Joint Or Limb (e.g., Wrist, Arm, Leg, Etc.) Patents (Class 601/33)
  • Patent number: 11007107
    Abstract: An exoskeleton structure includes a back assembly, an arm assembly, and a shoulder connection device. The shoulder connection device includes a first connection part, a first pivot connecting the first connection part to the back assembly while allowing rotation of the first connection part around a first axis of rotation, a second connection part, a second pivot connecting the first connection part to the second connection part while allowing rotation of the second connection part around a second axis of rotation orthogonal to the first axis, and a third pivot connecting the second connection part to the arm assembly while allowing rotation around a third axis of rotation orthogonal to the second axis of rotation. The second pivot is arranged so that the second axis of rotation forms a non-zero angle with an abduction/adduction axis of the shoulder and a non-zero angle with a flexion/extension axis of the shoulder.
    Type: Grant
    Filed: October 24, 2018
    Date of Patent: May 18, 2021
    Assignees: SAFRAN ELECTRONICS & DEFENSE, B-TEMIA INC.
    Inventors: Nathaniel Zoso, Jordane Grenier
  • Patent number: 10945909
    Abstract: An assistance apparatus includes first to eighth wires that couple an upper body belt to be worn on an upper body of a user to a first knee belt and a second knee belt to be worn above a left knee and a right knee of the user, respectively, and a motor. In a case of assisting the user in turning left, the motor generates, when a left leg is in a swing phase and a right leg is in a stance phase, a tension in each of the second, third, sixth, and seventh wires at an identical timing. In a case of assisting the user in turning right, the motor generates, when the left leg is in a stance phase and the right leg is in a swing phase, a tension in each of the second, third, sixth, and seventh wires at an identical timing.
    Type: Grant
    Filed: June 15, 2018
    Date of Patent: March 16, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Kenta Murakami, Stephen John, Mayumi Komatsu, Shinobu Adachi
  • Patent number: 10888488
    Abstract: An assistance apparatus includes wires that couple an upper body belt to be worn on an upper body of a user to first and second knee belts to be worn above left and right knees of the user, and a motor. In a case of assisting the user in turning left, the motor generates a tension in second and fourth wires in a period of 65% or more and 100% or less of a first gait phase of a left leg and a period of 0% or more and 20% or less of a second gait phase of the left leg, and generates a tension in sixth and eighth wires in a period of 65% or more and 100% or less of a first gait phase of a right leg and a period of 0% or more and 20% or less of a second gait phase of the right leg.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: January 12, 2021
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Kenta Murakami, Stephen William John, Mayumi Komatsu, Shinobu Adachi
  • Patent number: 10888164
    Abstract: An office system including a first component and a second component moveable relative to the first component. A distance and/or force multiplier is disposed between and coupled to the first and second components. The distance and/or force multiplier includes a shape memory material, wherein the shape memory material is contractible between at least a non-energized state and an energized state in response to an application of energy. The distance and/or force multiplier moves the second component relative to the first component when the shape memory material is contracted to the energized state.
    Type: Grant
    Filed: September 24, 2019
    Date of Patent: January 12, 2021
    Assignee: STEELCASE INC.
    Inventors: Christopher Norman, Timothy Swieter, Ryan E. Schmidt, Mark McKenna, Robert Scheper, Bruce Smith
  • Patent number: 10807232
    Abstract: An articulated robot actuator includes a pair of motors, a pair of first gear parts, a pair of spring members, a pair of second gear parts, and a pair of joint actuating members, to actuate a plurality of joints of an articulated robot. The pair of motors have rotary shafts arranged in parallel, and the pair of first gear parts change directions of rotational actuation forces from the motors. The pair of spring members have degrees of torsion strains determined by the rotational actuation forces from the first gear parts, and the pair of second gear parts receive the rotational actuation forces transferred thereto according to the degrees of the torsion strains of the spring members. The pair of joint actuating members are rotated about a common rotary shaft by the rotational actuation forces from the second gear parts.
    Type: Grant
    Filed: June 7, 2016
    Date of Patent: October 20, 2020
    Assignee: ANGEL ROBOTICS Co., Ltd.
    Inventors: Hyun-Jin Choi, Byeong-Hun Na
  • Patent number: 10792213
    Abstract: An assistance apparatus includes first to eighth wires that couple an upper body belt to be worn on an upper body of a user to a first knee belt and a second knee belt to be worn above a left knee and a right knee of the user, respectively, and a motor. When the assistance apparatus assists the user in turning left, the motor generates a tension larger than or equal to a first threshold in each of the second wire, the fourth wire, the sixth wire, and the eighth wire. When the fourth wire or the second wire is broken, the motor changes the wire in which a tension is generated.
