Joint Or Limb (e.g., Wrist, Arm, Leg, Etc.) Patents (Class 601/33)
  • Patent number: 11931307
    Abstract: A method of operating an exoskeleton system that includes obtaining a first set of sensor data from one or more sensors associated with one or more leg actuator units of an exoskeleton system during a user activity, the first set of sensor data indicating a first configuration state of the one or more actuator units; determining, based at least in part on the first set of obtained sensor data, to change configuration of the one or more leg actuator units to a second configuration state to support a user during the user activity; and introducing fluid to one or more fluidic actuators of the one or more leg actuator units to generate the second configuration state by causing the one or more fluidic actuators to apply force at the one or more actuator units.
    Type: Grant
    Filed: December 11, 2020
    Date of Patent: March 19, 2024
    Assignee: Roam Robotics Inc.
    Inventors: Kyle Allen Lamson, Austin Campbell, Ashley Swartz, Robert Stuart, Kevin Conrad Kemper, Phil Long, Jared Jones, Garrett Hurley, Timothy Alan Swift
  • Patent number: 11918535
    Abstract: Systems and methods for a powered, robotic exoskeleton, or exosuit, for a user's limbs and body are provided. The exosuit may be equipped with airbag devices mounted at various locations on the suit. The exosuit may include on-board computing equipment that can sense, compute control commands in real-time, and actuate limbs and airbags to restore stability (fall prevention) and minimize injuries due to falls, should they happen (fall protection).
    Type: Grant
    Filed: April 13, 2020
    Date of Patent: March 5, 2024
    Assignee: TOYOTA RESEARCH INSTITUTE, INC.
    Inventors: Jonathan Decastro, Soon Ho Kong, Nikos Arechiga Gonzalez, Frank Permenter, Dennis Park
  • Patent number: 11883956
    Abstract: The wearable gravity compensation apparatus capable of multiple degrees of freedom of movement according to an example embodiment includes a main frame configured to be fixable to a back of a user, a base link rotatably connected to the main frame around a first rotation axis, a front extension link having one end rotatably connected to the base link around a second rotation axis intersecting the first rotation axis, the front extension link extending to a front of the base link, a rear extension link connected to the base link, the rear extension link extending to a rear of the base link, a guide positioned above the base link, the guide provided on the main frame, a slider configured to be slidable along the guide, a gravity compensation elastic member having one end fixed to the main frame, and the other end fixed to the slider.
    Type: Grant
    Filed: December 2, 2020
    Date of Patent: January 30, 2024
    Inventors: Man Bok Hong, Gwang Tae Kim, Yong Cheol Kim, Jun Woo Kim
  • Patent number: 11872175
    Abstract: The present invention comprises a device for supporting at least one arm of a user, wherein the device has at least one main body (2) for arranging on a torso (4) of the user and at least one supporting device (8) for supporting the arm, wherein the supporting device (8) is arranged on the main body (2) via at least one joint (10) so that it can be moved relative to the main body (2), wherein, in every position within a predetermined position range of the supporting system (8) relative to the main body (2), the joint (10) allows a movement of the supporting system (8) relative to the main body (2) in a first direction and prevents a movement in an opposite second direction.
    Type: Grant
    Filed: October 26, 2017
    Date of Patent: January 16, 2024
    Assignee: OTTOBOCK SE & CO., KGAA
    Inventors: Oliver Mizera, Jonas Bornmann, Thomas Bertels, Lukas Brünjes
  • Patent number: 11850200
    Abstract: The device and methods disclosed herein allow an individual to create and sustain a differential stretch to the anterior muscles and ligaments of the torso, hips and legs. The device includes a base frame, a vertical member secured to the base frame, a rotational lift lever secured to the vertical member at a pivot point, a lower extremity elevation member secured to the rotational lift lever, and at least one lower extremity attachment device secured to the lower extremity elevation member. In use, the device lifts an individual's legs above the ground, while the person is lying face down, so as to create a stretch in the anterior muscles, fascia, or ligaments. The device has various planes of rotation, allowing for differential stretching in various quadrants of the torso. The device is adjustable in height as well as displacement along a track within the base to accommodate different body types.
