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).

  • Publication number: 20170367852
    Abstract: A robotic joint comprises a first link, a middle link, a torque generator, a second link, and a locking mechanism. Different ends of the middle link are rotatably coupled to the first link and the second link. The torque generator is coupled to the first link and the middle link and is configured to produce a torque between these links. The locking mechanism is switchable between a locking state and an unlocking state. In the unlocking state, the locking mechanism allows free rotation of the second link relative to the middle link in the first and second rotation directions. In the locking state, the locking mechanism is configured to impede rotation of the second link relative to the middle link in the first rotation direction and to allow rotation of the second link relative to the middle link in the second rotation direction opposite of the first rotation direction.
    Type: Application
    Filed: June 23, 2017
    Publication date: December 28, 2017
    Applicant: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Minerva V. Pillai, Wayne Yi-Wei Tung
  • Publication number: 20170360588
    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: July 20, 2017
    Publication date: December 21, 2017
    Applicant: The Regents of the University of California
    Inventors: Theerapat Yangyuenthanasan, Wayne Tung, Homayoon Kazerooni
  • Publication number: 20170304138
    Abstract: A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
    Type: Application
    Filed: July 12, 2017
    Publication date: October 26, 2017
    Applicant: U.S. Bionics, Inc.
    Inventors: Wayne Tung, Minerva Pillai, Homayoon Kazerooni
  • Patent number: 9744093
    Abstract: A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: August 29, 2017
    Assignee: U.S. Bionics, Inc.
    Inventors: Wayne Tung, Minerva Pillai, Homayoon Kazerooni
  • Patent number: 9744066
    Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
    Type: Grant
    Filed: November 18, 2015
    Date of Patent: August 29, 2017
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen, Wayne Tung, Nathan Poon, Theerapat Yangyuenthanasan
  • Publication number: 20170196712
    Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.
    Type: Application
    Filed: March 24, 2017
    Publication date: July 13, 2017
    Applicant: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
  • Patent number: 9655762
    Abstract: An exoskeleton includes two torque generators, two thigh links, and a supporting trunk rotatably coupled to the thigh links. When a wearer bends forward in the sagittal plane such that the supporting trunk extends beyond a predetermined angle A with respect to vertical, at least one of the torque generators imposes a resisting torque between the supporting trunk and a corresponding thigh link, thus imposing a force onto a wearer's trunk and thighs to aid in supporting the wearer in a bent position. The exoskeleton may include an active or passive means for actuating the generators. When the supporting trunk does not extend beyond the predetermined angle A, the torque generators do not impose resisting torques between the supporting trunk and the thigh links during the entire range of motion of the thigh links, thus enabling a wearer to walk, run and sit without constraint while in an upright position.
    Type: Grant
    Filed: June 11, 2012
    Date of Patent: May 23, 2017
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
  • Patent number: 9610208
    Abstract: 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: Grant
    Filed: December 10, 2012
    Date of Patent: April 4, 2017
    Assignee: Ekso Bionics, Inc.
    Inventors: Homayoon Kazerooni, Kurt Amundson, Nathan Harding
  • Publication number: 20160374836
    Abstract: A manual apparatus of the present invention enables quick connection and disconnection of an exoskeleton leg from a remaining body of an exoskeleton. The apparatus comprises a cavity defined by a housing coupled to the remaining body of the exoskeleton; a latch coupled to the remaining body of the exoskeleton, the latch comprising a latching feature; a clip body including a projection element extending from an end thereof, the clip body coupled to the exoskeleton leg; a handle rotatably coupled to a clip base on the clip body; and a hook rotatably coupled to the handle. When the hook is engaged with the latching feature and the handle rotated from a first unlatched position to a second latched position, the projection element moves inside the cavity.
    Type: Application
    Filed: June 23, 2016
    Publication date: December 29, 2016
    Inventors: Nicholas ERRICO, Homayoon KAZEROONI, Yoon Jung Jeong
  • Publication number: 20160374887
    Abstract: A passive artificial knee comprises first and second links rotatably coupled at a knee joint, a passive compressive force generator rotatably coupled to the second link, and a release mechanism coupled to the first link. When a relative 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 the flexing of the second link relative to the first link. When the relative angle is larger than the toggle angle, the force generator decompresses and encourages the flexion of said second link relative to said first link. When the force generator is substantially extended and said compressive force is substantially small, the release mechanism moves into a second operational mode, wherein the force generator neither resists nor encourages the extension and flexion of said second link from said first link.