    Type: Grant
    Filed: July 12, 2018
    Date of Patent: October 6, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Kenta Murakami, Stephen John, Mayumi Komatsu, Shinobu Adachi
  • Patent number: 10751884
    Abstract: A joint actuator includes a motor, a first gear part configured to change a direction of a rotational driving force applied by the motor and increase the applied rotational driving force, a spring member, a degree of a torsional deflection of Which is determined by a rotational. driving force supplied by the first gear part, and a second gear part configured to receive a rotational driving force according to the degree of the torsional deflection from the spring member. The first gear part includes a worm gear and a worm wheel gear configured to selectively engage with the worm gear. A joint structure includes the joint actuator mounted on a housing thereof and a joint unit coupled to the housing to be rotatably driven by the joint actuator.
    Type: Grant
    Filed: April 7, 2016
    Date of Patent: August 25, 2020
    Assignee: ANGEL ROBOTICS Co., Ltd.
    Inventors: Han-Seung Woo, Byeong-Hun Na, Hyuck-Bae Kim
  • Patent number: 10730178
    Abstract: An operator supervising a wearer of an exoskeleton is verified by performing a verification routine on the operator using the exoskeleton. If the verification routine is unsuccessful, the exoskeleton is caused to follow a pre-established response routine. If the verification routine is successful, movement of the exoskeleton is allowed.
    Type: Grant
    Filed: May 4, 2016
    Date of Patent: August 4, 2020
    Assignee: Ekso Bionics, Inc.
    Inventors: Nathan Harding, Niel McCaffrey, Kurt Amundson, Reuben Sandler, Adam Zoss, Katherine Strausser
  • Patent number: 10730181
    Abstract: Methods, systems, and apparatus, including computer-readable media storing executable instructions, for enhancing robot learning. In some implementations, a robot stores first embeddings generated using a first machine learning model, and the first embeddings include one or more first private embeddings that are not shared with other robots. The robot receives a second machine learning model from a server system over a communication network. The robot generates a second private embedding for each of the one or more first private embeddings using the second machine learning model. The robot adds the second private embeddings to the cache of the robot and removes the one or more first private embeddings from the cache of the robot.
    Type: Grant
    Filed: December 27, 2017
    Date of Patent: August 4, 2020
    Assignee: X Development LLC
    Inventors: Nareshkumar Rajkumar, Patrick Leger, Abhinav Gupta
  • Patent number: 10717185
    Abstract: An assistance apparatus includes first to eighth wires that couple an upper body belt to be worn on an upper body of a user to a first knee belt and a second knee belt to be worn above a left knee and a right knee of the user, respectively, and a motor. In a case of assisting the user in turning left, the motor generates, when a right leg of the user is in a stance phase, a tension larger than or equal to a first threshold in each of the second, fourth, sixth, and eighth wires at an identical timing. In a case of assisting the user in turning right, the motor generates, when a left leg of the user is in a stance phase, a tension larger than or equal to the first threshold in each of the first, third, fifth, and seventh wires at an identical timing.
    Type: Grant
    Filed: May 17, 2018
    Date of Patent: July 21, 2020
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    Inventors: Kenta Murakami, Stephen John, Mayumi Komatsu, Shinobu Adachi
  • Patent number: 10688009
    Abstract: A motion assistance apparatus includes a proximal support configured to support a proximal part of a user, a distal support configured to support a distal part of the user, and a rotary frame connected to the distal support, and configured to simultaneously perform a translational motion and a rotational motion relative to the proximal support.
    Type: Grant
    Filed: February 7, 2017
    Date of Patent: June 23, 2020
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Hyun Do Choi, Youn Baek Lee, Jeonghun Kim, Se-Gon Roh, Minhyung Lee, Jongwon Lee, Byungjune Choi, Jung-Yun Choi
  • Patent number: 10588811
    Abstract: In one exemplary embodiment of the present invention, a gearbox assembly for a medical assist device having a motor assembly and a leg support is provided. The gearbox assembly includes a worm configured to be operably coupled to the motor assembly, and a worm gear meshingly engaged with the worm. The worm gear is configured to be operably coupled to the leg support, and the worm and the worm gear are configured to transfer rotary motion from the motor assembly to the leg support upon initiation of a force applied to the leg support.
    Type: Grant
    Filed: April 30, 2015
    Date of Patent: March 17, 2020
    Inventors: Daniel C. Simon, Patrik M. Ryne
  • Patent number: 10512583
    Abstract: An exoskeleton is disclosed. The exoskeleton can include support members rotatably coupled together about a joint. The joint can define a degree of freedom, which can correspond to a degree of freedom of a human extremity, such as hip medial/lateral rotation, ankle medial/lateral rotation, shoulder medial/lateral rotation, or wrist pronation/supination rotation. One or more parasagittal planes through the human extremity can intersect the joint to minimize a gravity-induced moment on the first joint during operation of the exoskeleton.