    Type: Grant
    Filed: August 30, 2021
    Date of Patent: December 26, 2023
    Assignee: The Well Effect Company
    Inventor: John Jamesapollos
  • Patent number: 11844737
    Abstract: A wearable muscular strength assisting apparatus includes a base configured to be positioned on a wearer and extending vertically, a link unit, which is configured to be positioned so as to be laterally spaced apart from the base and is configured to be connected to the wearer's upper arm, front arm or hand, a first connector, which is rotatably coupled at one end thereof to the base and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base, and a second connector, which is rotatably coupled at one end thereof to the base, and extends laterally and which is rotatably coupled at a remaining end thereof to the link unit so as to connect the link unit to the base.
    Type: Grant
    Filed: August 19, 2020
    Date of Patent: December 19, 2023
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Beom Su Kim, Seok Ryung Kwon, Kyu Jung Kim, Hyun Seop Lim, Ki Hyeon Bae
  • Patent number: 11826613
    Abstract: In one embodiment, a method is disclosed. The method includes, while the patient uses the treatment apparatus, controlling, based on a treatment plan for a patient, a treatment apparatus. The method includes receiving, by a processing device, data from an electronic device, wherein the data comprises one of a position of a body part of the patient or a force exerted by the body part. The method includes storing, via the processing device, the data for the patient in a computer-readable medium. The method includes causing, via a processing device, presentation of a user interface on a patient interface. The user interface comprises an adjustment confirmation control, and the adjustment confirmation control is configured to solicit a response regarding the patient's comfort level with the one of the position of the body part or the force exerted by the body part.
    Type: Grant
    Filed: October 20, 2020
    Date of Patent: November 28, 2023
    Assignee: ROM Technologies, Inc.
    Inventors: Daniel Posnack, Peter Arn, S. Adam Hacking, Micheal Mueller, Joe Guaneri, Jonathan Greene
  • Patent number: 11794066
    Abstract: An upper and lower body reciprocating arcing motion exercise machine with an adjustable angle movable user support frame wherein, movable left and right lower body user support assemblies comprising foot platforms and shin support pads mounted on an arcing track, move along a rearward portion of the movable user support frame and movable left and right upper body user support assemblies comprising gripping handles mounted on pivoting levers, pivot about a forward portion of the movable user support frame. A linkage assembly operatively connects and synchronizes the movable upper and lower body user support assemblies. In certain embodiments, an adjustable resistance mechanism is operatively engaged with the movable upper and lower body user support assemblies for providing adjustable resistance to the exercise motion of the movable upper and lower body user support assemblies during an exercise motion.
    Type: Grant
    Filed: October 21, 2021
    Date of Patent: October 24, 2023
    Inventor: Joseph K. Ellis
  • Patent number: 11779504
    Abstract: A wearable apparatus for increasing muscular force includes: a mount body coupled to an upper body of a wearer; a shoulder frame coupled at one end thereof to the mount body at the dorsal surface of the wearer and which is rotatable in up and down direction; a mounting frame coupled at one end thereof to the other end of the shoulder frame to be torsionally rotated; a supporter, which surrounds part of an upper arm of the wearer to support the upper arm of the wearer; and a compensation frame, which is integrally coupled to the supporter to be rotated together with the supporter about a shoulder joint of the wearer. The compensation frame capable of generating supporting force that varies depending on the angle to which the compensation frame is rotated.
    Type: Grant
    Filed: July 18, 2019
    Date of Patent: October 10, 2023
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Kyu Jung Kim, Ju Young Yoon, Hyun Seop Lim, Ki Hyeon Bae
  • Patent number: 11648169
    Abstract: Provided is a wearable apparatus for assisting muscular strength including a first rotary member, a first side of which is located at an upper portion of a shoulder of a wearer and a second side of which is located at a back thereof, a second rotary member, a first side of which is coupled to the second side of the first rotary member and a second side of which moves upward and downward, a first connecting part, a first side of which is coupled to the second side of the second rotary member, and a second side of which is located at an outer side surface of the wearer, a third rotary member, a first side of which is coupled to the second side of the first connecting part, and a fourth rotary member, a first side of which is coupled to the second side of the third rotary member.
