Patents by Inventor Robert D. Gregg
Robert D. Gregg 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: 11938050Abstract: Orthosis device and related methods for controlling the device to counteract a gravitational force exerted on the person without directing the orthosis device in a pre-determined pattern of motion.Type: GrantFiled: December 8, 2016Date of Patent: March 26, 2024Assignee: BOARD OF REGENTS, THE UNIVERSITY OF TEXAS SYSTEMInventors: Robert D. Gregg, Ge Lv, Hanqi Zhu
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Publication number: 20230398003Abstract: Disclosed herein are embodiments of a powered prosthesis. In one embodiment, the powered prosthesis may include a first joint actuator; a second joint actuator; a connector to connect the first joint actuator with the second joint actuator; and a power source connected with both the first and second joint actuator; wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source. In some embodiments, the first motor is at least a high output torque motor. In other embodiments, the second motor is at least a high output torque motor.Type: ApplicationFiled: June 7, 2023Publication date: December 14, 2023Inventors: Robert D. Gregg, Toby B. Elery, Christopher R. Nesler, Siavash Rezazadeh
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Patent number: 11707366Abstract: Disclosed herein are embodiments of a powered prosthesis. In one embodiment, the powered prosthesis may include a first joint actuator; a second joint actuator; a connector to connect the first joint actuator with the second joint actuator; and a power source connected with both the first and second joint actuator; wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source. In some embodiments, the first motor is at least a high output torque motor. In other embodiments, the second motor is at least a high output torque motor.Type: GrantFiled: April 30, 2019Date of Patent: July 25, 2023Assignee: Board of Regents, The University of Texas SystemInventors: Robert D. Gregg, Toby B. Elery, Christopher R. Nesler, Siavash Rezazadeh
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Patent number: 11497641Abstract: The present disclosure is relates to an orthosis device. The orthosis device, in one embodiment, includes an actuator housing, and an electric motor coupled to the actuator housing, the electric motor including a motor stator and a motor rotor, and the electric motor further having high output torque. The orthosis device, in this embodiment, further includes a low-ratio transmission coupled to the actuator housing, the transmission including a gear system coupled to the actuator housing, and a drive system coupling the electric motor and the gear system, wherein a combination of the electric motor and transmission provide a user backdrivable orthosis device.Type: GrantFiled: May 11, 2018Date of Patent: November 15, 2022Assignee: Board of Regents, The University of Texas SystemInventors: Robert D. Gregg, Hanqi Zhu
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Patent number: 11407105Abstract: A dielectric elastomer system (DES) variable stiffness actuator (VSA) is provided. In an embodiment, the DES VSA includes a variable stiffness module (VSM). The VSM includes a DES that softens when energized and stiffens when unpowered, an outer frame, and an inner frame member. The stiffness of the DES is variable. The outer frame supports the DES and the inner frame member, which is disposed within the DES. The inner frame member is configured to be displaceable with respect to the outer frame. The DES VSA also includes an actuation motor mechanically coupled to the inner frame member that is configured to cause a force to be applied to the inner frame member and the actuation motor is configured to control an equilibrium position of the DES VSA.Type: GrantFiled: December 15, 2020Date of Patent: August 9, 2022Assignee: Board of Regents, The University of Texas SystemInventors: Robert D. Gregg, IV, Edgar A. Bolivar, David P. Allen, Walter E. Voit
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Publication number: 20210129323Abstract: A dielectric elastomer system (DES) variable stiffness actuator (VSA) is provided. In an embodiment, the DES VSA includes a variable stiffness module (VSM). The VSM includes a DES that softens when energized and stiffens when unpowered, an outer frame, and an inner frame member. The stiffness of the DES is variable. The outer frame supports the DES and the inner frame member, which is disposed within the DES. The inner frame member is configured to be displaceable with respect to the outer frame. The DES VSA also includes an actuation motor mechanically coupled to the inner frame member that is configured to cause a force to be applied to the inner frame member and the actuation motor is configured to control an equilibrium position of the DES VSA.Type: ApplicationFiled: December 15, 2020Publication date: May 6, 2021Inventors: Robert D. Gregg, Edgar A. Bolivar, David P. Allen, Walter E. Voit
