Patents by Inventor Homayoon Kazerooni

Homayoon Kazerooni 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: 10786896
    Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
    Type: Grant
    Filed: March 30, 2020
    Date of Patent: September 29, 2020
    Assignee: The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni
  • Publication number: 20200237546
    Abstract: Systems, methods, and apparatus provide artificial knees. Artificial knees include a thigh link configured to move in unison with a thigh of the person, a shank link configured to be rotatably coupled to said thigh link, and a compression spring rotatably coupled to the thigh link and coupled to a second end of shank link with a second end of the compression spring. During a first range of motion, the compression spring is configured to provide an extension torque between the thigh link and the shank link causing said artificial knee to resist flexion. After said first range of motion, the compression spring is configured to provide a flexion torque between the thigh link and the shank link encouraging said artificial knee to flex resulting in toe clearance during the swing phase. During the swing phase, the compression spring provides no torque between the thigh link and the shank link.
    Type: Application
    Filed: November 26, 2019
    Publication date: July 30, 2020
    Applicant: The Regents of the University of California
    Inventors: Shang-Li Wu, Homayoon Kazerooni
  • Publication number: 20200223057
    Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
    Type: Application
    Filed: March 30, 2020
    Publication date: July 16, 2020
    Applicant: The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni
  • Patent number: 10709633
    Abstract: A coupling device couples a walker to a torso orthosis which is coupled to a person. The coupling device includes an orthosis coupling member coupled to said torso orthosis, a walker coupling member coupled to said walker, and a mechanism coupled to the orthosis coupling member from its first end and to the walker coupling member from its second end. The mechanism constrains said orthosis coupling member to move along a free line. The torso orthosis is worn by the person and said coupling device is coupled to both said walker and said torso orthosis. The person may be walking along a moving direction not parallel with said free line. The mechanism forces said walker and torso orthosis to move along said moving direction and allows said torso orthosis to move freely along said free line when said moving direction is not parallel with said free line.
    Type: Grant
    Filed: November 20, 2018
    Date of Patent: July 14, 2020
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Nicholas J. Errico, Katherine Marie Fearing, Wayne Yi-Wei Tung
  • Publication number: 20200188159
    Abstract: A human interface device is configured to be coupled to a trunk of a person and comprises a frame, a fabric coupled to said frame configurable to be under tensile forces, and a belt configured to be coupled to two side edges of said frame wherein when said belt is worn by said person, an area of said fabric will be pushed against the person's lower back conforming to the shape of the lower back of said person. In operation when said human interface device is worn by said person, the weight of any load coupled to or supported by said frame will be partially supported by the friction force between the area of said fabric which is pushed against the person's lower back, and the person's lower back allowing said person to carry said load.
    Type: Application
    Filed: December 13, 2019
    Publication date: June 18, 2020
    Inventors: James Hatch, Logan Van Engelhoven, John Kuwata, Minerva Pillai, Homayoon Kazerooni
  • Patent number: 10682249
    Abstract: An exoskeleton (100) adapted to be coupled to a lower extremity of a person includes a thigh link (102), a shank link (104) and a knee joint (106) allowing flexion and extension between the thigh and shank links (102, 104). A torque generator (156) connected to the knee joint (106) includes a wrap spring (110) having a first end (112) coupled to the thigh link (102), and a second end (118) coupled to an electric actuator (116) capable of selectively positioning the second end (118) of the wrap spring (110). A controller (120) causes the electric actuator (116) to position the wrap spring (110) to provide a selective torque between the thigh and shank links (102, 104) based on a signal (212, 214, 216) produced by a sensor (164, 166, 168).
    Type: Grant
    Filed: March 6, 2015
    Date of Patent: June 16, 2020
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Wayne Tung, Don Jin Hyun, Stephen McKinley, Yoon Jung Jeong
  • Publication number: 20200171648
    Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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: Application
    Filed: November 21, 2019
    Publication date: June 4, 2020
    Applicants: The Regents of the University of California, U.S. Bionics, Inc.
