Joint Or Limb (e.g., Wrist, Arm, Leg, Etc.) Patents (Class 601/33)
  • 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
  • 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: 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: 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
  • 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: 8932240
    Abstract: A method and a continuous passive motion device for providing a dynamically loaded force and a static progressive force to a joint of a patient.
    Type: Grant
    Filed: August 24, 2012
    Date of Patent: January 13, 2015
    Assignee: Lantz Medical Inc.
    Inventor: Robert T. Kaiser
  • Patent number: 8932241
    Abstract: A wearable action-assist device includes a biosignal detection unit detecting a biosignal from a wearer, an action-assist wearing tool having a drive source supplying a torque acting on the wearer around each joint of the wearer as an axis of rotation, a control unit controlling the drive source to generate the torque according to the detected biosignal, a drive torque estimation unit estimating a drive torque generated by the drive source, a joint-angle detecting unit detecting an angular displacement of the joint, and a parameter identification unit identifying kinetics parameters concerned by substituting the estimated drive torque and the detected angular displacement into an equation of motion of an entire system including kinetics parameters intrinsic to the wearer. The control unit is configured to control the drive source according to a predetermined control method based on the equation of motion into which the identified parameters are substituted.
    Type: Grant
    Filed: September 14, 2010
    Date of Patent: January 13, 2015
    Assignee: University of Tsukuba
    Inventor: Yoshiyuki Sankai
  • Patent number: 8926534
    Abstract: A powered orthotic device includes a brace having a first section and a second section, the first section and the second section operationally coupled at a pivot, the first and the second sections moving about the pivot to define flexion and extension directions, such directions defining inside and outside regions of the brace respectively. The device further includes at least one set of straps that removably attach the first section and the second section to a corresponding limb segment such that the pivot is proximate to a joint between each limb segment.
    Type: Grant
    Filed: September 19, 2007
    Date of Patent: January 6, 2015
    Assignee: Myomo, Inc.
    Inventors: John M. McBean, Kalais N. Narendran
  • Patent number: 8920346
    Abstract: An orthosis for stretching tissue around a joint of a patient between first and second relatively pivotable body portions. The orthosis includes a first arm member affixable to the first body portion and including a first extension member extending therefrom. A second arm member affixable to the second body portion is also included and has a second extension member having an arcuate shape extending therefrom. A third arm member including a third extension member having an arcuate shape extending therefrom is interposed between the first and second arm members. The third extension member is slidably connected to the first arm member and the second extension member is operatively connected to the third arm members, such that the second arm members travel along an arcuate path defined by the second extension member when the second arm member is moved from a first position to a second position relative to the first and third arm members.
    Type: Grant
    Filed: February 5, 2008
    Date of Patent: December 30, 2014
    Assignee: Bonutti Research Inc.
    Inventors: Boris P. Bonutti, Peter M. Bonutti, Glen A. Phillips
  • Patent number: 8920060
    Abstract: A rotation restricting device for restricting the rotation of a rotating part with respect to a base part, comprising a stopper supported so as to be capable of rotating around an axis of rotation of the base part, a lock mechanism capable of switching between a state preventing and a state allowing the rotation of the stopper with respect to the base part, a first block provided on the rotating part and capable of moving between a position interfering with and a position not interfering with a rotation path of the stopper, and a second block provided on the rotating part and capable of moving between a position interfering with and a position not interfering with the rotation path of the stopper. In a state where the rotation of the rotating part with respect to the base part is not restricted, both the first block and the second block are in the position interfering with the rotation path of the stopper, and the stopper is positioned between the first block and the second block.
    Type: Grant
    Filed: April 16, 2010
    Date of Patent: December 30, 2014
    Assignee: Toyota Jidosha Kabushiki Kaisha
    Inventor: Wataru Maekita
  • Patent number: 8915871
    Abstract: A rehabilitation chair system, comprising: a seat adapted for sitting of a human thereon; at least one extender adapted to move relative to said seat; at least one sensor which generates an indication of a balance state of said human; and a controller configured to move said extender while measuring said balance state using said at least one sensor.
    Type: Grant
    Filed: February 4, 2005
    Date of Patent: December 23, 2014
    Assignee: Motorika Limited
    Inventor: Omer Einav
  • Patent number: 8905950
    Abstract: Therapeutic abduction of the shoulder joint is achieved using a hinged device, the hinge activated by a cable passed between pulleys to increase mechanical advantage. The cable is wound on a spool mounted on a ratcheting mechanism, whereby tension is maintained as the spool is wound via a knob or computer controlled motor. A rotation control device enables rotation of the spool by a user, but prevents rotation due to a load. Mating shackles pivot in connection with the hinge, and are activated by the cable to increase the angle of the hinge. The hinge is connected to the body, one portion affixed relative to the body, the other affixed relative to the upper arm. As the hinge angle is expanded, the shoulder joint is abducted, stretching the tissue of the joint. If resilient, the cable imparts a dynamic tensioning force to the shoulder joint.
    Type: Grant
    Filed: February 24, 2009
    Date of Patent: December 9, 2014
    Assignee: Bonutti Research, Inc.