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Publication number: 20210085551Abstract: The present disclosure includes, in one embodiment, an orthosis device. The orthosis device, in one embodiment, includes an actuator housing, an electric motor contained within the actuator housing, the electric motor including a motor stator and a motor rotor forming an inner diameter, and the electric motor further having high output torque. The orthosis device according to this embodiment further includes a transmission including a gear system contained within the actuator housing, the gear system positioned within the inner diameter of the electric motor, and a body attachment coupled to an output of the gear system.Type: ApplicationFiled: May 11, 2018Publication date: March 25, 2021Inventors: Robert D. Gregg, Hanqi Zhu
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Patent number: 10870202Abstract: A dielectric elastomer system (DES) variable stiffness actuator (VSA) is provided. In an embodiment, the DES VSA includes a variable stiffness module (VSM). The VSM includes a DES that softens when energized and stiffens when unpowered, an outer frame, and an inner frame member. The stiffness of the DES is variable. The outer frame supports the DES and the inner frame member, which is disposed within the DES. The inner frame member is configured to be displaceable with respect to the outer frame. The DES VSA also includes an actuation motor mechanically coupled to the inner frame member that is configured to cause a force to be applied to the inner frame member and the actuation motor is configured to control an equilibrium position of the DES VSA.Type: GrantFiled: August 23, 2018Date of Patent: December 22, 2020Assignee: Board of Regents, The University of Texas SystemInventors: Robert D. Gregg, Edgar A. Bolivar, David P. Allen, Walter E. Voit
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Patent number: 10792170Abstract: Systems and methods for prosthetic device control with a unified virtual constraint that controls an entire gait cycle of the prosthetic device.Type: GrantFiled: February 11, 2016Date of Patent: October 6, 2020Assignee: BOARD OF REGENTS, THE UNIVERSITY OF TEXAS SYSTEMSInventors: Robert D. Gregg, David Quintero, Anne E. Martin, Darío J. Villarreal Suárez
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Patent number: 10661870Abstract: A rowing oar is described. The rowing oar can have a plurality of flow disrupters arranged on a shaft of the oar. In one embodiment, the flow disrupters can be circular bumps arranged in lines along the shaft of the oar. The flow disrupters can cause the air flow over the oar to be more turbulent so that the flow separation on a backside of the oar is reduced. The reduction in flow separation can reduce aerodynamic drag on the oar when it travels through the air. Thus, a rower can expend less energy during rowing using the oar.Type: GrantFiled: March 23, 2018Date of Patent: May 26, 2020Assignee: The Boeing CompanyInventors: Allan J. Cameron, Robert D. Gregg, III, James Long-Lerno
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Publication number: 20200085603Abstract: Total energy shaping control methods and devices for powered orthosis for controlling the device to counteract forces exerted on the person including inertial forces.Type: ApplicationFiled: May 21, 2018Publication date: March 19, 2020Inventors: Robert D. GREGG, Ge LV
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Publication number: 20190328551Abstract: Disclosed herein are embodiments of a powered prosthesis. In one embodiment, the powered prosthesis may include a first joint actuator; a second joint actuator; a connector to connect the first joint actuator with the second joint actuator; and a power source connected with both the first and second joint actuator; wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source. In some embodiments, the first motor is at least a high output torque motor. In other embodiments, the second motor is at least a high output torque motor.Type: ApplicationFiled: April 30, 2019Publication date: October 31, 2019Inventors: Robert D. Gregg, Toby B. Elery, Christopher R. Nesler, Siavash Rezazadeh
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Publication number: 20190291836Abstract: A rowing oar is described. The rowing oar can have a plurality of flow disrupters arranged on a shaft of the oar. In one embodiment, the flow disrupters can be circular bumps arranged in lines along the shaft of the oar. The flow disrupters can cause the air flow over the oar to be more turbulent so that the flow separation on a backside of the oar is reduced. The reduction in flow separation can reduce aerodynamic drag on the oar when it travels through the air. Thus, a rower can expend less energy during rowing using the oar.Type: ApplicationFiled: March 23, 2018Publication date: September 26, 2019Applicant: The Boeing CompanyInventors: Allan J. Cameron, Robert D. Gregg, III, James Long-Lerno
