Patents by Inventor Michael Goldfarb
Michael Goldfarb 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).
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Patent number: 8986396Abstract: A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.Type: GrantFiled: August 22, 2013Date of Patent: March 24, 2015Assignee: Vanderbilt UniversityInventors: Michael Goldfarb, Huseyin Atakan Varol, Frank Charles Sup, IV, Jason Mitchell, Thomas J. Withrow
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Patent number: 8840680Abstract: Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.Type: GrantFiled: August 20, 2010Date of Patent: September 23, 2014Assignee: Vanderbilt UniversityInventors: Michael Goldfarb, Skyler Ashton Dalley, Huseyin Atakan Varol, Tuomas Emory Wiste
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Publication number: 20140195007Abstract: A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.Type: ApplicationFiled: January 6, 2014Publication date: July 10, 2014Applicant: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Huseyin Atakan Varol, Frank Charles Sup, IV, Jason E. Mitchell, Thomas J. Withrow
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Publication number: 20140158922Abstract: A solenoid valve including a spool received within a housing. The spool is configured to move to multiple positions within the housing. The housing includes supply ports, exhaust ports, and outlet ports. When the spool is in a specific location, two outlet ports are in fluid communication with each other.Type: ApplicationFiled: December 20, 2013Publication date: June 12, 2014Applicant: VANDERBILT UNIVERSITYInventors: Michael GOLDFARB, Xiangrong SHEN
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Publication number: 20140142475Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.Type: ApplicationFiled: October 9, 2013Publication date: May 22, 2014Applicant: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Ryan J. Farris, Hugo A. Quintero
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Publication number: 20140114438Abstract: A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.Type: ApplicationFiled: August 22, 2013Publication date: April 24, 2014Applicant: Vanderbilt UniversityInventors: Michael Goldfarb, Huseyin Atakan Varol, Frank Charles Sup, IV, Jason Mitchell, Thomas J. Withrow
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Publication number: 20140100667Abstract: Systems and methods for controlling a weight bearing member having at least one powered joint are provided. A system includes a velocity reference module for receiving myoelectric control signals from a user during a non-weight bearing mode for the powered joint and generating a velocity reference for the powered joint based on the myoelectric control signals. The system further includes a volitional impedance module for generating a torque control signal for actuating the powered joint based at least on the velocity reference.Type: ApplicationFiled: December 12, 2013Publication date: April 10, 2014Inventors: Michael Goldfarb, Huseyin Atakan Varol, Kevin Ha
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Patent number: 8652218Abstract: A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.Type: GrantFiled: April 21, 2009Date of Patent: February 18, 2014Assignee: Vanderbilt UniversityInventors: Michael Goldfarb, Huseyin Atakan Varol, Frank Charles Sup, IV, Jason Mitchell, Thomas J. Withrow
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Patent number: 8635940Abstract: A solenoid valve including a spool received within a housing. The spool is configured to move to multiple positions within the housing. The housing includes supply ports, exhaust ports, and outlet ports. When the spool is in a specific location, two outlet ports are in fluid communication with each other.Type: GrantFiled: January 7, 2008Date of Patent: January 28, 2014Assignee: Vanderbilt UniversityInventors: Michael Goldfarb, Xiangrong Shen
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Patent number: 8623098Abstract: Systems and methods for controlling a weight bearing member having at least one powered joint are provided. A system includes a velocity reference module for receiving myoelectric control signals from a user during a non-weight bearing mode for the powered joint and generating a velocity reference for the powered joint based on the myoelectric control signals. The system further includes a volitional impedance module for generating a torque control signal for actuating the powered joint based at least on the velocity reference.Type: GrantFiled: June 1, 2011Date of Patent: January 7, 2014Assignee: Vanderbilt UniversityInventors: Michael Goldfarb, Huseyin Atakan Varol, Kevin Ha
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Publication number: 20130310949Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.Type: ApplicationFiled: March 15, 2013Publication date: November 21, 2013Applicant: Vanderbilt UniversityInventors: Michael Goldfarb, Brian Lawson, Atakan Huseyin Varol
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Publication number: 20130274894Abstract: Systems and methods for operating autonomous lower limb devices, including at least one adjustable joint and configured for at least supporting a body are provided. A method includes collecting real-time sensor information associated with the autonomous lower limb device. The method also includes receiving, over a communications link, remote data for at least one other lower limb device configured for supporting the body. The method further includes generating control data for transitioning the autonomous lower limb device from a current state in a current finite state model for operating the autonomous lower limb device to a different state in the current finite state model, where the different state is selected based on the real-time sensor information and the remote data.Type: ApplicationFiled: March 14, 2013Publication date: October 17, 2013Applicant: Vanderbilt UninersityInventors: Michael Goldfarb, Brian Lawson