    Type: Grant
    Filed: May 5, 2015
    Date of Patent: December 24, 2019
    Assignee: Sarcos LC
    Inventor: Fraser M. Smith
  • Patent number: 10420695
    Abstract: An exoskeleton apparatus driven by a pneumatic artificial muscle with functions of upper limb assist and rehabilitation training includes an upper limb frame, a shoulder joint mechanism, and an elbow joint mechanism which are driven by utilizing a processing unit, a first angle sensing unit, a second angle sensing unit, a first proportional pressure valve, a pressure sensing unit and a pneumatic muscle device. The exoskeleton apparatus can be independently used as an upper limb exoskeleton assistive device or can be combined to form an upper limb exoskeleton rehabilitation training system to simulate the upper limb movements in daily life through the upper limb frame to assist with the movements of the wearer's upper limbs, accomplishing the rehabilitation training of each upper and lower arm joint and neurological function.
    Type: Grant
    Filed: April 12, 2017
    Date of Patent: September 24, 2019
    Assignee: Lunghwa University of Science and Technology
    Inventor: Lian-Wang Lee
  • Patent number: 10417931
    Abstract: A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: September 17, 2019
    Assignee: Teijin Pharma Limited
    Inventors: Akihiro Maeda, Fumi Fujita, Hiroshi Kanatani, Sunao Ikegawa, Hironobu Kubo
  • Patent number: 10383785
    Abstract: A system is provided for supporting an arm of a user that includes a harness configured to be worn by the user, and an arm support coupled to the harness and including an arm rest to support an arm of the user. The arm support is configured to accommodate and follow movement of the arm without substantially interfering in such movement. The arm support may at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm. For example, the arm support may transfer at least a portion of the weight of the user's arm to the torso or other region of the user's body and/or may apply an opposing force to at least partially offset the gravitational force acting on the arm.
    Type: Grant
    Filed: December 4, 2015
    Date of Patent: August 20, 2019
    Assignee: ENHANCE TECHNOLOGIES, LLC
    Inventor: Mark C. Doyle
  • Patent number: 10373518
    Abstract: A rehabilitation assistance device (1), provided with: an arm part (30) having a holding part (20) for holding a part of the upper limb or the lower limb of a user, the arm part (30) movably supporting the holding part (20); a memory unit (80) for storing training information, the memory unit (80) storing first training information defined in advance; a motion information acquisition unit (61) for acquiring motion information associated with the movement of the holding part (20), the motion information acquisition unit (61) acquiring first motion information for the holding part (20) moved on the basis of the first training information; a motion evaluation unit (72) for generating evaluation information in which the motion information is evaluated, the motion evaluation unit (72) evaluating the first motion information and generating first evaluation information; and a display (40) for displaying at least one of the training information, the motion information, and the evaluation information.
    Type: Grant
    Filed: July 2, 2015
    Date of Patent: August 6, 2019
    Assignee: Teijin Pharma Limited
    Inventors: Akihiro Maeda, Fumi Fujita, Hiroshi Kanatani, Sunao Ikegawa, Hironobu Kubo
  • Patent number: 10350130
    Abstract: An exoskeleton includes first and second compression members configured to be coupled to a wearer of the exoskeleton. A tensegrity joint connects the first compression member to the second compression member, the joint including a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side.
    Type: Grant
    Filed: July 15, 2016
    Date of Patent: July 16, 2019
    Assignee: Ekso Bionics, Inc.
    Inventors: Mike Hughes, Russdon Angold, Jeff Vickers, Bradley Roan, Kurt Amundson, Nicholas Fleming
  • Patent number: 10290235
    Abstract: Disclosed are adjustable powered rehabilitation devices and methods for using the same to rehabilitate and/or train a user. The rehabilitation devices preferably have a plurality of selectable power settings that correspond to one or more rehabilitation-oriented actions or functions of the rehabilitation devices. For example, the power of the rehabilitation device may be selected based on a need, ability, muscle-power and/or physiological characteristics of the user. For instance, a rehabilitation device may be operated at a relatively low power setting to allow a patient to use his or her own muscle power when moving with the rehabilitation device. The rehabilitation device may also include an adjustable sensitivity level that corresponds to a user difficulty in triggering a particular rehabilitation-oriented action. The powered rehabilitation device may also temporarily be used to train a user in interacting with a passive or more conventional prosthetic device.
    Type: Grant
    Filed: October 10, 2014
    Date of Patent: May 14, 2019
    Assignee: Össur hf
    Inventor: Kim De Roy
  • Patent number: 10241517
    Abstract: Some embodiments are directed to a method for correcting a movement trajectory in a movement assistance device of a person equipped with at least one sensor device and a control unit, the method including the steps of measuring a distance between said at least one sensor and an obstacle, a separation of a coordinate system representing pairs of values of translational speeds and rotational speeds into two half-planes, by at least one separating limit of the coordinate system, into a travel exclusion zone and a permissible travel space, a definition of a second rotational speed and a second translational speed by the projection of a command point into the delimited permissible space.
