first joint of the foot member. A compliant linking member is disposed between a second joint of the foot member and a first joint of the moveable body. The compliant linking member can be a spring or flexible beam. A passive linking member is coupled between a third joint of the foot member and a third joint of the moveable body. An actuator is disposed between the base body and the second joint of the movable body. The actuator can be a motor with an extension member. The compliant linking member extends during roll-over phase. The actuator acts to assist with the extension of the compliant linking member during roll-over phase to aid with push-off phase in the gait cycle.
    Type: Grant
    Filed: May 4, 2016
    Date of Patent: January 28, 2020
    Assignee: Össur Iceland ehf
    Inventor: Matthew A. Holgate
  • Patent number: 10517743
    Abstract: A method for controlling an orthopaedic joint device of a lower extremity. The joint device has an upper part and a lower part mounted in a hinged manner on the latter. Arranged between the upper part and the lower part is an energy converter by which, during walking, kinetic energy from the relative movement between the lower part and the upper part is converted or stored and supplied again to the joint in order to support the relative movement, wherein kinetic energy within one movement cycle is converted and/or stored and, within the same movement cycle, is supplied again as kinetic energy to the joint device in a controlled manner and staggered in time.
    Type: Grant
    Filed: July 3, 2013
    Date of Patent: December 31, 2019
    Assignee: OTTOBOCK SE & CO. KGAA
    Inventors: Martin Pusch, Christian Will
  • Patent number: 10478369
    Abstract: A motion assist device, comprises a brace (2, 3, 5, 6, 11; 23, 24, 32, 35) configured to be worn by a user, an assist motor (4, 34) provided in association with the brace to assist a prescribed motion of the user, a control unit (10; 40) for controlling an operation of the assist motor, and an attitude detection sensor (8, 18; 38) connected to the control unit for detecting an attitude of the user. The control unit is configured to activate the assist motor when a prescribed attitude of the user is detected by the attitude detection sensor so that loads on parts of the user's body other than the part which is directly assisted can be minimized.
    Type: Grant
    Filed: September 28, 2017
    Date of Patent: November 19, 2019
    Assignee: Honda Motor Co., Ltd.
    Inventor: Yasushi Ikeuchi
  • Patent number: 10441440
    Abstract: A prosthesis with a lower limb attachment part, a foot part, a connection element with a joint function that connects the lower limb attachment part with the foot part, and a release device which can be brought into a locking position in which the foot part and the lower limb attachment part are connected to each other in a rotationally fixed manner at least relative to a dorsal extension movement, and into a release position in which the foot part can be rotated relative to the lower limb attachment part. The release device is designed to passively switch from the locking position into the release position when a variable which correlates to an ankle torque (M) in the connection element lies above a pre-set threshold.
    Type: Grant
    Filed: April 29, 2015
    Date of Patent: October 15, 2019
    Assignee: OTTOBOCK SE & CO. KGAA
    Inventors: Martin Pusch, Sven Kaltenborn, Luder Mosler, Georg Gehrmann, Carsten Monicke
  • Patent number: 10399219
    Abstract: An example device may include a rounded outer incline ramp and a rounded inner incline ramp surrounding a central axis. The rounded inner incline ramp and the rounded outer incline ramp may be inversely aligned relative to the central axis. The device may also include a piston carrier oriented in a direction parallel to the central axis. The piston carrier may include a first piston including a first roller positioned on the two ramps at a first point, where the first piston is configured to act on the two ramps in a direction parallel to the central axis. The piston carrier may also include a second piston including a second roller positioned on the two ramps at a second point opposite the first point, where the second piston is configured to act on the two ramps in a direction parallel to the central axis.
    Type: Grant
    Filed: December 21, 2016
    Date of Patent: September 3, 2019
    Assignee: Boston Dynamics, Inc.
    Inventor: Brian Dellon
  • Patent number: 10399225
    Abstract: A biomimetics based robot and process for simulation is disclosed. The robot may include filament driven and fluid pumped elastomer based artificial muscles coordinated for slow twitch/fast twitch contraction and movement of the robot by one or more microcontrollers. A process may provide physics based simulation for movement of a robot in a virtual setting. Successfully tested movement data may be stored and embedded into a robot at build and/or before a new movement in programmed into the robot.
