Patents by Inventor Skyler A. Dalley
Skyler A. Dalley 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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Publication number: 20240148522Abstract: A powered KAFO device includes an electronic control system that provides an enhanced operation to better approximate a human gait cycle for enhanced mobility assistance. Multiple gait cycles of stance substate control and swing substate control are implemented to perform walking. During stance control, the control system measures an error between a desired and an actual knee joint component angle, and operates the actuator assembly of the powered mobility assistance device to control the knee joint component to stabilize the knee joint component. During swing control, the electronic control system measures an error between a desired and an actual knee swing trajectory, and operates the actuator assembly to control the knee joint component to adjust toward the desired swing knee trajectory. The gait cycle further may include a neutral substate that transitions from the stance substate to the swing substate, in which actuator assembly releases the knee joint component.Type: ApplicationFiled: March 15, 2021Publication date: May 9, 2024Applicant: Ekso Bionics Holdings, Inc.Inventors: Ryan J. FARRIS, Spencer A. MURRAY, Skyler A. DALLEY
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Patent number: 11679056Abstract: A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle.Type: GrantFiled: April 23, 2018Date of Patent: June 20, 2023Assignee: Ekso Bionics Holdings, Inc.Inventors: Skyler Dalley, Ryan Farris, Spencer Murray
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Patent number: 11642272Abstract: A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user.Type: GrantFiled: February 7, 2018Date of Patent: May 9, 2023Assignee: Ekso Bionics Holdings, Inc.Inventors: Skyler Dalley, Spencer Murray, Ryan Farris, Michael Goldfarb, Scott Morrison
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Publication number: 20210386611Abstract: A cloud-based control method and related system implements enhanced control of a network of mobility assistance devices.Type: ApplicationFiled: September 3, 2019Publication date: December 16, 2021Inventors: Skyler A. DALLEY, Ryan J. FARRIS
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Patent number: 10952877Abstract: A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.Type: GrantFiled: October 9, 2018Date of Patent: March 23, 2021Assignee: Vanderbilt UniversityInventors: Michael I. Goldfarb, Nasser Alshammary, Daniel Bennett, Skyler Dalley
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Patent number: 10835391Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system 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: GrantFiled: December 4, 2018Date of Patent: November 17, 2020Assignee: Vanderbilt UniversityInventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol, Tuomas Wiste
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Publication number: 20200323726Abstract: A method of controlling an exoskeleton mobility device includes executing a control application with an electronic controller to perform: sensing at least one of an angular position or angular velocity of a stance/trailing leg during a single support dynamic state of a gait cycle; determining whether the angular position satisfies an advanced gait threshold; and when it is determined that the angular position satisfies the advanced gait threshold, the control system employs advanced gait control in which a duration of double support states between single support dynamic states is minimized. For advanced gait control the control system controls such that hip joint component velocities are non-zero during transitions from swing states to stance states, and knee joint component velocities are non-zero during transitions from stance states to swing states of the gait cycle.Type: ApplicationFiled: April 23, 2018Publication date: October 15, 2020Inventors: Skyler DALLEY, Ryan FARRIS, Spencer MURRAY
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Publication number: 20200060921Abstract: A method of controlling a mobility device and related device including at least one actuator component that drives at least one joint component is described. The control method may include executing a control application with an electronic controller to perform: receiving a command in the control system of the mobility device for initiating an automated assessment and adjustment protocol; controlling one or more mobility device components to perform the automated assessment; electronically gathering user performance data associated with the automated assessment and determining user performance metrics; and electronically controlling one or more of the mobility device components in accordance with the performance metrics. The automated assessment includes controlling mobility device components to perform a predetermined assessment activity related to performance of the mobility device and/or user.Type: ApplicationFiled: February 7, 2018Publication date: February 27, 2020Inventors: Skyler DALLEY, Spencer MURRAY, Ryan FARRIS, Michael GOLDFARB, Scott MORRISON
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Publication number: 20190125550Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system 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: December 4, 2018Publication date: May 2, 2019Inventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol, Tuomas Wiste
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Publication number: 20190105185Abstract: A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.Type: ApplicationFiled: October 9, 2018Publication date: April 11, 2019Inventors: Michael I. GOLDFARB, Nasser ALSHAMMARY, Daniel Bennett, Skyler DALLEY
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Patent number: 10172725Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system 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: GrantFiled: February 22, 2016Date of Patent: January 8, 2019Assignee: Vanderbuilt UniversityInventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol, Tuomas Wiste
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Patent number: 10092423Abstract: A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.Type: GrantFiled: November 2, 2015Date of Patent: October 9, 2018Assignee: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Nasser Alshammary, Daniel Bennett, Skyler Dalley
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Patent number: 9730815Abstract: 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: GrantFiled: November 2, 2015Date of Patent: August 15, 2017Assignee: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Skyler A. Dalley, Huseyin Atakan Varol
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Publication number: 20160166409Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system 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: February 22, 2016Publication date: June 16, 2016Inventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol, Tuomas Wiste
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Publication number: 20160051382Abstract: 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 2, 2015Publication date: February 25, 2016Inventors: Michael Goldfarb, Skyler A. Dalley, Huseyin Atakan Varol
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Publication number: 20160051383Abstract: A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.Type: ApplicationFiled: November 2, 2015Publication date: February 25, 2016Inventors: Michael Goldfarb, Nasser Alshammary, Daniel Bennett, Skyler Dalley
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Patent number: 9174339Abstract: 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: GrantFiled: November 21, 2011Date of Patent: November 3, 2015Assignee: VANDERBILT UNIVERSITYInventors: Michael Goldfarb, Skyler Dalley, Huseyin Atakan Varol
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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: 20090292363Abstract: A prosthesis for replacing a native disc between first and second adjacent vertebral bodies. The prosthesis includes a compliant element having a first composition and a geometry for providing a plurality of element stiffnesses for the compliant element substantially matching spatial stiffnesses of the native disc. The prosthesis also includes an upper plate of the first or a second composition, the upper plate having opposed inner and outer surfaces, the upper plate inner surface having a first retaining structure for affixing a position of the first end of the compliant element, and a lower plate of the first or a second composition, the lower plate having opposed inner and outer surfaces, the lower plate inner surface having a second retaining structure for affixing a position of the second end of the compliant element.Type: ApplicationFiled: May 22, 2009Publication date: November 26, 2009Applicant: Vanderbilt UniversityInventors: Michael Goldfarb, Skyler A. Dalley