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Publication number: 20130268090Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.Type: ApplicationFiled: March 14, 2013Publication date: October 10, 2013Applicant: Vanderbilt UniversityInventors: Michael Goldfarb, Amanda Shultz, Brian Lawson
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Publication number: 20130253705Abstract: A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.Type: ApplicationFiled: November 21, 2011Publication date: September 26, 2013Applicant: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol
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Publication number: 20130197408Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.Type: ApplicationFiled: September 27, 2011Publication date: August 1, 2013Applicant: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Ryan J. Farris, Hugo A. Quintero
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Publication number: 20120330439Abstract: A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including an ankle joint and an ankle motor unit to deliver power to the ankle joint, a prosthetic foot coupled to the ankle joint, a plurality of sensors for measuring a real-time input, and controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.Type: ApplicationFiled: June 29, 2012Publication date: December 27, 2012Inventors: Michael Goldfarb, Huseyin Atakan Varol, Frank Charles Sup, IV, Jason Mitchell, Thomas J. Withrow
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Publication number: 20120221119Abstract: Systems and methods are provided for controlling a lower limb device having at least one powered joint. The method includes detecting a stumble event based on one or more sensor signals associated with an overall motion lower limb device, classifying the stumble event based on sensor signals following the sensor signals associated with the stumble event, and selecting a stumble recovery strategy for the lower limb device based on the classification of the stumble event.Type: ApplicationFiled: October 29, 2010Publication date: August 30, 2012Applicant: Vanderbilt UniversityInventors: Michael Goldfarb, Huseyin Atakan Varol, Brian Edward Lawson, Frank Charles Sup
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Publication number: 20120150322Abstract: A jointed mechanical device is provided. The device includes at least one element (204) having a fixed end and a deflectable end. The device also includes at least one actuating structure (206) having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element (214) in series with at least one non-elastic element. The device further includes at least one force actuator (202) configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system (315) for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.Type: ApplicationFiled: August 20, 2010Publication date: June 14, 2012Applicant: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Skyler Ashton Dalley, Huseyin Atakan Varol, Tuomas Emory Wiste
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Publication number: 20120150321Abstract: Systems and methods for controlling jointed mechanical devices are is provided, where the device is controlled based on a topographic state (300) map having one or more motion axes (D1, D2) and defining a plurality of poses and a plurality of transitions in parallel with one of the motion axes, In the map, each motion axis is associated with complementary types of motion in the device and each of the transitions associated with at least two of the poses. A method includes the steps of receiving a control signal and determining a mechanical state of the device within the topographic state map. The method further includes identifying potential transitions associated with the mechanical state based on the topographic state map. The method also includes adjusting the mechanical state based on the control signal if the control signal is associated with a type of motion associated with one of the identified transitions.Type: ApplicationFiled: August 20, 2010Publication date: June 14, 2012Applicant: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Skyler Ashton Dalley, Huseyin Atakan Varol, Tuomas Emory Wiste
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Publication number: 20120116398Abstract: A surgical probe includes an articulated digit located at a distal end of a positioning shaft having a longitudinal axis. An actuator is located at a proximal end of the positioning shaft that is operatively connected to the articulated digit so as to move it between a continuous range of positions from an extended position to a substantially curved position while maintaining a kinesthetic relationship between a surgeon's finger engaging the actuator and the articulated digit. Preferably, the surgeons finger position and shape directly correspond to the position and shape of the articulated digit. A method is provided for probing, dissecting, and retracting anatomical structures.Type: ApplicationFiled: June 2, 2011Publication date: May 10, 2012Applicant: DYNAMIC SURGICAL INVENTIONS, LLCInventors: Michael A. GOLDFARB, Eric GOLDFARB