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Patent number: 10314723Abstract: Systems and methods for improved control of a lower limb device are disclosed. The lower limb may have one or more joints and one or more corresponding motors. In some embodiments, a center of pressure is calculated in order to enforce virtual constraints at the one or more joints of the lower limb device. The system utilizes one or more effective shapes, and each effective shape's corresponding error, in order to cause each joint motor to produce a torque that causes the joint to move according to a virtual constraint. The systems and methods result in improved control of lower limb devices.Type: GrantFiled: May 23, 2014Date of Patent: June 11, 2019Assignee: Rehabilitation Institute of ChicagoInventors: Robert D. Gregg, Jon Sensinger
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Publication number: 20190061153Abstract: A dielectric elastomer system (DES) variable stiffness actuator (VSA) is provided. In an embodiment, the DES VSA includes a variable stiffness module (VSM). The VSM includes a DES that softens when energized and stiffens when unpowered, an outer frame, and an inner frame member. The stiffness of the DES is variable. The outer frame supports the DES and the inner frame member, which is disposed within the DES. The inner frame member is configured to be displaceable with respect to the outer frame. The DES VSA also includes an actuation motor mechanically coupled to the inner frame member that is configured to cause a force to be applied to the inner frame member and the actuation motor is configured to control an equilibrium position of the DES VSA.Type: ApplicationFiled: August 23, 2018Publication date: February 28, 2019Inventors: Robert D. Gregg, Edgar A. Bolivar, David P. Allen, Walter E. Voit
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Publication number: 20180360639Abstract: Orthosis device and related methods for controlling the device to counteract a gravitational force exerted on the person without directing the orthosis device in a pre-determined pattern of motion.Type: ApplicationFiled: December 8, 2016Publication date: December 20, 2018Inventors: Robert D. GREGG, Ge LV, Hanqi ZHU
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Publication number: 20180325713Abstract: The present disclosure is relates to an orthosis device. The orthosis device, in one embodiment, includes an actuator housing, and an electric motor coupled to the actuator housing, the electric motor including a motor stator and a motor rotor, and the electric motor further having high output torque. The orthosis device, in this embodiment, further include a low-ratio transmission coupled to the actuator housing, the transmission including a gear system coupled to the actuator housing, and a drive system coupling the electric motor and the gear system, wherein a combination of the electric motor and transmission provide a user backdrivable orthosis device.Type: ApplicationFiled: May 11, 2018Publication date: November 15, 2018Inventors: Robert D. Gregg, Hanqi Zhu
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Publication number: 20180036147Abstract: Systems and methods for prosthetic device control with a unified virtual constraint that controls an entire gait cycle of the prosthetic device.Type: ApplicationFiled: February 11, 2016Publication date: February 8, 2018Inventors: Robert D. GREGG, David QUINTERO, Anne E. MARTIN, Darío J. VILLARREAL SUÁREZ
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Publication number: 20140364962Abstract: Systems and methods for improved control of a lower limb device are disclosed. The lower limb may have one or more joints and one or more corresponding motors. In some embodiments, a center of pressure is calculated in order to enforce virtual constraints at the one or more joints of the lower limb device. The system utilizes one or more effective shapes, and each effective shape's corresponding error, in order to cause each joint motor to produce a torque that causes the joint to move according to a virtual constraint. The systems and methods result in improved control of lower limb devices.Type: ApplicationFiled: May 23, 2014Publication date: December 11, 2014Applicant: Rehabilitation Institute of ChicagoInventors: Robert D. Gregg, Jon Sensinger
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Patent number: 8567711Abstract: Apparatus and methods provide for a swept-wing powered-lift aircraft. Aspects of the disclosure provide a powered-lift aircraft that utilizes the engine exhaust flow over upper surface blown flaps to increase lift during various flight operations. The powered-lift aircraft has wings with inboard portions and outboard portions. The adjacent inboard and outboard portions share a swept leading edge. The leading edge is swept to a degree that shifts the outboard portion rearward to a position in which the aircraft center of lift has little to no variance upon the activation or deactivation of a powered-lift system.Type: GrantFiled: February 5, 2013Date of Patent: October 29, 2013Assignee: The Boeing CompanyInventors: Robert D. Gregg, III, Aaron J. Kutzmann, David J. Manley, John C. Vassberg, Neal Harrison, Max Kismarton