    Type: Grant
    Filed: May 7, 2018
    Date of Patent: September 3, 2019
    Inventor: Stephen Favis
  • Patent number: 10357382
    Abstract: An incompressible fluid is used to adjust fit for a prosthetic device, the use of a closed loop control system and force, motion, and position measurement to aid with algorithms controlling the fit of the prosthetic device to a residual limb. Embodiments include automatic actuation, based on triggering of threshold values from sensors, a powered full release feature, use of hydraulic transducers to transfer fluid pressure to force on a limb, and customizable pressure distribution pads and embedded valves in transducers to prevent backflow and allow stabilization of the residual limb. A retrofit system may be used for existing prosthetic sockets. A triggering algorithm utilizes measured force exceeding a threshold or thresholds with a characteristic pulse signature and a triggering of release based on a combination of total motion and measured force below a threshold or thresholds.
    Type: Grant
    Filed: September 15, 2015
    Date of Patent: July 23, 2019
    Assignee: Epoch Medical Innovations, Inc.
    Inventors: Michael Thomas Ballas, Gary Joseph Ballas
  • Patent number: 10335291
    Abstract: A prosthesis can include a femoral segment suitable for a femoral connection to a user and a tibial segment connected to the femoral segment based on an articulation which reproduces movements of the knee, the tibial segment being articulated on a foot segment based on an articulation reproducing movements of the ankle, a first hydraulic damper the ends of which are joined respectively with the femoral and tibial segments, and a second hydraulic damper of which the ends are joined respectively with the tibial and foot segments.
    Type: Grant
    Filed: July 26, 2013
    Date of Patent: July 2, 2019
    Assignee: PROTEOR
    Inventors: Xavier Bonnet, Francis Djian
  • Patent number: 10275014
    Abstract: An information processing apparatus capable of reliably specifying a notification factor of a detection error. An execution-state monitoring unit monitors an execution state of an electric-power supplying process of supplying electric power to a process executing unit. A response-notification receiving unit receives a response notification from the process executing unit. A notification unit gives a notification that the process executing unit is not detected when an execution of the electric-power supplying process is completed and when the response notification is not received.
    Type: Grant
    Filed: November 28, 2016
    Date of Patent: April 30, 2019
    Assignee: CANON KABUSHIKI KAISHA
    Inventor: Xiaoli Wang
  • Patent number: 10233910
    Abstract: Some embodiments of the disclosed subject matter includes a laminated robotic actuator. The laminated robotic actuator includes a strain-limiting layer comprising a flexible, non-extensible material in the form of a sheet or thin film, a flexible inflatable layer in the form of a thin film or sheet in facing relationship with the strain-limiting layer, wherein the inflatable layer is selectively adhered to the strain-limiting layer, and wherein a portion of an un-adhered region between the strain-limiting layer and the inflatable layer defines a pressurizable channel, and at least one fluid inlet in fluid communication with the pressurizable channel. The first flexible non-extensible material has a stiffness that is greater than the stiffness of the second flexible elastomeric material and the flexible elastomer is non-extensible under actuation conditions.
    Type: Grant
    Filed: November 28, 2016
    Date of Patent: March 19, 2019
    Assignee: President and Fellows of Harvard College
    Inventors: Aaron D. Mazzeo, Stephen A. Morin, Robert F. Shepherd, George M. Whitesides, William B. Kalb
  • Patent number: 10159585
    Abstract: A prosthetic liner includes a flexible elongate, generally conical body portion formed from an elastomeric material. The body portion defines an inner surface, an outer surface forming a liner profile between a distal end and a proximal end, and an axis extending between the distal and proximal ends. At least one seal element extends circumferentially about the axis and protrudes radially outward a distance from the liner profile. The at least one seal element has a seal height defined between the liner profile and a radially outward end of the at least one seal element. The seal height varies circumferentially about the axis between a first seal height and a second seal height.
    Type: Grant
    Filed: April 24, 2017
    Date of Patent: December 25, 2018
    Assignee: OSSUR ICELAND EHF
    Inventor: Christof Werner Björn Kurth
  • Patent number: 10137011
    Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.
    Type: Grant
    Filed: August 19, 2013
    Date of Patent: November 27, 2018
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh M. Herr, Jeff A. Weber, Kwok Wai Samuel Au, Bruce Wayne Deffenbaugh, Lee Harris Magnusson, Andreas G. Hofmann, Benjamin B. Aisen
  • Patent number: 10123888
    Abstract: A compression stabilized prosthetic device for a patient having an amputated limb includes a first socket portion for contacting a patient's limb, and a second portion for the attachment of a prosthetic component. The first socket portion has compression portions configured for compressing portions of the patient's limb, and relief portions for receiving other portions of the patient's limb which bulge upon the compression applied by the compression portions. The relief portions may be formed as openings or as enlarged radius portions of the first socket portion.