    Type: Application
    Filed: June 23, 2016
    Publication date: December 29, 2016
    Inventors: Shang-Li WU, Homayoon KAZEROONI
  • Publication number: 20160374888
    Abstract: A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
    Type: Application
    Filed: June 27, 2016
    Publication date: December 29, 2016
    Inventors: Wayne Tung, Minerva Pillai, Homayoon Kazerooni
  • Publication number: 20160339583
    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 user's arm.
    Type: Application
    Filed: May 18, 2016
    Publication date: November 24, 2016
    Inventors: Logan VAN ENGELHOVEN, Homayoon KAZEROONI
  • Publication number: 20160206498
    Abstract: A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a person's thighs; and first and second torque generators located on both left and right halves of the person substantially close to the person's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the person bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the person's trunk, and the thigh link(s) to impose a force onto the person's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
    Type: Application
    Filed: November 18, 2015
    Publication date: July 21, 2016
    Inventors: Homayoon KAZEROONI, Erich HACKER, Lee-Huang CHEN, Wayne TUNG, Nathan POON, Theerapat YANGYUENTHANASAN
  • Patent number: 9308112
    Abstract: A trunk support device (100) is configurable to be worn by a person to reduce the muscle forces in the person's back during forward bending. The device (100), among other things, includes: a waist strap (102) which is configurable to be coupled to the person waist; a chest support (104) which is configurable to be coupled to the person's chest and capable of pushing against the person chest; and first and second torque generators (106) coupled to the chest support (104) and the waist strap (102) and capable of providing a resistance torque between them. In operation, when a person wearing the device (100) bends forward, at least one of the torque generators (106) imposes a torque between the chest support (104) and the waist strap (102), causing the chest support (104) to impose a force onto the person's chest backwardly and the waist strap (102) to impose a force onto the person's hip.
    Type: Grant
    Filed: June 28, 2011
    Date of Patent: April 12, 2016
    Assignee: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Homayoon Kazerooni, Kibeum Ryoo, Han Woong Bae, Daniel Merala
  • Patent number: 9158376
    Abstract: An input device for commanding an exoskeleton worn by a person, adapted to be coupled to the person, the input device comprising: at least one signal generator adapted to be coupled to the user's finger capable of generating at least one electric signal when said one signal generator gets contacted and, an input device controller adapted to be coupled to the user's body capable of receiving and processing at least one signal and transmitting a command signal to the exoskeleton.
    Type: Grant
    Filed: May 30, 2014
    Date of Patent: October 13, 2015
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Yoon Jung Jeong, Kyunam Kim
  • Publication number: 20150230964
    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: Application
    Filed: May 5, 2015
    Publication date: August 20, 2015
    Inventors: Homayoon Kazerooni, Wayne Tung, Michael McKinley, Yoon Jung Jeong
  • Publication number: 20150173929
    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: Application
    Filed: March 6, 2015
    Publication date: June 25, 2015
    Inventors: Homayoon KAZEROONI, Wayne TUNG, Don Jin HYUN, Stephen MCKINLEY, Yoon Jung JEONG
  • Publication number: 20150134078
    Abstract: 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: Application
    Filed: January 26, 2015
    Publication date: May 14, 2015
    Applicant: Ekso Bionics, Inc.
    Inventors: Kurt Amundson, Nathan Harding, Homayoon Kazerooni
  • Patent number: 9022956
    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: September 8, 2014
    Date of Patent: May 5, 2015
    Assignee: U.S. Bionics, Inc.
    Inventors: Homayoon Kazerooni, Wayne Tung, Michael McKinley, Yoon Jung Jeong
  • Patent number: 8968222
    Abstract: 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: Grant
    Filed: December 17, 2009
    Date of Patent: March 3, 2015
    Assignees: Ekso Bionics, Inc., The Regents of the University of California
    Inventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss