Patents by Inventor Gill A. Pratt

Gill A. Pratt 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).

  • Patent number: 10695256
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: May 2, 2017
    Date of Patent: June 30, 2020
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 10612199
    Abstract: Systems, methods, and other embodiments described herein relate to acquiring embedded information from a roadway. In one embodiment, a method includes, in response to receiving a reflected signal resulting from a scanning signal interacting with the roadway, analyzing the reflected signal to detect a roadway signature embedded within the roadway. The method includes computing an identifier of the roadway signature as a function of features associated with the roadway signature that are embodied within the reflected signal. The method includes providing the embedded information about the roadway according to the identifier.
    Type: Grant
    Filed: May 9, 2017
    Date of Patent: April 7, 2020
    Assignee: Toyota Research Institute, Inc.
    Inventors: Gill A. Pratt, James J. Kuffner, Jr., James M. Adler
  • Patent number: 10571280
    Abstract: System, methods, and other embodiments described herein relate to localizing a vehicle on a roadway. In one embodiment, a method includes, in response to detecting one or more indicators of a roadway signature within a reflected signal from the roadway, acquiring a fix on the roadway signature as a function of the one or more indicators that identify at least a segment of the roadway signature. The method includes localizing the vehicle on the roadway by correlating the roadway signature with a signature mapping that identifies a location for the segment of the roadway signature on the roadway.
    Type: Grant
    Filed: May 9, 2017
    Date of Patent: February 25, 2020
    Assignee: Toyota Research Institute, Inc.
    Inventors: Gill A. Pratt, James J. Kuffner, Jr., James M. Adler
  • Publication number: 20180330174
    Abstract: System, methods, and other embodiments described herein relate to detecting markers on a roadway. In one embodiment, a method includes controlling a radar to transmit a scanning signal with defined characteristics. The radar is integrated with a vehicle that is traveling on the roadway. The method includes, in response to receiving a reflected signal resulting from the scanning signal interacting with the roadway, identifying the marker from the reflected signal according to an electromagnetic signature of the marker embodied in the reflected signal. The electromagnetic signature is a response induced within the defined characteristics of the scanning signal that is embodied within the reflected signal.
    Type: Application
    Filed: May 9, 2017
    Publication date: November 15, 2018
    Inventors: Gill A. Pratt, James J. Kuffner, JR., James M. Adler
  • Publication number: 20180329033
    Abstract: System, methods, and other embodiments described herein relate to acquiring embedded information from a roadway. In one embodiment, a method includes, in response to receiving a reflected signal resulting from a scanning signal interacting with the roadway, analyze the reflected signal to detect a roadway signature embedded within the roadway. The method includes computing an identifier of the roadway signature as a function of features associated with the roadway signature that are embodied within the reflected signal. The method includes providing the embedded information about the roadway according to the identifier.
    Type: Application
    Filed: May 9, 2017
    Publication date: November 15, 2018
    Inventors: Gill A. Pratt, James J. Kuffner, JR., James M. Adler
  • Publication number: 20180328741
    Abstract: System, methods, and other embodiments described herein relate to localizing a vehicle on a roadway. In one embodiment, a method includes, in response to detecting one or more indicators of a roadway signature within a reflected signal from the roadway, acquiring a fix on the roadway signature as a function of the one or more indicators that identify at least a segment of the roadway signature. The method includes localizing the vehicle on the roadway by correlating the roadway signature with a signature mapping that identifies a location for the segment of the roadway signature on the roadway.
    Type: Application
    Filed: May 9, 2017
    Publication date: November 15, 2018
    Inventors: Gill A. Pratt, James J. Kuffner, JR., James M. Adler
  • Patent number: 10127462
    Abstract: System, methods, and other embodiments described herein relate to detecting markers on a roadway. In one embodiment, a method includes controlling a radar to transmit a scanning signal with defined characteristics. The radar is integrated with a vehicle that is traveling on the roadway. The method includes, in response to receiving a reflected signal resulting from the scanning signal interacting with the roadway, identifying the marker from the reflected signal according to an electromagnetic signature of the marker embodied in the reflected signal. The electromagnetic signature is a response induced within the defined characteristics of the scanning signal that is embodied within the reflected signal.
    Type: Grant
    Filed: May 9, 2017
    Date of Patent: November 13, 2018
    Assignee: Toyota Research Institute, Inc.
