Patents by Inventor Richard J. Casler
Richard J. Casler 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: 9474634Abstract: At least partial function of a human limb is restored by surgically removing at least a portion of an injured or diseased human limb from a surgical site of an individual and transplanting a selected muscle into the remaining biological body of the individual, followed by contacting the transplanted selected muscle, or an associated nerve, with an electrode, to thereby control a device, such as a prosthetic limb, linked to the electrode. Simulating proprioceptive sensory feedback from a device includes mechanically linking at least one pair of agonist and antagonist muscles, wherein a nerve innervates each muscle, and supporting each pair with a support, whereby contraction of the agonist muscle of each pair will cause extension of the paired antagonist muscle. An electrode is implanted in a muscle of each pair and electrically connected to a motor controller of the device, thereby simulating proprioceptive sensory feedback from the device.Type: GrantFiled: October 22, 2014Date of Patent: October 25, 2016Assignee: Massachusetts Institute of TechnologyInventors: Hugh M. Herr, Ronald R. Riso, Katherine W. Song, Richard J. Casler, Jr., Matthew J. Carty
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Publication number: 20160235557Abstract: 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: April 28, 2016Publication date: August 18, 2016Inventors: Hugh Miller Herr, Richard J. Casler, Zhixiu Han
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Patent number: 9351856Abstract: 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: GrantFiled: September 24, 2013Date of Patent: May 31, 2016Assignee: IWALK, INC.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han
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Publication number: 20150173918Abstract: At least partial function of a human limb is restored by surgically removing at least a portion of an injured or diseased human limb from a surgical site of an individual and transplanting a selected muscle into the remaining biological body of the individual, followed by contacting the transplanted selected muscle, or an associated nerve, with an electrode, to thereby control a device, such as a prosthetic limb, linked to the electrode. Simulating proprioceptive sensory feedback from a device includes mechanically linking at least one pair of agonist and antagonist muscles, wherein a nerve innervates each muscle, and supporting each pair with a support, whereby contraction of the agonist muscle of each pair will cause extension of the paired antagonist muscle. An electrode is implanted in a muscle of each pair and electrically connected to a motor controller of the device, thereby simulating proprioceptive sensory feedback from the device.Type: ApplicationFiled: October 22, 2014Publication date: June 25, 2015Inventors: Hugh M. Herr, Ronald R. Riso, Katherine W. Song, Richard J. Casler, JR., Matthew J. Carty
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Patent number: 9060883Abstract: In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.Type: GrantFiled: March 12, 2012Date of Patent: June 23, 2015Assignee: iWalk, Inc.Inventors: Hugh M. Herr, Jeff A. Weber, David A. Garlow, Richard J. Casler, Jr.
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Publication number: 20150127118Abstract: A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.Type: ApplicationFiled: June 12, 2013Publication date: May 7, 2015Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Zhixiu Han, Christopher Eric Barnhart, Richard J. Casler, JR.
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Patent number: 8900325Abstract: 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: GrantFiled: September 24, 2013Date of Patent: December 2, 2014Assignee: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han
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Publication number: 20140296997Abstract: In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.Type: ApplicationFiled: November 2, 2012Publication date: October 2, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Christopher Williams, Christopher Eric Barnhart, Zhixiu Han, Charles E. Rohrs, Richard J. Casler, JR.
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Publication number: 20140121782Abstract: In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle.Type: ApplicationFiled: January 9, 2014Publication date: May 1, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon, David Adams Garlow
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CONTROLLING POWER IN A PROSTHESIS OR ORTHOSIS BASED ON PREDICTED WALKING SPEED OR SURROGATE FOR SAME
Publication number: 20140114437Abstract: In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle.Type: ApplicationFiled: December 20, 2013Publication date: April 24, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon -
Publication number: 20140088727Abstract: In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device.Type: ApplicationFiled: November 26, 2013Publication date: March 27, 2014Applicant: iWalk, Inc.Inventors: Zhixiu Han, Christopher Eric Barnhart, David Adams Garlow, Adrienne Bolger, Hugh Miller Herr, Gary Girzon, Richard J. Casler, JR., Jennifer T. McCarthy
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Publication number: 20140081420Abstract: 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: September 23, 2013Publication date: March 20, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR.
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Publication number: 20140081424Abstract: 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 24, 2013Publication date: March 20, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han
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Publication number: 20140081421Abstract: 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 24, 2013Publication date: March 20, 2014Applicant: iWalk, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han
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Patent number: 8310195Abstract: Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.Type: GrantFiled: February 15, 2012Date of Patent: November 13, 2012Assignee: FormFactor, Inc.Inventors: Sun Yalei, Uday Nayak, Richard J. Casler, Jr., Thomas Rohrs
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Publication number: 20120283845Abstract: In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.Type: ApplicationFiled: March 12, 2012Publication date: November 8, 2012Inventors: Hugh M. Herr, Jeff A. Weber, David A. Garlow, Richard J. Casler, JR.
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Publication number: 20120259431Abstract: A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.Type: ApplicationFiled: January 23, 2012Publication date: October 11, 2012Inventors: Zhixiu Han, Christopher Williams, Jeff A. Weber, Christopher E. Barnhart, Hugh M. Herr, Richard J. Casler, JR.
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Publication number: 20120259430Abstract: In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device.Type: ApplicationFiled: January 12, 2012Publication date: October 11, 2012Inventors: Zhixiu Han, Christopher E. Barnhart, David A. Garlow, Adrienne Bolger, Hugh M. Herr, Gary Girzon, Richard J. Casler, JR., Jennifer T. McCarthy
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Publication number: 20120259429Abstract: A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.Type: ApplicationFiled: January 10, 2012Publication date: October 11, 2012Inventors: Zhixiu Han, Christopher E. Barnhart, Hugh M. Herr, Christopher Williams, Jeff A. Weber, Richard J. Casler, JR.
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Publication number: 20120146569Abstract: Methods and systems for, in one embodiment, accelerating a stage through a clearance height in a first direction and decelerating the stage in the first direction while accelerating in a second direction are shown. The stage is moved in a third direction and a determination is made whether the stage movement in the second direction is below a threshold value before continuing to move the stage further in the third direction. The first direction is perpendicular to the second direction and is parallel and opposite to the third direction.Type: ApplicationFiled: February 15, 2012Publication date: June 14, 2012Inventors: Sun Yalei, Uday Nayak, Richard J. Casler, JR., Thomas Rohrs