    Type: Grant
    Filed: June 11, 2020
    Date of Patent: May 16, 2023
    Assignees: HYUNDAI MOTOR COMPANY, KIA MOTORS CORPORATION
    Inventors: Beom Su Kim, Sang In Park, Seung Kyu Nam, Dong Jin Hyun, Ju Young Yoon
  • Patent number: 11596571
    Abstract: A continuous passive motion apparatus is provided that includes a thigh support (40) connected by a hinge structure (38) to a base plate (36). The plate (36) is itself connected to a base (34). A bladder (54), which inflates to the form of a vertically elongate column, is cyclically inflated and deflated to lift the thigh support (40) in movements about a hinge (46) connecting it to an upper hinge plate (42) of the hinge structure (38). The hinge structure also includes a lower hinge plate (44). A foot support (72) is connected by a cord (68) to the thigh support (40).
    Type: Grant
    Filed: December 12, 2018
    Date of Patent: March 7, 2023
    Assignee: MEDEV INNOVTIONS (PTY) LTD.
    Inventors: Giovanni Sergio Milandri, Geoffrey Darren Foat
  • Patent number: 11541265
    Abstract: A wearable device may include a motor, a motor driver circuit, a frame connected to the motor, the frame to be worn on the body of the user to support the body, a processor configured to generate a control signal to control an electrical connection in the motor driver circuit, and a sensor configured to sense a body motion of the user. The processor is further configured to provide an exercise load through the frame according to a speed of the sensed body motion by controlling, based on the speed of the body motion, a changing ratio per time between a first control state in which the electrical connection in the motor driver circuit is a closed loop and a second control state in which the electrical connection in the motor driver circuit is an open loop.
    Type: Grant
    Filed: February 18, 2021
    Date of Patent: January 3, 2023
    Assignee: Samsung Electronics Co., Ltd.
    Inventor: Changhyun Roh
  • Patent number: 11534358
    Abstract: Rehabilitating an impaired body part of a subject such as a stroke patient includes systems, devices, and methods using an orthosis system configured to attach to the impaired body part and to move or assist in movement of the impaired body part. A control system is configured to operate the orthosis system in a mode in which the orthosis system first allows the subject to move volitionally or attempt to move volitionally the impaired body part in a predefined motion and then operates to move or assist in the predefined motion of the impaired body part. Additional modes of operation include a brain computer interface mode of operation and a mode in which the orthosis system operates in a continuous passive mode of operation comprising a plurality of repetitions of an exercise to move the impaired body part.
    Type: Grant
    Filed: October 12, 2020
    Date of Patent: December 27, 2022
    Assignee: Neurolutions, Inc.
    Inventors: Kern Bhugra, August Anderson
  • Patent number: 11504258
    Abstract: A device for supporting at least one arm of a user includes one or more arm support elements each of which has an arm shell for placing the at least one arm of the user on the arm shell. Force is applied to the arm support elements by at least one passive actuator. A counter bearing for the applied force includes a force transmission element and a counter bearing element. A force application lever is engaged by the one passive actuator and is connected to the arm support or the force transmission element. The force application lever is torque proof and confines an angle which is adjustable.
    Type: Grant
    Filed: August 12, 2019
    Date of Patent: November 22, 2022
    Assignee: Ottobock SE & Co. KGaA
    Inventors: Alexander Hardt, Olaf Kroll-Orywahl
  • Patent number: 11497671
    Abstract: An apparatus (10) for the rehabilitation, assistance and/or augmentation of arm strength in a user (U) comprises a support arrangement (12) for supporting the apparatus (10) on the user (U), a linkage arrangement (14) coupled to the support arrangement (12) and for coupling to an arm (A) of the user (U), and an actuation arrangement (16) for operating the linkage arrangement (14) and thereby manipulating the user's arm (A) in response to a user input signal.