    Type: Grant
    Filed: March 21, 2016
    Date of Patent: March 26, 2019
    Assignee: INSTITUT NATIONAL DES SCIENCES APPLIQUÉES DE RENNES (INSA DE RENNES)
    Inventors: François Pasteau, Marie Babel, Eric Bazin, Sylvain Guegan
  • Patent number: 10219933
    Abstract: An orthosis for supination and/or pronation of a forearm of a wearer, the orthosis including a base, an upper arm support coupled to the base and configured to secure an upper arm of the wearer, a rotation assembly coupled to the base and including an output member rotatable relative to the base within a rotation plane, and a forearm support member coupled to the output member of the rotation assembly and configured to releasably engage a wrist and the forearm of the wearer.
    Type: Grant
    Filed: January 8, 2016
    Date of Patent: March 5, 2019
    Assignee: Bonutti Research, Inc.
    Inventors: Peter M. Bonutti, Boris P. Bonutti, Kevin R. Ruholl, Glen A. Phillips
  • Patent number: 10182957
    Abstract: A CPM device includes a support structure arranged to be removably attached to an articulating brace supporting a limb and a joint of a user. One or more rotating members are rotatably connected to the support structure. The rotating members are adapted to contact and roll on an underlying surface that is separate from the CPM device. At least one motor is arranged to apply a torque to the rotating members such that the rotating members roll on the underlying surface. The rolling of the rotating members on the underlying surface causes the support structure to translate over the underlying surface, which, in turn, conveys a bending force to the joint.
    Type: Grant
    Filed: June 18, 2015
    Date of Patent: January 22, 2019
    Assignee: OSSUR HF
    Inventors: Janaki Ram-srinivasaRao Chetlapalli, Harry Duane Romo
  • Patent number: 10022860
    Abstract: A rotational driving mechanism for driving a rotary member mounted on a rotatable base member includes: a first link unit that has a first link body and is mounted through a first support part on the base member, the first link unit further having an input part to which an output of the linear motion actuator is inputted at one side of the first link body, and an output part located in the first link body at an opposite side of the input part across the first support part; and a second link unit that has a second link body and is mounted through a second support part on the output part of the first link unit, the second link unit being further mounted through a third support unit on the rotary member or a connecting member joined thereto in such a manner as to be free to rotate.
    Type: Grant
    Filed: September 18, 2015
    Date of Patent: July 17, 2018
    Assignee: THK CO., LTD.
    Inventor: Masaki Nagatsuka
  • Patent number: 9947240
    Abstract: World data is established, including real-world position and/or real-world motion of an entity. Target data is established, including planned or ideal position and/or motion for the entity. Guide data is established, including information for guiding a person or other subject in bringing world data into match with target data. The guide data is outputted to the subject as virtual and/or augmented reality data. Evaluation data may be established, including a comparison of world data with target data. World data, target data, guide data, and/or evaluation data may be dynamically updated. Subjects may be instructed in positions and motions by using guide data to bring world data into match with target data, and by receiving evaluation data. Instruction includes physical therapy, sports, recreation, medical treatment, fabrication, diagnostics, repair of mechanical systems, etc.
    Type: Grant
    Filed: October 3, 2017
    Date of Patent: April 17, 2018
    Assignee: Atheer, Inc.
    Inventors: Allen Yang Yang, Mohamed Nabil Hajj Chehade, Sina Fateh, Sleiman Itani
  • Patent number: 9937095
    Abstract: An exercise training apparatus attached to a trainee who performs a body exercise training, includes movable bodies, actuators, sensors and a processor. The movable bodies each having a fixed member which a part of a trainee's body is fixed to and exercising a trainee's extremities by rotating around shafts, respectively. The sensors each detecting a physical quantity that changes depending on force applied to the fixed members by a trainee. The processor, in response to a detection of a predetermined change in a physical quantity by the sensors, driving the actuators, rotating the movable bodies in a first direction and successively rotating the movable bodies in a second direction opposite to the first direction.