    Type: Grant
    Filed: September 7, 2016
    Date of Patent: November 13, 2018
    Inventor: Randall D. Alley
  • Patent number: 10085857
    Abstract: The present invention relates to artificial limbs generally and to joints for the same. In particular, the present invention provides hydraulic functional units, generally classified as damping devices as connected between artificial limbs whereby enabling movement of artificial joints to closely correspond with natural human movement. In accordance with the invention, there is provided hydraulic damper control elements for prostheses which utilize a pressure differential due fluid flow as a direct control input for a at least one hydraulic valve. The valve can comprise a moveable element which abuts a mounted element which reduces the size of an aperture as the force increases. Further, a moveable body acts upon the valve enabling increase or decrease of flow of hydraulic fluid through the valve, whereby enabling an increase in gait by way of reduction of resistance to flow or reducing or stopping flow by way of a stumble recovery mechanism.
    Type: Grant
    Filed: February 16, 2016
    Date of Patent: October 2, 2018
    Inventors: Jacob Quintus Laurence Anthony Boender, Jona Aelrid Brendan Boender
  • Patent number: 10058146
    Abstract: An article of footwear including an adaptive support system includes a plurality of support members. Each support member includes an outer chamber and an inner chamber, the inner chamber being filled with a magnetorheological fluid. An electromagnet is disposed adjacent to the inner chamber and can be used to vary the viscosity of the magnetorheological fluid.
    Type: Grant
    Filed: October 29, 2015
    Date of Patent: August 28, 2018
    Assignee: NIKE, Inc.
    Inventors: James C. Meschter, Mike A. Chamblin, Andrew A. Owings
  • Patent number: 10028855
    Abstract: Variable stiffness devices and methods of their use are provided. In some embodiments, a variable stiffness device comprises an inner member defining a compartment for receiving an actuating fluid; an outer member disposed around the inner member; and a granular medium disposed between the inner member and the outer member; wherein the inner member is being moveable in a radial direction from a relaxed state to an expanded state by introducing the actuating fluid into the compartment of the inner member to compress the granular medium against the outer member to increase the stiffness of the device.
    Type: Grant
    Filed: May 13, 2016
    Date of Patent: July 24, 2018
    Assignee: Worcester Polytechnic Institute
    Inventors: Marko Popovic, Saivimal Sridar, Corey Majeika, Nicholas Deisadze, Erika Giancarlo
  • Patent number: 9962831
    Abstract: A biomimetics based robot and process for simulation is disclosed. The robot may include filament driven and fluid pumped elastomer based artificial muscles coordinated for slow twitch/fast twitch contraction and movement of the robot by one or more microcontrollers. A process may provide physics based simulation for movement of a robot in a virtual setting. Successfully tested movement data may be stored and embedded into a robot at build and/or before a new movement in programmed into the robot.
    Type: Grant
    Filed: July 8, 2016
    Date of Patent: May 8, 2018
    Inventor: Stephen Favis
  • Patent number: 9925072
    Abstract: A prosthetic system includes a liner adapted to receive a residual limb and having a liner body formed from an elastomeric material. The liner body defines an outer surface and an inner surface opposite the outer surface. The inner surface includes a first part arranged to form a seal between the liner and the residual limb, and a second part of the inner surface has at least one flow channel arranged for promoting movement of fluid away from a skin surface of the residual limb. An outlet is defined in the second part and extends between the inner and outer surfaces. The at least one flow channel is defined in the elastomeric material forming the liner body and is in fluid communication with the outlet.
    Type: Grant
    Filed: August 25, 2016
    Date of Patent: March 27, 2018
    Assignee: OSSUR ICELAND EHF
    Inventors: Grimur Jonsson, Andrew Bache
  • Patent number: 9878751
    Abstract: An example robot includes a first actuator and a second actuator connecting a first portion of a first member of the robot to a second member of the robot. Extension of the first actuator accompanied by retraction of the second actuator causes the first member to roll in a first roll direction. Retraction of the first actuator accompanied by extension of the second actuator causes the first member to roll in a second roll direction. A third actuator connects a second portion of the first member to the second member. Extension of the third actuator accompanied by retraction of both the first and second actuators causes the first member to pitch in a first pitch direction. Retraction of the third actuator accompanied by extension of both the first and second actuators causes the first member to pitch in a second pitch direction.
