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: 20100204627
    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: Application
    Filed: November 19, 2009
    Publication date: August 12, 2010
    Applicant: The Regents of the University of California
    Inventors: Homayoon KAZEROONI, Jean-Louis Racine, Andrew Chu, Adam Zoss
  • Publication number: 20100094185
    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: Application
    Filed: May 19, 2009
    Publication date: April 15, 2010
    Applicants: UNIVERSITY OF CALIFORNIA AT BERKELEY, BERKELEY BIONICS
    Inventors: Kurt Amundson, Russdon Angold, Nathan Harding, Homayoon Kazerooni
  • Publication number: 20100023133
    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. In the actuated mode, power is delivered to a torque generator connected to the knee mechanism to cause a forced movement between the thigh and shank links. In the un-actuated mode, a control circuit operates in a non-powered manner to allow operation of the knee mechanism with modulated resistance. 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.
    Type: Application
    Filed: June 16, 2009
    Publication date: January 28, 2010
    Applicants: 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
  • Publication number: 20100010641
    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: Application
    Filed: June 11, 2009
    Publication date: January 14, 2010
    Applicant: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Sara M. Haislip, Jonathan Ames, Esha Datta
  • Patent number: 7628766
    Abstract: A lower extremity enhancer to be worn by a user to enable the user to carry a load includes two leg supports having a plurality of jointed links. Proximal ends of the leg supports are connected to a back frame adapted to carry the load. 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: October 29, 2004
    Date of Patent: December 8, 2009
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Jean-Louis Racine, Andrew Chu, Adam Zoss
  • Publication number: 20090292369
    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: May 19, 2009
    Publication date: November 26, 2009
    Applicant: BERKELEY BIONICS
    Inventors: Homayoon Kazerooni, Kurt Amundson, Nathan Harding
  • Patent number: 7334776
    Abstract: An apparatus for loading an object into a vehicle, the vehicle having a trunk lid, the apparatus comprising: a line; an actuator adapted for applying a tensile force to the line in response to an actuator command, and disposed and adapted for transmitting at least a portion of the tensile force to the trunk lid; an end-effector mechanically coupled to the line and adapted for transmitting the tensile force and an operator force to the object and for generating an operator force measurement; and a controller adapted for generating the actuator command from the operator force measurement.
    Type: Grant
    Filed: July 8, 2004
    Date of Patent: February 26, 2008
    Inventor: Homayoon Kazerooni
  • Publication number: 20070290180
    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: Application
    Filed: August 22, 2007
    Publication date: December 20, 2007
    Inventor: Homayoon Kazerooni
  • Publication number: 20070233279
    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: Application
    Filed: March 9, 2007
    Publication date: October 4, 2007
    Applicant: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Adam Zoss, Nathan Harding, Russdon Angold
  • Publication number: 20070056592
    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: Application
    Filed: April 13, 2006
    Publication date: March 15, 2007
    Applicant: The Regents of University of California
    Inventors: Russdon Angold, Nathan Harding, Homayoon Kazerooni
  • Publication number: 20060260620
    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: Application
    Filed: January 18, 2006
    Publication date: November 23, 2006
    Applicant: The Regents of University of California
    Inventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold
  • Publication number: 20060151765
    Abstract: An apparatus for loading an object into a vehicle, the vehicle having a trunk lid, the apparatus comprising: a line; an actuator adapted for applying a tensile force to the line in response to an actuator command, and disposed and adapted for transmitting at least a portion of the tensile force to the trunk lid; an end-effector mechanically coupled to the line and adapted for transmitting the tensile force and an operator force to the object and for generating an operator force measurement; and a controller adapted for generating the actuator command from the operator force measurement.
    Type: Application
    Filed: July 8, 2004
    Publication date: July 13, 2006
    Inventor: Homayoon Kazerooni
  • Patent number: 6681638
    Abstract: The invention provides a device and method for wireless material handling systems. The invention further provides an instrumented glove device worn by an operator. A sensory system within the glove device measures the contact force the operator is exerting on either an object to be moved or the material handling system and generates a set of contact signals representing the contact force. The contact signals are transmitted, via a transmitter circuitry, to a controller in another location. The controller receives and processes the signals and generates a set of command signals. The command signals control the speed and mechanical assistance required of an actuator, as a function of the operator contact force, to move the material handling system.
    Type: Grant
    Filed: March 20, 2002
    Date of Patent: January 27, 2004
    Inventors: Homayoon Kazerooni, Dylan Miller Fairbanks, Albert Chen, Gene Shin
  • Publication number: 20030189197
    Abstract: A human power amplifier includes an end-effector that is grasped by a human operator and applied to a load. The end-effector is suspended, via a line, from a take-up pulley, winch, or drum that is driven by an actuator to lift or lower the load. The end-effector includes a force sensor that measures the vertical force imposed on the end-effector by the operator and delivers a signal to a controller. The controller and actuator are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The load thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load.