    Type: Grant
    Filed: May 8, 2013
    Date of Patent: April 10, 2018
    Assignee: UNIVERSITY OF OCCUPATIONAL AND ENVIRONMENTAL HEALTH, JAPAN
    Inventors: Kenji Hachisuka, Futoshi Wada, Taiji Oda, Yoshie Nakanishi, Ikuo Yamamoto, Takunori Tsuji, Hideyuki Sakoda
  • Patent number: 9931237
    Abstract: The portable resetting device (100) has a portable pedestal (126) with telescoping sections (172/170). An underarm support (102) of adjustable height is mounted to a lower support (114) that is mounted to the pedestal (126). A traction structure (112) for transmitting forces to an injured arm is mounted to the lower support (114). A computer controllable motor (124) is operatively connected between the lower support (114) and the pedestal (108) so that an angle of tilt (116) may be placed thereon. An arm-holding plate (136) is attached to the lower support (114) and moves in a longitudinal direction by means of another computer controllable motor (118) operatively connected therebetween. An auxiliary arm support (122) is operatively connected by a computer controllable motor (120) on the lower support (114) and provides an additional force to the humerus head. A computer (302) controls the resetting device (100) and may communicate to a support computer (210) for treatment advice.
    Type: Grant
    Filed: September 18, 2009
    Date of Patent: April 3, 2018
    Inventor: Peter Horvath
  • Patent number: 9931263
    Abstract: Disclosed is a therapeutic stretching apparatus, which in particular provides a user with a system for providing an assist to increase knee extension as well as for maintaining stability of the knee after surgery. This device can not only act as a therapeutic stretching apparatus but also can act as a primary post-op knee brace with locks/limits on hinge to prevent user from further injuring the joint.
    Type: Grant
    Filed: March 15, 2013
    Date of Patent: April 3, 2018
    Assignee: ERMI, Inc.
    Inventors: Thomas P. Branch, Edward S. Dittmar, Timothy James Shary, Shaun Kevin Stinton, Nathaniel K. DeJarnette
  • Patent number: 9889058
    Abstract: An orthosis includes a first portion and a second portion configured to attach on opposite sides of a joint. An actuator is configured to apply a force between the first and second portions. The actuator includes a first spool and a second spool rotatably mounted to the first portion. An output pulley is mounted to the second portion. A belt has a first end wrapped around the first spool, a second end wrapped around the second spool, and a mid-portion wrapped around the output pulley. The actuator is configured to rotate the first and second spools. The rotation of the first spool pulls the belt a given length, and the rotation of the second spool feeds the belt less than the given length, so as to pull the output pulley towards the first portion to pull the second portion towards the first portion.
    Type: Grant
    Filed: March 13, 2014
    Date of Patent: February 13, 2018
    Assignee: AlterG, Inc.
    Inventors: Robert W. Horst, Richard R. Marcus
  • Patent number: 9892435
    Abstract: Systems and methods are described relating to accepting an indication of at least one attribute of an individual; accepting sensor data about the individual; presenting a set of health care options at least partially based on the accepting sensor data about the individual; and providing a matching system for procurement of at least one selected health service option.
    Type: Grant
    Filed: February 19, 2010
    Date of Patent: February 13, 2018
    Assignee: GEARBOX LLC
    Inventors: Shawn P. Firminger, Jason Garms, Roderick A. Hyde, Edward K. Y. Jung, Chris Demetrios Karkanias, Eric C. Leuthardt, Royce A. Levien, Richard T. Lord, Robert W. Lord, Mark A. Malamud, John D. Rinaldo, Jr., Clarence T. Tegreene, Kristin M. Tolle, Lowell L. Wood, Jr.
  • Patent number: 9886729
    Abstract: Systems and methods are described relating to accepting an indication of at least one attribute of an individual; activating at least one sensor at least partially based on the accepting an indication of at least one attribute of the individual; accepting sensor data from the at least one sensor; and presenting a set of health care options at least partially based on the accepting sensor data from the at least one sensor.
    Type: Grant
    Filed: February 4, 2010
    Date of Patent: February 6, 2018
    Assignee: Gearbox, LLC
    Inventors: Shawn P. Firminger, Jason Garms, Roderick A. Hyde, Edward K. Y. Jung, Chris Demetrios Karkanias, Eric C. Leuthardt, Royce A. Levien, Richard T. Lord, Robert W. Lord, Mark A. Malamud, John D. Rinaldo, Jr., Clarence T. Tegreene, Kristin M. Tolle, Lowell L. Wood, Jr.
  • Patent number: 9852652
    Abstract: World data is established, including real-world position and/or real-world motion of an entity. Target data is established, including planned or ideal position and/or motion for the entity. Guide data is established, including information for guiding a person or other subject in bringing world data into match with target data. The guide data is outputted to the subject as virtual and/or augmented reality data. Evaluation data may be established, including a comparison of world data with target data. World data, target data, guide data, and/or evaluation data may be dynamically updated. Subjects may be instructed in positions and motions by using guide data to bring world data into match with target data, and by receiving evaluation data. Instruction includes physical therapy, sports, recreation, medical treatment, fabrication, diagnostics, repair of mechanical systems, etc.
    Type: Grant
    Filed: November 22, 2013
    Date of Patent: December 26, 2017
    Assignee: Atheer, Inc.