    Inventors: Wayne Yi-Wei Tung, Nathan Poon, Theerapat Yangyuenthanasan, Homayoon Kazerooni
  • Patent number: 10639785
    Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
    Type: Grant
    Filed: June 28, 2019
    Date of Patent: May 5, 2020
    Assignee: The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni
  • Publication number: 20200121543
    Abstract: A neck supporting exoskeleton is configured to be worn by a person to support the person's head during backward extension motions of the person's neck. The neck supporting exoskeleton may comprise a torso frame configured to be coupled to the person's torso, a head pillow configured to contact the rear portion of the person's head during backward extension motions of the person's neck, a linkage allowing for relative motion between the head pillow and the torso frame in the sagittal plane of the person, and an actuator configured to impose a supporting force onto the head pillow. When the person's neck extension angle increases beyond an engagement angle, the actuator causes the linkage to impose a supporting force onto the head pillow resisting the backward extension motion of the head pillow and the person's head relative to the torso frame thereby providing a support for the person's head.
    Type: Application
    Filed: October 18, 2019
    Publication date: April 23, 2020
    Applicants: U.S. Bionics, Inc., The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni, James Ren, Wayne Yi-Wei Tung
  • Patent number: 10568796
    Abstract: A wearable apparatus comprises a passive artificial knee that comprises first and second links coupled at a knee joint, a passive compressive force generator coupled to the second link, and a release mechanism coupled to the first link. When an angle of the first and second links is less than a toggle angle, the release mechanism locks in a first operational mode, and the force generator compresses, resisting flexing of the second link. When the angle is larger than the toggle angle, the force generator decompresses and encourages flexion of said second link. When the force generator is extended and said compressive force is small, the release mechanism moves into a second operational mode, wherein the force generator neither resists nor encourages extension and flexion of said second link from said first link. The wearable apparatus comprises an exoskeleton trunk configured to couple to an upper body of a user.
    Type: Grant
    Filed: July 3, 2018
    Date of Patent: February 25, 2020
    Assignee: The Regents of the University of California
    Inventors: Shang-Li Wu, Homayoon Kazerooni
  • Patent number: 10524950
    Abstract: Systems, methods, and apparatus provide an artificial knee. Such artificial knees may include a thigh link configured to move in unison with a thigh of the person, a shank link configured to be rotatably coupled to the thigh link, and a compression spring rotatably coupled to the thigh link at a first end and coupled to the shank link at a second end. The compression spring is configured to provide an extension torque between the thigh link and the shank link during a first range of motion of the thigh link and the shank link relative to each other. The compression spring is configured to provide a flexion torque between the thigh link and the shank link during a second range of motion of the thigh link and the shank link relative to each other.
    Type: Grant
    Filed: February 15, 2018
    Date of Patent: January 7, 2020
    Assignee: The Regents of the University of California
    Inventors: Shang-Li Wu, Homayoon Kazerooni
  • Patent number: 10524974
    Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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: Grant
    Filed: January 9, 2019
    Date of Patent: January 7, 2020
    Assignees: The Regents of the University of California, U.S. Bionics, Inc.
    Inventors: Wayne Yi-Wei Tung, Nathan Poon, Theerapat Yangyuenthanasan, Homayoon Kazerooni
  • Publication number: 20190321965
    Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
    Type: Application
    Filed: June 28, 2019
    Publication date: October 24, 2019
    Applicant: The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni
  • Patent number: 10391627
    Abstract: Described herein is an arm supporting exoskeleton, comprising an arm link mechanism. The arm link mechanism comprises a proximal link, a distal link, an arm coupler, and a variable force generator. The distal link is rotatable relative to the proximal link. The arm coupler is adapted to couple an upper arm of a person to the distal link. The variable force generator comprises a first spring and a second spring, configured to create a torque between the proximal link and the distal link. In the first force mode, the variable force generator exhibits a first stiffness rate defined by the first spring that supports the upper arm of the person against gravity forces and. In the second force mode, the variable force generator exhibits a second stiffness rate defined by the first spring and the second spring that supports the upper arm of the person against the gravity forces.