    Type: Grant
    Filed: October 2, 2018
    Date of Patent: November 15, 2022
    Assignee: University of Strathclyde
    Inventors: Heba Lakany, Lijo Varughese Chacko
  • Patent number: 11458033
    Abstract: An orthotic brace for an anatomic joint includes an upper brace portion for securement about an upper limb portion of the joint and a lower brace portion pivotally coupled to the upper brace portion for securement about a lower limb portion of the joint. A cable guide is pivotal relative to the lower brace portion and is operative between a working condition fixed for rotation with the upper brace portion relative to the lower brace portion and a released condition in which the upper brace portion pivots independently. A spring is coupled between the lower brace portion and a cable about the cable guide to bias towards an extended position in the working condition of the cable guide. Stops on the guide prescribe the range of biased motion in the working condition and independent stops on the brace portions prescribe the range of unbiased motion in the released condition.
    Type: Grant
    Filed: March 11, 2016
    Date of Patent: October 4, 2022
    Inventor: Brian Raab
  • Patent number: 11452918
    Abstract: A training system includes a riding plate, a load sensor, a first center of gravity calculation unit, an image-capturing unit, a second center of gravity estimation unit, and a determination unit. The load sensor detects a load that the riding plate receives from a trainee. The first center of gravity calculation unit calculates a first center of gravity, which is a center of gravity of a load, based on the load detected by the load sensor. The image-capturing unit acquires image data of an image including a posture of the trainee. The second center of gravity estimation unit estimates a second center of gravity, which is a centroid position of the trainee, based on the image data. The determination unit determines that an alert to the trainee should be output based on a difference between the first center of gravity and the second center of gravity.
    Type: Grant
    Filed: March 5, 2020
    Date of Patent: September 27, 2022
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventor: Kazuhiro Shintani
  • Patent number: 11382819
    Abstract: A wire-driven wrist three-degree-freedom training mechanism comprises a wrist executing mechanism, a wrist linking mechanism, a forearm mechanism and an elbow linking mechanism, and adopts a wire-driven design, through comprehensive utilization of two rotation pairs in the training mechanism, wherein wrist three-degree-freedom passive training is realized through two driving motors. By way of the implementation of the wire-driven wrist three-degree-freedom training mechanism, a patient can adopt a passive training manner to perform rehabilitating training of the upper limbs. The wire-driven wrist three-degree-freedom training mechanism includes a position compensation mechanism and can be adapted to individual differences of patients.
    Type: Grant
    Filed: April 2, 2020
    Date of Patent: July 12, 2022
    Assignee: UNIVERSITY OF SHANGHAI FOR SCIENCE AND TECHNOLOGY
    Inventors: Hongliu Yu, Shengli Luo, Suowen Ma, Weisheng Zhang, Qiaoling Meng, Wentao Shi, Bingshan Hu, Sujiao Li, Duojin Wang
  • Patent number: 11337622
    Abstract: A method is described for providing deficit-adjusted adaptive assistance during movement phases of an impaired ankle. The method includes determining, on the processor, a value for a deficit parameter for each movement phase of a compound ankle function based on a difference between a parameter trace for a normal subject and the parameter trace for an impaired subject. The method further includes determining, on the processor, an adaptive magnitude for the robot-applied torque based on the value for the deficit parameter. The method further includes applying, to the robot joint, the adaptive magnitude for the robot-applied torque in only a first plane for the current movement phase, based on an adaptive timing. An apparatus is also described for providing deficit-adjusted adaptive assistance during movement phases of the impaired ankle.
    Type: Grant
    Filed: June 20, 2016
    Date of Patent: May 24, 2022
    Assignees: UNIVERSITY OF MARYLAND, BALTIMORE, The United States of America as represented by the Department of Veterans Affairs
    Inventors: Richard F. Macko, Anindo Roy
  • Patent number: 11285069
    Abstract: A passively balanced load-adaptive upper limb exoskeleton. An upper arm (A), an elbow (B), a forearm (C), and a hand (D) are arranged sequentially from left to right. An upper arm upper rod (A1) and an upper arm lower rod (A2) each are hinge-connected to an upper arm elbow housing via a bearing. A forearm upper rod (C1) and a forearm lower rod (C2) each are hinge-connected to a forearm elbow housing via a bearing. An upper arm support rod (E) is disposed between an upper arm driving mechanism (A4) and an upper arm elbow assembly (B1). One end of the upper arm support rod is fixedly connected to two upper arm support rod slide blocks (9) in the upper arm driving mechanism, and the other end thereof is hinge-connected to protruding shafts on two sides of an upper arm lead screw nut connection member via bearings. A forearm-upper arm support rod is disposed between a forearm driving mechanism (C4) and a forearm elbow assembly (B2).