    Type: Application
    Filed: April 16, 2003
    Publication date: October 9, 2003
    Inventor: Homayoon Kazerooni
  • Patent number: 6622990
    Abstract: A human power amplifier includes an end-effector that is grasped by a human operator and applied to a load. The end-effector is suspended, via a line, from a take-up pulley, winch, or drum that is driven by an actuator to lift or lower the load. The end-effector includes a force sensor that measures the vertical force imposed on the end-effector by the operator and delivers a signal to a controller. The controller and actuator are structured in such a way that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The load thus feels lighter to the operator, but the operator does not lose the sense of lifting against both the gravitation and inertial forces originating in the load.
    Type: Grant
    Filed: February 8, 2002
    Date of Patent: September 23, 2003
    Inventor: Homayoon Kazerooni
  • Patent number: 6554252
    Abstract: A wireless lifting assist device includes a pulley driven by an actuator which is attached to a ceiling. An end-effector is suspended, via a line, from the pulley and interfaces the object to be maneuvered. The wireless lifting assist device further provides an instrumented glove worn by an operator. The glove measures the contact force the operator is exerting on either the object to be moved or the lifting assist device and generates a set of contact signals representing the contact force. The contact signals are transmitted to a controller. The controller generates a set of command signals to control the actuator as a function of the operator contact force such that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The object thus feels lighter to the operator.
    Type: Grant
    Filed: March 15, 2002
    Date of Patent: April 29, 2003
    Inventors: Homayoon Kazerooni, Dylan Miller Fairbanks, Albert Chen, Gene Shin
  • Patent number: 6554337
    Abstract: A grapple device for grasping, holding and releasing an object having a deformable cover material such as sacks and bags, has a mounting bracket and two rollers. The rollers are pushed toward each other by the force of at least one spring. When the rollers are powered to spin, the inward spinning of the rollers causes the sack material to be dragged in between the rollers due to friction between the surfaces of the rollers and the sack material. The spring pushes the rollers toward each other with sufficient force to hold the sack material in place between the rollers. The grapple device also includes a holding mechanism to engage at least one of the rollers and prevent rotation of the roller when engaged, so that when sack material is located in the inter-roller region and the holding mechanism is engaged, the contact between the sack material and rollers causes the sack to be held by the grapple device.
    Type: Grant
    Filed: January 5, 2001
    Date of Patent: April 29, 2003
    Inventors: Homayoon Kazerooni, Christopher Jude Foley
  • Publication number: 20030057408
    Abstract: A wireless lifting assist device includes a pulley driven by an actuator which is attached to a ceiling. An end-effector is suspended, via a line, from the pulley and interfaces the object to be maneuvered. The wireless lifting assist device further provides an instrumented glove worn by an operator. The glove measures the contact force the operator is exerting on either the object to be moved or the lifting assist device and generates a set of contact signals representing the contact force. The contact signals are transmitted to a controller. The controller generates a set of command signals to control the actuator as a function of the operator contact force such that a predetermined percentage of the force necessary to lift or lower the load is applied by the actuator, with the remaining force being supplied by the operator. The object thus feels lighter to the operator.
    Type: Application
    Filed: March 15, 2002
    Publication date: March 27, 2003
    Inventors: Homayoon Kazerooni, Dylan Miller Fairbanks, Albert Chen, Gene Shin
  • Publication number: 20020178830
    Abstract: The invention provides a device and method for wireless material handling systems. The invention further provides an instrumented glove device worn by an operator. A sensory system within the glove device measures the contact force the operator is exerting on either an object to be moved or the material handling system and generates a set of contact signals representing the contact force. The contact signals are transmitted, via a transmitter circuitry, to a controller in another location. The controller receives and processes the signals and generates a set of command signals. The command signals control the speed and mechanical assistance required of an actuator, as a function of the operator contact force, to move the material handling system.
    Type: Application
    Filed: March 20, 2002
    Publication date: December 5, 2002
    Inventors: Homayoon Kazerooni, Dylan Miller Fairbanks, Albert Chen, Gene Shin
  • Patent number: 6474711
    Abstract: The invention provides a grapple device and a method for manipulating, i.e., grabbing, holding and releasing objects. The grapple comprises two parallel rollers with gripping surfaces, where the rollers are pushed towards each other with sufficient force to hold a graspable portion of a deformable object. When the grapple comes onto contact with any portion of the deformable object, a signal activates a set of gears causing the rollers to rotate in opposing directions so that a graspable portion of the object is dragged between the rollers. When sufficient material is caught between the rollers, a signal activates a brake automatically stopping the rotation of the rollers, whereby the rollers then hold the graspable portion of the object allowing the object to be moved to a desired location. When the object is properly located, a signal is generated which causes the rollers to rotate in the opposite direction to release the object.
    Type: Grant
    Filed: June 7, 2001
    Date of Patent: November 5, 2002
    Inventors: Homayoon Kazerooni, Christopher Jude Foley