    Type: Grant
    Filed: January 8, 2019
    Date of Patent: August 27, 2019
    Assignee: The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni
  • Patent number: 10369690
    Abstract: An arm supporting exoskeleton comprises a shoulder base coupled to an arm link mechanism. The arm link mechanism comprises a proximal link and a distal link configured to rotate relative to each other about a rotating joint; at least one arm-coupler adapted to couple a user's arm to the distal link; a tensile force generator coupled to the proximal link and the distal link, and providing a torque to flex the distal link relative to the proximal link; and a protrusion located substantially at the rotating joint. When the distal link extends past a toggle angle, the protrusion constrains the tensile force generator, and the torque provided by the tensile force generator remains substantially small. When the protrusion does not constrain the tensile force generator, the torque tends to flex the distal link relative to the proximal link, thereby reducing human shoulder forces and torques required to raise the arm.
    Type: Grant
    Filed: October 11, 2018
    Date of Patent: August 6, 2019
    Assignee: The Regents of the University of California
    Inventors: Logan Van Engelhoven, Homayoon Kazerooni
  • Publication number: 20190231574
    Abstract: An exoskeleton includes two torque generators, 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 torque 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 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 a substantially upright position.
    Type: Application
    Filed: April 4, 2019
    Publication date: August 1, 2019
    Applicants: U.S. Bionics, Inc., The Regents of the University of California
    Inventors: Homayoon Kazerooni, Wayne Tung, Michael McKinley, Yoon Jung Jeong
  • Patent number: 10357392
    Abstract: An exoskeleton (100) includes two torque generators (116, 118), two thigh links (104,106), and a supporting trunk (112) rotatably coupled to the thigh links (104, 106). When a wearer bends forward in the sagittal plane such that the supporting trunk (112) extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators (116, 118) imposes a resisting torque between the supporting trunk (112) and a corresponding thigh link (104, 106), thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton (100) may include an active or passive means (116, 134) for actuating the torque generators (116, 118).
    Type: Grant
    Filed: May 5, 2015
    Date of Patent: July 23, 2019
    Assignees: The Regents of the University of California, U.S. Bionics, Inc.
    Inventors: Homayoon Kazerooni, Wayne Tung, Michael McKinley, Yoon Jung Jeong
  • Publication number: 20190216630
    Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer'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 wearer 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 wearer's trunk, and the thigh link(s) to impose a force onto the wearer'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: Application
    Filed: March 21, 2019
    Publication date: July 18, 2019
    Applicant: The Regents of the University of California
    Inventors: Theerapat Yangyuenthanasan, Wayne Tung, Homayoon Kazerooni
  • Publication number: 20190151183
    Abstract: A coupling device couples a walker to a torso orthosis which is coupled to a person. The coupling device includes an orthosis coupling member coupled to said torso orthosis, a walker coupling member coupled to said walker, and a mechanism coupled to the orthosis coupling member from its first end and to the walker coupling member from its second end. The mechanism constrains said orthosis coupling member to move along a free line. The torso orthosis is worn by the person and said coupling device is coupled to both said walker and said torso orthosis. The person may be walking along a moving direction not parallel with said free line. The mechanism forces said walker and torso orthosis to move along said moving direction and allows said torso orthosis to move freely along said free line when said moving direction is not parallel with said free line.
    Type: Application
    Filed: November 20, 2018
    Publication date: May 23, 2019
    Applicant: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Katherine Marie Fearing, Wayne Yi-wey Tung
  • Publication number: 20190142683
    Abstract: A fall prevention device configured to be coupled to a person and comprising a mechanical torso configured to be coupled to the person's torso and a mechanical structure configurable to be coupled to the mechanical torso from its first end. The mechanical structure and mechanical torso resist forces at least along one direction to maintain their posture relative to each other. In operation the second end of the mechanical structure is positioned behind the person and substantially close to the ground. When the second end of the mechanical structure contacts the ground, contact points of legs of the person on the ground and contact points of the second end of the mechanical structure outline a multi-sided polygon on the ground. If the vertical projection of the center of gravity of the person to the ground intersects the ground within the multi-sided polygon, the person and fall prevention device remain stable.
    Type: Application
    Filed: November 13, 2018
    Publication date: May 16, 2019
    Applicant: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Mimi Parker, Lace Co Ting Keh