Patents by Inventor Zhixiu Han
Zhixiu Han 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: 20230398001Abstract: 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 2, 2023Publication date: December 14, 2023Inventors: Hugh Miller Herr, Zhixiu Han, Christopher Eric Barnhart, Richard J. Casler, JR.
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Patent number: 11707364Abstract: 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 Reflex Parameter Modulation 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: GrantFiled: January 13, 2020Date of Patent: July 25, 2023Assignee: Otto Bock Healthcare LPInventors: Hugh Miller Herr, Zhixiu Han, Christopher Eric Barnhart, Richard J. Casler, Jr.
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Publication number: 20220387205Abstract: 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: August 19, 2022Publication date: December 8, 2022Inventors: Zhixiu Han, Christopher Williams, Jeff Anthony Weber, Christopher Eric Barnhart, Hugh M. Herr, Richard James Casler, JR.
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Patent number: 11419747Abstract: 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: GrantFiled: November 27, 2019Date of Patent: August 23, 2022Assignee: Otto Bock Healthcare LPInventors: Zhixiu Han, Christopher Williams, Jeff Anthony Weber, Christopher Eric Barnhart, Hugh M. Herr, Richard James Casler, Jr.
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Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
Patent number: 11026815Abstract: 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. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.Type: GrantFiled: December 13, 2016Date of Patent: June 8, 2021Assignee: OTTO BOCK HEALTHCARE LPInventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon -
Patent number: 10835408Abstract: A method for controlling a powered device to augment 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 is disclosed. In some embodiments, the method 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 actuator is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.Type: GrantFiled: July 19, 2017Date of Patent: November 17, 2020Assignee: Otto Bock HealthCare LPInventors: Zhixiu Han, Christopher Williams, Jeff Anthony Weber, Christopher Eric Barnhart, Hugh M. Herr, Richard James Casler, Jr.
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Patent number: 10792169Abstract: 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: March 21, 2018Date of Patent: October 6, 2020Assignee: Otto Bock Healthcare LPInventors: Rick Casler, Hugh Miller Herr, Zhixiu Han, Christopher E. Barnhart
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Publication number: 20200146849Abstract: 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 9, 2020Publication date: May 14, 2020Inventors: Zhixiu Han, Christopher Eric Barnhart, David Adams Garlow, Adrienne Bolger, Hugh Miller Herr, Gary Girzon, Richard J. Casler, Jennifer T. McCarthy
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Publication number: 20200146847Abstract: 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 Reflex Parameter Modulation 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: January 13, 2020Publication date: May 14, 2020Applicant: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Hugh Miller Herr, Zhixiu Han, Christopher Eric Barnhart, Richard J. Casler, JR.
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Publication number: 20200107951Abstract: 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: November 27, 2019Publication date: April 9, 2020Inventors: Zhixiu HAN, Christopher Williams, Jeff Anthony Weber, Christopher Eric Barnhart, Hugh M. Herr, Richard James Casler, JR.
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Publication number: 20200085599Abstract: 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: November 25, 2019Publication date: March 19, 2020Applicant: BionX Medical Technologies, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, JR., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon, David Adams Garlow
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Patent number: 10537449Abstract: 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: GrantFiled: November 26, 2013Date of Patent: January 21, 2020Assignee: Bionx Medical Technologies, Inc.Inventors: Zhixiu Han, Christopher Eric Barnhart, David Adams Garlow, Adrienne Bolger, Hugh Miller Herr, Gary Girzon, Richard J. Casler, Jennifer T. McCarthy
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Patent number: 10531965Abstract: 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: GrantFiled: June 12, 2013Date of Patent: January 14, 2020Assignee: Bionx Medical Technologies, Inc.Inventors: Hugh Miller Herr, Zhixiu Han, Christopher Eric Barnhart, Richard J. Casler, Jr.
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Patent number: 10485682Abstract: 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: GrantFiled: January 24, 2017Date of Patent: November 26, 2019Assignee: Bionx Medical Technologies, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon, David Adams Garlow
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Patent number: 10406002Abstract: 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: GrantFiled: January 9, 2014Date of Patent: September 10, 2019Assignee: Bionx Medical Technologies, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, Jr., Zhixiu Han, Christopher Eric Barnhart, Gary Girzon, David Adams Garlow
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Publication number: 20180303634Abstract: 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: March 21, 2018Publication date: October 25, 2018Inventors: Rick Casler, Hugh Miller Herr, Zhixiu Han, Christopher E. Barnhart
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Patent number: 10105244Abstract: 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: April 28, 2016Date of Patent: October 23, 2018Assignee: Bionx Medical Technologies, Inc.Inventors: Hugh Miller Herr, Richard J. Casler, Zhixiu Han
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Patent number: 10080672Abstract: 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 1, 2009Date of Patent: September 25, 2018Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Rick Casler, Hugh Miller Herr, Zhixiu Han, Christopher E. Barnhart
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Publication number: 20170354529Abstract: 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: May 22, 2017Publication date: December 14, 2017Inventors: Zhixiu HAN, Christopher Williams, Jeff Anthony Weber, Christopher Eric Barnhart, Hugh M. Herr, Richard James Casler, JR.
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Patent number: 9839552Abstract: 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: GrantFiled: January 10, 2012Date of Patent: December 12, 2017Assignee: BIONX MEDICAL TECHNOLOGIES, INC.Inventors: Zhixiu Han, Christopher E. Barnhart, Hugh M. Herr, Christopher Williams, Jeff A. Weber, Richard J. Casler, Jr.