    Type: Grant
    Filed: October 8, 2015
    Date of Patent: January 30, 2018
    Assignee: Boston Dynamics, Inc.
    Inventors: Christopher Everett Thorne, John Aaron Saunders, Marco da Silva, Thomas H. Miller, Alexander Douglas Perkins
  • Patent number: 9848822
    Abstract: A device and method for measuring prosthetic or orthotic slip is presented. An optical sensor device is attached to the prosthesis or orthosis and measures the amount of relative motion between the prosthetic socket and the residual limb surface or between the orthosis and the affected body part. The sensor device is comprised of an optical sensor, a light source, a processing unit and a power source contained within a housing. A system for measuring multidirectional prosthetic or orthotic slip using the sensor device and automatically adjusting the fit of the prosthetic based on a determined threshold is also presented.
    Type: Grant
    Filed: November 18, 2013
    Date of Patent: December 26, 2017
    Assignee: University of South Florida
    Inventors: Matthew Michael Wernke, Samuel Lon Phillips, Derek James Lura, Stephanie Lutton Carey, Rajiv V. Dubey
  • Patent number: 9775715
    Abstract: The invention relates to prosthetic knee joint comprising an upper part, which has an upper connecting means, and a lower part, which is pivotably mounted on the upper part and which has a lower connecting means. A vacuum pump with an inlet and an outlet, said pump being driven by the relative movement of the upper part to the lower part, is associated with the prosthetic knee joint.
    Type: Grant
    Filed: July 21, 2011
    Date of Patent: October 3, 2017
    Assignee: OTTO BOCK HEALTHCARE GMBH
    Inventor: Herman Boiten
  • Patent number: 9687363
    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.
    Type: Grant
    Filed: July 21, 2015
    Date of Patent: June 27, 2017
    Assignee: BIONX MEDICAL TECHNOLOGIES, INC.
    Inventor: Hugh Miller Herr
  • Patent number: 9687364
    Abstract: The present invention mainly relates to knee joint and more particularly to the polymeric composite or nanocomposites based polycentric knee joint.
    Type: Grant
    Filed: August 31, 2015
    Date of Patent: June 27, 2017
    Assignees: DEPARTMENT OF BIOTECHNOLOGY, MINISTRY OF SCIENCE & TECHNOLOGY, INDIAN INSTITUTE OF TECHNOLOGY GUWAHATI
    Inventors: Srinivasan Arun, Subramani Kanagaraj
  • Patent number: 9526635
    Abstract: A prosthetic or orthotic device can include at least one device portion and a joint portion for providing for the at least one device portion to pivot between flexion and extension movements relative to another adjacent device portion or an adjacent limb segment of a user. In some embodiments, a prosthetic or orthotic device can include a compliant transmission assembly in operational communication with the joint portion. The compliant transmission assembly can include a compliant member and a pivot. The pivot can be interposed between the compliant member and the joint portion. In some embodiments, the compliant member absorbs energy when a torque is applied.
    Type: Grant
    Filed: May 2, 2013
    Date of Patent: December 27, 2016
    Assignee: Victhom Laboratory Inc.
    Inventors: Benoit Gilbert, David Landry
  • Patent number: 9439797
    Abstract: Apparatus, system, and method are disclosed herein for controlling movement of an orthopedic joint prosthesis in a mammalian subject. The apparatus, system, or method includes an orthopedic brace configured to control movement of an orthopedic joint prosthesis. The apparatus, system, or method includes one or more sensors and one or more controllers in communication with the one or more sensors. The one or more sensors are configured to be remote from the orthopedic joint prosthesis, wherein the one or more sensors in communication with the one or more controllers are configured to detect and control one or more alignment orientations of the orthopedic joint prosthesis.
    Type: Grant
    Filed: April 8, 2013
    Date of Patent: September 13, 2016
    Assignee: Elwha LLC
    Inventors: Michael H. Baym, Roderick A. Hyde, Elizabeth A. Sweeney, Lowell L. Wood, Jr.
  • Patent number: 9248031
    Abstract: The invention relates to the control of a passive prosthetic knee joint with adjustable damping in the direction of flexion such that a prosthetic unit attached to the knee joint can be adapted for climbing stairs.
    Type: Grant
    Filed: April 27, 2010
    Date of Patent: February 2, 2016
    Assignee: OTTO BOCK HEALTHCARE GMBH
    Inventors: Martin Pusch, Sven Zarling, Herman Boiten
  • Patent number: 9220624
    Abstract: This disclosure describes systems, methods, and apparatus for a knee brace providing a dynamic resistance or anterior force to a shank of a leg in order to replicate PCL forces of a healthy PCL. A dynamic force dependent upon knee flexion angle provides faster and safer PCL injury healing since the dynamic force better replicates the forces that a healthy PCL would exert on the tibia and femur.