    Inventors: Allen Yang Yang, Mohamed Nabil Hajj Chehade, Sina Fateh, Sleiman Itani
  • Patent number: 9747423
    Abstract: A video game in possession of and/or in the proximity of a patient. The patient computing system receives an indication that it is to begin a game, and executes the game using identified game parameters that are associated with the patient by a clinician as part of a disease therapy program. As the game executes, game state progresses in response to physical activity of the patient, causing the patient to exercise. The physical activity is received as input into the patient computing system. Such input causes game state to be progressed dependent on the identified game parameters that are associated with the game. Thus, the game is tailored for the patient by a clinician in order to motivate physical activity that is medically beneficial to the patient in order to advance through the disease therapy program.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: August 29, 2017
    Assignee: University of Utah Research Foundation
    Inventors: Grzegorz Wlodzimierz Bulaj, Carol S. Bruggers, Roger Alan Altizer, Robert R. Kessler, Craig Bernreuter Caldwell, Wade Ray Paterson, Kurt Joseph Coppersmith, Laura Mae Warner, Brandon H. Davies
  • Patent number: 9737374
    Abstract: Systems and methods are provided for supporting an arm of a user using a harness configured to be worn on a body of a user; and an arm support coupled to the harness configured to support an arm of the user, the arm support configured to accommodate movement of the arm while following the movement without substantially interfering with the movement of the user's arm. One or more compensation elements may be coupled to the arm support to apply an offset force to at least partially offset a gravitational force acting on the arm as the user moves and the arm support follows the movement of the user's arm, the one or more compensation elements providing a force profile that varies the offset force based on an orientation of the arm support.
    Type: Grant
    Filed: December 10, 2013
    Date of Patent: August 22, 2017
    Assignee: LEVITATE TECHNOLOGIES, INC.
    Inventor: Mark C. Doyle
  • Patent number: 9623554
    Abstract: There is provided a wearable robot able to maintain a balanced state during operations thereof. The wearable robot includes: a wearable robot body; a travel unit for moving the wearable robot body; and a hip joint unit provided in the wearable robot body and coupled to the travel unit, for maintaining a posture of the wearable robot body in response to a movement of the travel unit. With this construction, the wearable robot is provided with a hip joint unit having a resilient force such that a posture of a wearable robot body can be maintained during an operation of the hip joint unit, so that the robot can be operated more stably. Further, because a posture of the wearable robot can be stably maintained so that the safety of the user can be guaranteed and operation efficiency can be improved.
    Type: Grant
    Filed: January 7, 2015
    Date of Patent: April 18, 2017
    Assignee: POSCO
    Inventors: Ho Yu, Kyung-Lyong Han, Il-Seop Choi
  • Patent number: 9572702
    Abstract: A shoulder orthosis includes an internal/external rotation device and a flexion/extension device. The internal/extension rotation device is configured to selectively facilitate internal rotation of a shoulder joint of a person and/or external rotation of the shoulder joint of the person. The flexion/extension device is configured to position the shoulder joint of the person in greater than 0 degrees of flexion and/or greater than 0 degrees of extension concurrently with the internal/external rotation device facilitating the internal rotation of the shoulder joint of the person and/or the external rotation of the shoulder joint of the person.
    Type: Grant
    Filed: November 12, 2013
    Date of Patent: February 21, 2017
    Assignee: Bonutti Research, Inc.
    Inventors: Peter M. Bonutti, Boris P. Bonutti, Glen A. Philips, Kevin R. Ruholl, Clayton D. Britton
  • Patent number: 9566470
    Abstract: A leg stretching device includes a base frame, a support plate adjustably coupled to the base frame, a leg tube including a proximal end hingedly connected to the base frame and a distal end, a foot plate disposed at the distal end of the leg tube, and an actuation assembly including an actuation tube hingedly connected to the base frame and an actuation bar slidably disposed within the actuation tube and hingedly connected to the leg tube. The actuation assembly includes an actuator motor for moving the actuation bar relative to the actuation tube to reposition the leg tube relative to the base frame.
    Type: Grant
    Filed: March 16, 2016
    Date of Patent: February 14, 2017
    Inventor: Mary Ann Malizia
  • Patent number: 9532895
    Abstract: A patellofemoral brace or support has a main substrate, a hinge located on at least one of the lateral and medial sides, and a support system coupled to the main substrate and the hinge. The support system has a compression element removably securable over the main substrate and a cable having a first end anchored to a pivoting element connected to the hinge and a second end anchored to the compression element. The cable engages the hinge such that articulation of the hinge from an extension position to a flexion position pulls the compression element toward the hinge to exert a generally medial force over the main substrate.
