Abstract: Total energy shaping control methods and devices for powered orthosis for controlling the device to counteract forces exerted on the person including inertial forces.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: Systems and methods for prosthetic device control with a unified virtual constraint that controls an entire gait cycle of the prosthetic device.

Abstract: Total energy shaping control methods and devices for powered orthosis for controlling the device to counteract forces exerted on the person including inertial forces.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: 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.

Abstract: Systems and methods for prosthetic device control with a unified virtual constraint that controls an entire gait cycle of the prosthetic device.

Abstract: 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.

Abstract: A method for forming a trailing edge wedge for a wing wherein the size and configuration of a trailing edge wedge at various points along the span of the trailing edge wedge are adjusted and analyzed in an iterative manner to form an improved trailing edge wedge. An improved wing assembly is also provided.