    Type: Grant
    Filed: May 16, 2017
    Date of Patent: March 29, 2022
    Inventors: Yanhe Zhu, Guoan Zhang, Hongwu Li, Jie Zhao
  • Patent number: 11210966
    Abstract: A rehabilitation support system in which, when a trainee performs rehabilitation using a rehabilitation support apparatus, a training assistant who assists the trainee can give rehabilitation support while taking a motivation of the trainee into consideration is provided. A rehabilitation support system including a rehabilitation support apparatus includes an acquisition unit, an output unit, and a feedback unit. The acquisition unit acquires motivation information indicating a motivation for rehabilitation performed by a trainee using the rehabilitation support apparatus, the motivation information including at least line-of-sight information of the trainee. The output unit outputs a degree indicating the motivation of the trainee based on the motivation information acquired by the acquisition unit. The feedback unit feeds back the degree output from the output unit to the rehabilitation support apparatus.
    Type: Grant
    Filed: May 13, 2020
    Date of Patent: December 28, 2021
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Nobuhisa Otsuki, Issei Nakashima, Manabu Yamamoto, Makoto Kobayashi
  • Patent number: 11148279
    Abstract: Systems and methods for providing a customized configuration for a controller of an exoskeleton device. A device can receive, via a user interface, feedback from a user indicative of a performance of the user during a movement event. The device can determine characteristics of the user for performing the movement event using a first exoskeleton boot and a second exoskeleton boot and identify properties of a route for the movement event. The device can determine using the characteristics of the user, the feedback and the properties of the route, control parameters for the first exoskeleton boot and the second exoskeleton boot to execute the movement event. The device can apply the control parameters to the first exoskeleton boot and the second exoskeleton boot for the user to operate the first exoskeleton boot and the second exoskeleton boot during the movement event.
    Type: Grant
    Filed: December 2, 2020
    Date of Patent: October 19, 2021
    Assignee: Dephy, Inc.
    Inventors: Luke Mooney, Jean-François Duval, Rachel Harris, Jonathan Kaplan, Matthew Mooney, William Marvin
  • Patent number: 11123608
    Abstract: An upper limb training system adapted to an upper limb of a user includes a main body and a control unit. The main body includes a training unit and a plurality of motors. The training unit is connected to the upper limb. The plurality of motors are coupled to the training unit. The control unit is electrically connected to the training unit and the plurality of motors and calculates a plurality of torque intervals respectively corresponding to the plurality of motors according to torques generated by each of the plurality of motors. Besides, a control method adapted to the upper limb training system is also provided.
    Type: Grant
    Filed: March 5, 2019
    Date of Patent: September 21, 2021
    Assignee: HIWIN TECHNOLOGIES CORP.
    Inventors: Fu-Han Hsieh, Yu-Wen Huang
  • Patent number: 11071677
    Abstract: A bodyweight unloading locomotive device includes a frame mounted on wheels for locomotive movement. The frame has opposed left and right sides and a harness for supporting a user between the left and right sides. An unloading assembly is carried on each of the left and right sides, wherein the unloading assemblies each includes a sprung arm having a fixed end fixed to the respective left and right side, and an opposed free end. The assemblies further each include a cam assembly mounted on the free end of the sprung arm and a tether routed through the cam assembly and extending to the harness. Each of the unloading assemblies exerts an independent unloading force on the harness with respect to the frame.
    Type: Grant
    Filed: January 27, 2021
    Date of Patent: July 27, 2021
    Inventors: Richard S. Burns, Andrew J. D. Burns
  • 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: 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: 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: 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: 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