    Type: Grant
    Filed: July 31, 2015
    Date of Patent: January 3, 2017
    Assignee: OSSUR HF
    Inventor: Harry Duane Romo
  • Patent number: 9427865
    Abstract: Systems and methods are provided for supporting an arm of a user while using a tool that include a harness configured to be worn on a body of a user; an arm support pivotally coupled to the harness for supporting a user's arm; and a tool mount on a free end of the arm support for receiving a tool such that the tool is manipulatable by a hand of user's arm supported by the arm support. One or more compensation elements may be coupled to the arm support and/or the tool mount for at least partially offsetting a gravitational force acting on the user's arm and/or the tool received on the tool mount.
    Type: Grant
    Filed: April 8, 2015
    Date of Patent: August 30, 2016
    Assignee: LEVITATE TECHNOLOGIES, INC.
    Inventor: Mark C. Doyle
  • Patent number: 9358414
    Abstract: A rotator cuff therapy device assists a user in accomplishing orbital motion of the user's arm to provide a therapeutic effect that strengthens and rehabilitates the arms, shoulders, and related joints and tissues. The device may be adjustable so that an unevenly-weighted rotatable portion can be moved along a desired path with varying speed and effort according to a pre-selected friction setting, and while being held in different positions relative to the user's body. This allows the device to be used by people with varying degrees of dexterity, strength, or injury, while targeting different tissues for therapy.
    Type: Grant
    Filed: November 5, 2012
    Date of Patent: June 7, 2016
    Inventor: Link A. Dephouse
  • Patent number: 9333107
    Abstract: A brace system includes a medial brace and a lateral brace securable via cross members. Each brace has an upper portion, a lower portion, and a hinge assembly between the upper and lower portion configured to allow translation of the lower portion relative to the upper portion.
    Type: Grant
    Filed: August 15, 2013
    Date of Patent: May 10, 2016
    Assignee: Google Inc.
    Inventors: Steven D. Potter, Christopher Everett Thorne, Michael Patrick Murphy
  • Patent number: 9320669
    Abstract: The application is directed to devices and methods useful for expanding the range of motion of joints based on principles of stress relaxation and creep. Expanded range of motion is achieved by placing body parts near the joint in positions that stretch tissue around the joint. Even when the device is in any one position, it can impart forces on the body members to urge them to stretch surrounding tissue even further.
    Type: Grant
    Filed: June 23, 2014
    Date of Patent: April 26, 2016
    Assignee: Bonutti Research, Inc.
    Inventors: Peter M. Bonutti, Glen A. Phillips, Justin E. Beyers
  • Patent number: 9289640
    Abstract: A resistance brace includes a pair of hinged arms having plates cooperating with one another to define a first and second pivots point separated from one another by a distance. A pair of splints having limb-attachment portions and geared ends engaged with one another and pivotably coupled with the plates at the pivot points. An adjustable compression member is coupled with the plates to compress the plates against the geared ends so as to frictionally impede movement of the splints relative to the plates. A joint harness is coupled with the hinged arms to attach the resistance brace to a joint of a body so that the hinged arms are positioned on opposing sides of the joint relative to a plane of rotation of the joint. Attachment members are coupled with the splints to attach the resistance brace to a first and second body portions extending from the joint.
    Type: Grant
    Filed: December 3, 2013
    Date of Patent: March 22, 2016
    Inventor: Steven M. Cersonsky
  • Patent number: 9266233
    Abstract: A flexible exosuit includes rigid and flexible elements configured to couple forces to a body of a wearer. Further, the flexible exosuit includes flexible linear actuators and clutched compliance elements to apply and/or modulate forces and/or compliances between segments of the body of the wearer. The flexible exosuit further includes electronic controllers, power sources and sensors. The flexible exosuit can be configured to apply forces to the body of the wearer to enable a variety of applications. In some examples, the flexible exosuit can be configured to augment the physical strength or endurance of the wearer. In some examples, the flexible exosuit can be configured to train the wearer to perform certain physical tasks. In some examples, the flexible exosuit can be configured to record physical activities of the wearer.
    Type: Grant
    Filed: March 12, 2014
    Date of Patent: February 23, 2016
    Assignee: SRI International
    Inventors: Roy David Kornbluh, Alexander Steele Kernbaum, Thomas Low, Katherine Goss Witherspoon, Brian Keith McCoy, Adam Arnold Edward Ziemba, Paul Michael Birkmeyer, Richard M. Mahoney
  • Patent number: 9168195
    Abstract: A motion state of a wearable motion-assist device of a doctor is sent to the wearable motion-assist device of a patient via a network. Then, this motion state is applied to the wearable motion-assist device of the patient, so that rehabilitation is conducted for the patient. Furthermore, the motion state of the wearable motion-assist device of the patient is sent from the wearable motion-assist device to the wearable motion-assist device. Then, the motion state of the wearable motion-assist device is applied to the wearable motion-assist device. Accordingly, the doctor can objectively sense the state of the patient.