    Inventors: Gill A. Pratt, James J. Kuffner, Jr., James M. Adler
  • Patent number: 10095228
    Abstract: System, methods, and other embodiments described herein relate to improving vigilance and readiness of an operator in a vehicle that includes an augmented reality (AR) display. In one embodiment, a method includes computing an engagement level of the operator to characterize an extent of vigilance decrement and readiness presently exhibited by the operator relative to operating characteristics of the vehicle including an external environment around the vehicle and at least semi-autonomous operation of the vehicle. The method includes dynamically rendering, on the AR display, graphical elements by varying visual characteristics of the at least one graphical element as a function of the engagement level and based, at least in part, on sensor data about the external environment. Dynamically rendering the at least one graphical element improves the at least semi-autonomous operation of the vehicle through inducing vigilance and readiness within the operator with respect to the operating characteristics.
    Type: Grant
    Filed: January 10, 2018
    Date of Patent: October 9, 2018
    Assignee: Toyota Research Institute, Inc.
    Inventors: James J. Kuffner, Jr., Gill A. Pratt
  • Patent number: 9904287
    Abstract: System, methods, and other embodiments described herein relate to mitigating vigilance decrement of a vehicle operator. In one embodiment, a method includes monitoring the operator by collecting operator state information using at least one sensor of the vehicle. The method includes computing an engagement level of the operator according to a vigilance model and the operator state information to characterize an extent of vigilance decrement presently experienced by the operator. The method includes rendering, on an augmented reality (AR) display, at least one graphical element as a function of the engagement level to induce the operator to maintain vigilance with respect to operation of the vehicle and a present operating environment around the vehicle.
    Type: Grant
    Filed: May 4, 2017
    Date of Patent: February 27, 2018
    Assignee: Toyota Research Institute, Inc.
    Inventors: James J. Kuffner, Jr., Gill A. Pratt
  • Publication number: 20170231854
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Application
    Filed: May 2, 2017
    Publication date: August 17, 2017
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 9668888
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: July 2, 2014
    Date of Patent: June 6, 2017
    Assignee: MASSACHUSETTS INSTITUTE OF TECHNOLOGY
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Publication number: 20150127117
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Application
    Filed: July 2, 2014
    Publication date: May 7, 2015
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 8808214
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: November 18, 2011
    Date of Patent: August 19, 2014
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 8551029
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: February 13, 2013
    Date of Patent: October 8, 2013
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 8376971
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: February 1, 2012
    Date of Patent: February 19, 2013
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 8287477
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: February 1, 2012
    Date of Patent: October 16, 2012
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Publication number: 20120136459
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Application
    Filed: November 18, 2011
    Publication date: May 31, 2012
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Patent number: 8075633
    Abstract: An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
    Type: Grant
    Filed: September 25, 2003
    Date of Patent: December 13, 2011
    Assignee: Massachusetts Institute of Technology
    Inventors: Hugh Herr, Joaquin Blaya, Gill A. Pratt
  • Publication number: 20100185855
    Abstract: In general, the invention features methods by which more than one client program connected to a network stores the same data item on a storage device of a data repository connected to the network. In one aspect, the method comprises encrypting the data item using a key derived from the content of the data item, determining a digital fingerprint of the data item, and storing the data item on the storage device at a location or locations associated with the digital fingerprint. In a second aspect, the method comprises determining a digital fingerprint of the data item, testing for whether the data item is already stored in the repository by comparing the digital fingerprint of the data item to the digital fingerprints of data items already in storage in the repository, and challenging a client that is attempting to deposit a data item already stored in the repository, to ascertain that the client has the full data item.
    Type: Application
    Filed: March 30, 2010
    Publication date: July 22, 2010
    Inventors: Norman H. Margolus, Thomas F. Knight, JR., Bruce M. Boghosian, Jered J. Floyd, Sam Hartman, George E. Homsy, II, Gill A. Pratt
  • Patent number: RE42903
    Abstract: The present invention relates to a variable-torque magnetorheologically actuated prosthetic knee which utilizes a plurality of interspersed and alternating rotors and stators to shear magnetorheological fluid in gaps formed therebetween. Advantageously, by operating in the “shear mode” there is substantially no or negligible fluid pressure buildup or change. Moreover, the multiple MR fluid gaps or flux interfaces desirably allow for the production of a large torque at low speed—eliminating the need for a transmission—and also for a wide dynamic torque range. One embodiment of the invention allows the rotors and/or stators to close the gaps therebetween to create a frictional torque component, thereby forming a “hybrid” braking system which provides a total torque or damping which is a combination of viscous torque and frictional torque.
    Type: Grant
    Filed: July 20, 2006
    Date of Patent: November 8, 2011
    Assignee: Massachusetts Institute of Technology
    Inventors: Bruce W. Deffenbaugh, Hugh M. Herr, Gill A. Pratt, Michael B. Wittig