    Type: Grant
    Filed: September 14, 2011
    Date of Patent: December 29, 2015
    Assignee: OSSUR HF
    Inventors: Kyle Jansson, Robert Francis LaPrade
  • Patent number: 9205017
    Abstract: A system is provided for supporting an arm of a user that includes a harness configured to be worn by the user, and an arm support coupled to the harness and including an arm rest to support an arm of the user. The arm support is configured to accommodate and follow movement of the arm without substantially interfering in such movement. The arm support may at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm. For example, the arm support may transfer at least a portion of the weight of the user's arm to the torso or other region of the user's body and/or may apply an opposing force to at least partially offset the gravitational force acting on the arm.
    Type: Grant
    Filed: January 18, 2012
    Date of Patent: December 8, 2015
    Assignee: LEVITATE TECHNOLOGIES, INC.
    Inventor: Mark C. Doyle
  • Patent number: 9204979
    Abstract: The present invention relates in the field of orthopedics to an artificial ankle which imitates the natural human gait in a proper way, thereby enabling its user to walk not only in a plane environment but also uphill and downhill without any unpleasant effects. The present invention further relates to an artificial foot and an artificial leg containing said artificial ankle.
    Type: Grant
    Filed: January 11, 2011
    Date of Patent: December 8, 2015
    Assignees: FALZ & KANNENBERG GMBH & CO. KG, NORTHWESTERN UNIVERSITY
    Inventors: Felix Starker, Urs Schneider, Andrew H. Hansen, Dudley S. Childress, Joachim Pauli, Carsten Pauli, Nancy Childress
  • Patent number: 9072615
    Abstract: A prosthetic device having a housing, an axle, at least three housing vanes, a flow medium and a valve. The axle is disposed within the housing and moveable independently of the housing. The axle has an axle reservoir and at least three axle vanes extending from the axle to contact the chamber wall. The three housing vanes extend from a chamber wall and contact the axle. A first opening and a second opening are formed in each axle vane. The flow medium is contained entirely within the chamber and the axle reservoir. The valve is disposed in the axle and operable in response to movement of the axle in a first direction relative to the housing to allow the flow medium to enter the axle reservoir from the chamber for storage under pressure.
    Type: Grant
    Filed: June 25, 2012
    Date of Patent: July 7, 2015
    Inventor: Ryan Hawkins
  • Patent number: 9060810
    Abstract: Growing rod systems and methods for correcting spinal deformities include at least one growing rod assembly and at least one fluid delivery assembly. Each growing rod assembly includes a fluid actuator that is operable to extend first and second rod segments in opposite directions along the spine. The fluid actuator can be provided by, for example, a piston-cylinder actuator. Each fluid delivery assembly includes a fluid pump operably connectable to a fluid line, which in turn is connected to the fluid actuator. In one embodiment, the fluid actuator is of a linear design. In another embodiment, two linear or curvilinear fluid actuators are provided back-to-back and connected by a connecting rod that mounts to the mid-spine and is contourable. In another embodiment, the fluid actuator is of a curvilinear design to generally conform the normal spine. And in another embodiment, the fluid actuator includes a fluid-over-fluid shock absorber.
    Type: Grant
    Filed: May 28, 2009
    Date of Patent: June 23, 2015
    Assignee: KERFLIN ORTHOPEDIC INNOVATIONS, LLC
    Inventors: James Kercher, John Heflin
  • Patent number: 8986398
    Abstract: A range of motion (ROM) prosthetic foot and passive dampening ankle joint have limited dorsiflexion-plantarflexion (up and down) pivoting to accommodate different environments, and a spring to provide resilient resistance to plantarflexion (or lowering of the toe), and to bias the foot in dorsiflexion (or raising the toe). The ankle joint has a rear pivot rearward of a hydraulic link for a smooth feel. The ankle joint has an internal bumper in a hydraulic cylinder for a smooth feel. The ankle joint has an internal hydraulic compensator disposed in the cylinder and carried by the piston to equalize volume.
    Type: Grant
    Filed: March 11, 2013
    Date of Patent: March 24, 2015
    Assignee: Freedom Innovations, LLC
    Inventors: Arlo Marsh Poulson, III, Roland Christensen, Steven Heath, Henry Hsu