    Type: Grant
    Filed: February 18, 2014
    Date of Patent: October 27, 2015
    Assignee: UNIVERSITY OF TSUKUBA
    Inventor: Yoshiyuki Sankai
  • Patent number: 9017271
    Abstract: A system for arm therapy comprises a first drive (M2) that can be fixedly connected to an element (10) determining the position of a user (19) and rotationally driving, about a first axis (A2), a part (21, 22, 23, 24, 25, M1, 26) of the arm therapy system which can be connected to an upper arm module (26, M3, M4). The driven part of the arm therapy system comprises a second drive (M1) adapted to rotationally drive said upper arm module (26, M3, M4) about a second axis (A1), wherein said second axis (A1) is oriented orthogonal to the first axis (A2). The system can provide a statically determined exoskeleton with correct anatomical axes and misaligned technical axes.
    Type: Grant
    Filed: October 10, 2008
    Date of Patent: April 28, 2015
    Assignee: Eidgenossische Technische Hochschule Zurich
    Inventors: Tobias Nef, Andreas Brunschweiler, Robert Riener, Niklaus Schulz
  • Patent number: 9005145
    Abstract: An apparatus of muscle and/or joint exercise adapted to reeducation and/or physical conditioning of a body part of a user, including a hollow body; a mobile member translatable inside the body; a motor-driven means arranged on the bottom of the body and adapted for driving and decelerating in displacement the mobile member in both translatory directions; a cooperating means between the body and a frame, this cooperating means being arranged on the bottom of the body and including: at least one hinge of the body on the frame, the hinge providing at least at least one degree of rotational freedom for the body around an axis of rotation; and a removable means for installing and removing the body, the removable means being designed for removably installing the body on a base slidingly mounted in the frame.
    Type: Grant
    Filed: December 11, 2009
    Date of Patent: April 14, 2015
    Inventor: Marc Champsaur
  • Patent number: 8986232
    Abstract: An actuator (10) includes a body (12), an output member (14) slidably received in the body (12) along— a first axis (X1), an electric motor (18) arranged to set into rotation a motor shaft (20) about a, second axis (X2) and a motion conversion mechanism (22) for converting the rotary motion produced by the electric motor (18) about the second axis (X2) into a translational motion of the output member (14) along the first axis (X1). The motion conversion mechanism (22) includes a driving pulley (24) which is drivingly connected for rotation with the motor shaft (20) and an elongated mechanical transmission member which is wound onto the driving pulley (24) and is fastened at its two opposite ends to the output member (14) to draw this latter in either direction along the first axis (X1) as a result of the rotation of the driving pulley (24) in either direction. The output member (14) is shaped as a rod and is received in a cylindrical cavity (16) of the body (12) so as to project partially therefrom.
    Type: Grant
    Filed: January 25, 2010
    Date of Patent: March 24, 2015
    Assignee: Fondazione Istituto Italiano di Tecnologia
    Inventors: Jody A. Saglia, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
  • Patent number: 8968220
    Abstract: The present invention relates to a wearable robot system for rehabilitation training of the upper limbs that has an improved structure to reproduce in detail motion of a human body by selecting a wearing type structure such that robot links move correspondingly to the motion of the upper limbs while decreasing the volume of a rehabilitation and assistance device based on a robot for rehabilitation training of the upper limbs. According the present invention, it is possible to decrease the volume and increase the available space, in addition to creating smooth motion without interfering with the human body by creating a plurality of robot motion paths and selecting the best path from them, because an operation of four degrees of freedom can be achieved by an operation procedure using redundant.
    Type: Grant
    Filed: December 30, 2008
    Date of Patent: March 3, 2015
    Assignees: Industry-University Cooperation Foundation Hanyang University Erica Campus, Hansung University Industry-University Cooperation
    Inventors: Jungsoo Han, Changsoo Han, Hyeyoen Jang, Jaeho Jang, Youngsu Lee, Sungjoon Hong
  • Patent number: 8968223
    Abstract: Second joints are provided in positions where a seating unit is restrained from swinging relative to leg links due to a force acting on the seating unit from upper limb links through the intermediary of the second joints. A motion not intended by a user can be restrained from being generated due to a force acting from the upper limb links provided in the upper limbs.
    Type: Grant
    Filed: December 15, 2009
    Date of Patent: March 3, 2015
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yasushi Ikeuchi, Jun Ashihara, Hiroshi Matsuda
  • Patent number: 8968222
    Abstract: An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.
    Type: Grant
    Filed: December 17, 2009
    Date of Patent: March 3, 2015
    Assignees: Ekso Bionics, Inc., The Regents of the University of California
    Inventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss