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: 8945028
    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: May 19, 2009
    Date of Patent: February 3, 2015
    Assignee: Ekso Bionics, Inc.
    Inventors: Homayoon Kazerooni, Kurt Amundson, Nathan Harding
  • Publication number: 20140378882
    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: September 8, 2014
    Publication date: December 25, 2014
    Applicant: U.S. BIONICS, INC.
    Inventors: Homayoon Kazerooni, Wayne Tung, Michael McKinley, Yoon Jung Jeong
  • Publication number: 20140358290
    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: Application
    Filed: May 30, 2014
    Publication date: December 4, 2014
    Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Homayoon KAZEROONI, Yoon Jung JEONG, Kyunam KIM
  • Patent number: 8894592
    Abstract: A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
    Type: Grant
    Filed: May 19, 2009
    Date of Patent: November 25, 2014
    Assignees: University of California at Berkekey, Ekso Bionics, Inc.
    Inventors: Kurt Amundson, Russdon Angold, Nathan Harding, Homayoon Kazerooni
  • Patent number: 8801641
    Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
    Type: Grant
    Filed: July 23, 2009
    Date of Patent: August 12, 2014
    Assignees: Ekso Bionics, Inc., The Regents of the University of California
    Inventors: Homayoon Kazerooni, Kurt Amundson, Russdon Angold, Nathan Harding
  • Publication number: 20140121573
    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: June 11, 2012
    Publication date: May 1, 2014
    Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Homayoon Kazerooni, Erich Hacker, Lee-Huang Chen
  • Publication number: 20130303950
    Abstract: An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.
    Type: Application
    Filed: April 8, 2011
    Publication date: November 14, 2013
    Applicant: EKSO BIONICS
    Inventors: Russdon Angold, Adam Zoss, Homayoon Kazerooni, Jon Burns, Kurt Amundson, Nathan Harding
  • Publication number: 20130231595
    Abstract: A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a head of the person, an orientation of a walking aid employed by the person, a contact force between a walking aid employed by the person and a support surface, a force imparted by the person on the walking aid, a force imparted by the person on the walking aid, a relative orientation of the exoskeleton, moveable components of the exoskeleton and the person, and relative velocities between the exoskeleton, moveable components of the exoskeleton and the person.
    Type: Application
    Filed: September 19, 2011
    Publication date: September 5, 2013
    Applicants: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, EKSO BIONICS
    Inventors: Adam Zoss, Katherine Strausser, Tim Swift, Russ Angold, Jon Burns, Homayoon Kazerooni, Dylan Fairbanks, Nathan Harding
  • Publication number: 20130184626
    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: Application
    Filed: June 28, 2011
    Publication date: July 18, 2013
    Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Homayoon Kazerooni, Kibeum Ryoo, Han Woong Bae, Daniel Merala
  • Publication number: 20130158445
    Abstract: An orthesis system includes an exoskeleton configured to be coupled to a user and a separate support device in the form of crutches, a walker or a cane. Preferably, the exoskeleton includes leg supports, an exoskeleton trunk, and actuators to provide for movement of the exoskeleton. The support device includes at least one support handle and a signal generator coupled to the support handle configured to generate and send a user command signal to an exoskeleton controller when activated by the user. The user command signal causes the exoskeleton controller to shift the exoskeleton between a first operational state and a second operational state. Optionally, a signal generator separate from the support device may be utilized to control the exoskeleton. Operational states of the exoskeleton include Walking, Standing, Seated, Sitting, Down and Standing Up states. User command signals can include a combination of distinct main, walking, or stopping signals.
    Type: Application
    Filed: August 23, 2011
    Publication date: June 20, 2013
    Applicant: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Homayoon Kazerooni, Wayne Yi Tung, Jason Ira Reid, Michael Geoffrey Mckinley
  • Publication number: 20130150980
    Abstract: A powered lower extremity orthotic, including a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link, is controlled by based on signals from various orthotic mounted sensors such that the artificial foot follows a predetermined trajectory defined by at least one Cartesian coordinate.
