Patents by Inventor Hugh M. Herr
Hugh M. Herr 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: 20110264230Abstract: Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.Type: ApplicationFiled: June 28, 2011Publication date: October 27, 2011Applicant: MASSACHUSETTS INSTITUTE OF TECHNOLOGYInventors: Hugh M. Herr, Daniel Joseph Paluska, Peter Dilworth
-
Publication number: 20110257764Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.Type: ApplicationFiled: June 12, 2008Publication date: October 20, 2011Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Jeff A. Weber, Samuel K. Au, Bruce Wayne Deffenbaugh, Lee Harris Magnusson, Andreas G. Hoffman, Benjamin B. Aisen
-
Publication number: 20110082566Abstract: Knee orthoses or prostheses can be used to automatically when it is appropriate to initiate a stand-up sequence based on the position of the person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.Type: ApplicationFiled: August 31, 2010Publication date: April 7, 2011Inventors: Hugh M. Herr, Richard J. Casler
-
Publication number: 20110040216Abstract: An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and exoskeleton leg structures, each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee, and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and the human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arrests the movement of the knee joint at controllable times during the walking cycle and a spring located at the ankle and foot member stores and releases energy during walking.Type: ApplicationFiled: August 19, 2010Publication date: February 17, 2011Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Conor Walsh, Daniel Joseph Paluska, Andrew Valiente, Kenneth Pasch, William Grand
-
Publication number: 20100324699Abstract: A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetric torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.Type: ApplicationFiled: February 1, 2010Publication date: December 23, 2010Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Hartmut Geyer, Michael Frederick Eilenberg
-
Publication number: 20100312363Abstract: A knee prosthesis comprises an agonist-antagonist arrangement of two series-elastic actuators in parallel, including a knee joint, flexion and extension actuators connected to the joint in parallel with a leg member, and a controller for independently energizing the actuators to control the movement of the knee joint and leg. The flexion actuator comprises the series combination of a flexion motor and a flexion elastic element and the extension actuator comprises the series combination of an extension motor and an extension elastic element. Sensors provide feedback to the controller. The flexion actuator and the extension actuator may be unidirectional, with the flexion and extension elastic elements being series springs. The extension actuator may alternatively be bidirectional, with the extension elastic element being a set of pre-compressed series springs. Alternatively, the flexion elastic element may be a non-linear softening spring and the extension elastic element may be a non-linear hardening spring.Type: ApplicationFiled: February 1, 2010Publication date: December 9, 2010Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Ernesto C. Martinez-Villalpando, Jeff Anthony Weber
-
Publication number: 20100241242Abstract: Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.Type: ApplicationFiled: October 29, 2009Publication date: September 23, 2010Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Lee Harris Magnusson, Ken Endo
-
Patent number: 7799091Abstract: The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.Type: GrantFiled: October 8, 2007Date of Patent: September 21, 2010Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Ari Wilkenfeld, Olaf Bleck
-
Publication number: 20100179668Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.Type: ApplicationFiled: September 1, 2009Publication date: July 15, 2010Applicant: iWalk, Inc.Inventors: Hugh M. Herr, Rick Casler, Christopher M. Nook, Alexander S. Margolin, Kristin J. Size, Matthew T. Kowalczyk, Robert W. Spaller, Gregory K. Thompson, Timothy M. Dalrymple, Seth S. Kessler, David W. Murray, Christopher E. Barnhart
-
Publication number: 20100174384Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.Type: ApplicationFiled: September 1, 2009Publication date: July 8, 2010Applicant: iWalk, Inc.Inventors: Hugh M. Herr, Jeff A. Weber, Rick Casler
-
Publication number: 20100174385Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.Type: ApplicationFiled: September 1, 2009Publication date: July 8, 2010Applicant: iWalk, Inc.Inventors: Rick Casler, Hugh M. Herr
-
Publication number: 20100113980Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.Type: ApplicationFiled: September 1, 2009Publication date: May 6, 2010Applicant: iWalk, Inc.Inventors: Hugh M. Herr, Rick Casler, Zhixiu Han
-
Publication number: 20080114272Abstract: The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.Type: ApplicationFiled: October 8, 2007Publication date: May 15, 2008Applicant: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Ari Wilkenfeld, Olaf Bleck
-
Patent number: 7313463Abstract: Systems for controlling the motion of multiple articulated elements connected by one or more joints in an artificial appendage system. Four different embodiments includes a controller that reduces the dimension of joint state space by utilizing biomechanically inspired motion primitives; a quadratic proportional-derivative (PD) controller which employs a two-stage linearization method, applies constraints to variables for dynamic stability, and employs a corrective “sliding control” mechanism to account for errors in the linear model used; a non-prioritized balance control approach that employs enforced linear dynamics in which all control variables are truncated to linear terms in joint jerks; and a biomimetic motion and balance controller based on center of mass (CM) energetic and biomimetic zero moment conditions.Type: GrantFiled: August 4, 2006Date of Patent: December 25, 2007Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Andreas G. Hofmann, Marko B. Popovic
-
Patent number: 7279009Abstract: The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.Type: GrantFiled: August 22, 2003Date of Patent: October 9, 2007Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Ari Wilkenfeld, Olaf Bleck
-
Patent number: 6764520Abstract: 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: GrantFiled: January 22, 2001Date of Patent: July 20, 2004Assignee: Massachusetts Institute of TechnologyInventors: Bruce W. Deffenbaugh, Hugh M. Herr, Gill A. Pratt, Michael B. Wittig
-
Publication number: 20040039454Abstract: The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.Type: ApplicationFiled: August 22, 2003Publication date: February 26, 2004Inventors: Hugh M. Herr, Ari Wilkenfeld, Olaf Bleck
-
Patent number: 6610101Abstract: The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.Type: GrantFiled: March 29, 2001Date of Patent: August 26, 2003Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Ari Wilkenfeld, Olaf Bleck
-
Publication number: 20020052663Abstract: The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist's facility because it is patient-adaptive and speed-adaptive.Type: ApplicationFiled: March 29, 2001Publication date: May 2, 2002Inventors: Hugh M. Herr, Ari Wilkenfeld, Olaf Bleck
-
Patent number: RE42903Abstract: 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: GrantFiled: July 20, 2006Date of Patent: November 8, 2011Assignee: Massachusetts Institute of TechnologyInventors: Bruce W. Deffenbaugh, Hugh M. Herr, Gill A. Pratt, Michael B. Wittig