    Type: Application
    Filed: May 24, 2012
    Publication date: June 13, 2013
    Applicants: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, BERKELEY BIONICS
    Inventors: Tim Swift, Adam Brian Zoss, Katherine Strausser, Matthew Rosa, Homayoon Kazerooni, Dylan Miller Fairbanks, Minerva Vasudevan Pillai, Miclas Schwartz, Bram Gilbert Antoon Lambrecht, Sebastian Kruze
  • Patent number: 8257291
    Abstract: A walking assist device, which is to be worn on a person's leg, includes a shank link, a thigh member, and a knee mechanism. The thigh member is in contact with the person's thigh when the device is worn on the person's leg. The knee mechanism rotatably connects the shank link to the thigh member. When the shank link is in contact with the ground, the knee mechanism is configured to resist the rotation of the shank link relative to the thigh member to prevent the person's foot from contacting the ground and reduces ground reaction forces entering the person's foot.
    Type: Grant
    Filed: June 11, 2009
    Date of Patent: September 4, 2012
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Sara Marie Haislip, Jonathan Ames, Esha Datta
  • Patent number: 8231688
    Abstract: A semi-actuated above knee prosthetic system, which is mostly passive in nature and includes a shank link coupled to an artificial foot, a knee mechanism connected to the shank link and a thigh link attached to an above-knee remaining lower limb of an amputee, is operable in either an actuated mode or an un-actuated mode controlled by a signal processor linked to various prosthetic mounted sensors which may include combinations of knee angle, stance, thigh angle and shank angle sensors. Power is delivered through an electric motor connected to a battery source and employed to drive a hydraulic pump which is part of an overall hydraulic power unit including the torque generator. A signal processor selects a swing state from at least forward, combination forward and descent, combination forward and ascent, reverse, combination reverse and descent, and combination reverse and ascent swing states.
    Type: Grant
    Filed: June 16, 2009
    Date of Patent: July 31, 2012
    Assignees: Berkeley Bionics, The Regents of the University of California
    Inventors: Dylan Miller Fairbanks, Adam Brian Zoss, Minerva Vasudevan Pillai, Miclas Schwartz, Nathan Harding, Matthew Rosa, Bram Gilbert Antoon Lambrecht, Sebastian Kruse, Homayoon Kazerooni
  • Patent number: 8070700
    Abstract: A lower extremity enhancer to be worn by a user includes two leg supports having a plurality of jointed links. Proximal ends of the leg supports are connected to a back frame. Distal ends of the leg supports are connected to two foot links. The leg supports are powered by a plurality of actuators adapted to apply torques to the leg supports in response to movement of the user's legs.
    Type: Grant
    Filed: November 19, 2009
    Date of Patent: December 6, 2011
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Jean-Louis Racine, Andrew Chu, Adam Zoss
  • Patent number: 8057410
    Abstract: The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle.
    Type: Grant
    Filed: April 13, 2006
    Date of Patent: November 15, 2011
    Assignee: The Regents of the University of California
    Inventors: Russdon Angold, Nathan H. Harding, Homayoon Kazerooni
  • Publication number: 20110266323
    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: Application
    Filed: December 17, 2009
    Publication date: November 3, 2011
    Applicants: THE REGENTS OF THE UNIVERSITY OF CALIFORNIA, BERKELEY BIONICS
    Inventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss
  • Patent number: 7947004
    Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.
    Type: Grant
    Filed: January 18, 2006
    Date of Patent: May 24, 2011
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Nathan H. Harding, Russdon Angold
  • Publication number: 20110105966
    Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.
    Type: Application
    Filed: July 23, 2009
    Publication date: May 5, 2011
    Applicants: BERKELEY BIONICS, THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
    Inventors: Homayoon Kazerooni, Kurt Amundson, Russdon Angold, Nathan Harding
  • Patent number: 7883546
    Abstract: A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque.
    Type: Grant
    Filed: March 9, 2007
    Date of Patent: February 8, 2011
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Adam Zoss, Nathan H. Harding, Russdon Angold
  • Patent number: 7810790
    Abstract: A vehicle, configured to transport an object, said vehicle among other components, comprising: a load bearing member; a line; an actuator coupled to said vehicle and adapted for applying a tensile force to said line in response to an actuator command, and disposed and adapted for transmitting at least a portion of said tensile force to said load bearing member; an end-effector mechanically coupled to said line and adapted for transmitting said tensile force and an operator force to said object and for generating an operator input signal; and a controller adapted for generating said actuator command from said operator input signal.
    Type: Grant
    Filed: August 22, 2007
    Date of Patent: October 12, 2010
    Inventor: Homayoon Kazerooni