    Inventors: Peter M. Bonutti, Boris P. Bonutti, Kevin R. Ruholl, Glen A. Phillips
  • Patent number: 8905951
    Abstract: A functional electrical stimulation step and stand system comprising two footplates (left and right) connected to a primary drive motor that cause the footplates to move in a reciprocal motion. The footplates are further connected to corresponding servos, which allow for control of the movement of the footplate with respect to an axis. system comprises an electrical stimulation control unit. The stimulation step and stand system further comprises a control unit that has electrical stimulation leads connected to electrodes that deliver an electrical impulse to a patient's muscles. In a further embodiment, the control unit has one or more wireless stimulators.
    Type: Grant
    Filed: August 27, 2011
    Date of Patent: December 9, 2014
    Assignee: Restorative Therapies, Inc.
    Inventors: Andrew Barriskill, Scott Simcox
  • Patent number: 8900167
    Abstract: Gait training apparatus and method for use thereof for providing leg swing assistance to a patient. The apparatus comprises a support structure and one or more leg orthoses attached to the support structure, each leg orthosis comprising a thigh member attached to the support structure at a hip joint, and a shank member attached to the thigh member at a knee joint. Both members have respective connectors for securing them to the corresponding body parts of the patient. The hip joint and knee joint are each biased by biasing members. The support structure may comprise a frame defining a patient activity region, including a base, a back support, a pair of support handles, and a weight support member mounted above the activity region. A method of using the device comprises selecting parameters for the biasing members using information about the patient.
    Type: Grant
    Filed: April 4, 2008
    Date of Patent: December 2, 2014
    Assignee: University of Delaware
    Inventors: Sunil Agrawal, Kalyan K. Mankala, Sai Banala
  • Patent number: 8894591
    Abstract: A walking assistance device includes a seating member configured to provide seating for a user to sit astride, and leg links connected to the seating member. The seating member includes: a supporting member configured to support the user sitting on the seating member from below the seating member; a movable member configured to contact an inguinal region of the user supported by the supporting member and to be movably supported by the supporting member; and at least one elastic member provided between the movable member and the supporting member and configured to be deformable in accordance with a force applied from the inguinal region of the user to the movable member.
    Type: Grant
    Filed: December 8, 2011
    Date of Patent: November 25, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventor: Yutaka Hiki
  • Patent number: 8894592
    Abstract: A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.
    Type: Grant
    Filed: May 19, 2009
    Date of Patent: November 25, 2014
    Assignees: University of California at Berkekey, Ekso Bionics, Inc.
    Inventors: Kurt Amundson, Russdon Angold, Nathan Harding, Homayoon Kazerooni
  • Patent number: 8888724
    Abstract: An apparatus for passive extension and flexion of at least one finger of a patient with an upper arm unit, a lower arm unit, and at least one connective line. The apparatus is configured such that elbow extension of the patient promotes finger flexion. This is accomplished by taking advantage of the geometry of the arm, where the distance from a point on the patient's humeral area to the patient's fingers is greater when the patient's arm is in extension than when it is in flexion. In one aspect, the upper arm unit is configured to connect to a portion of the patient's arm between the patient's elbow and shoulder and the lower arm unit is configured to connect to a portion of the patient's arm intermediate the patient's hand and elbow.
    Type: Grant
    Filed: December 10, 2009
    Date of Patent: November 18, 2014
    Assignee: M.A.R.B. Rehab International, LLC
    Inventors: Ned B. Armstrong, David Mitchell
  • Patent number: 8888722
    Abstract: A wearable action-assist device which assists or executes an action of a wearer by substituting for the wearer is provided with an action-assist tool 2 having an actuator 201 which gives power to the wearer 1, a biosignal sensor 221 which detects a wearer's biosignal, a biosignal processing unit 3 which acquires from a biosignal “a” detected by the biosignal sensor a nerve transfer signal “b” for operating a wearer's muscular line skeletal system, and a myoelectricity signal “c” accompanied with a wearer's muscular line activity, an optional control unit 4 which generates a command signal “d” for causing the actuator 201 to generate power according to the wearer's intention using the nerve transfer signal “b” and the myoelectricity signal “c” acquired by the biosignal processing unit 3, and a driving current generating unit 5 which generates a current according to the nerve transfer signal b and a current according to the myoelectricity signal “c”, respectively, based on the command signal “d” generated by th
    Type: Grant
    Filed: July 14, 2010
    Date of Patent: November 18, 2014
    Assignee: University of Tsukuba
    Inventor: Yoshiyuki Sankai
  • Patent number: 8888723
    Abstract: A method for gait rehabilitation, comprising, identifying at least one deficient gait element; exercising said deficient gait element individually using a rehabilitation apparatus; and exercising said deficient gait element in concert with at least one other gait element using said rehabilitation apparatus.
    Type: Grant
    Filed: February 4, 2005
    Date of Patent: November 18, 2014
    Assignee: Motorika Limited
    Inventor: Omer Einav
  • Patent number: 8876741
    Abstract: A coil spring 14 is provided in a leg link 3. In the case where an extent of flexion of the leg link 3 is not more than a predetermined extent, the coil spring 14 applies, to a third joint 8, a first biasing force for preventing the extent of flexion of the leg link 3 from decreasing due to gravity acting on a body weight support device A. In the case where the extent of flexion of the leg link 3 exceeds the predetermined extent, the coil spring 14 applies, to the third joint 8, a second biasing force for decreasing the extent of flexion, where the second biasing force is larger than the first biasing force and increases with an increase of the extent of flexion. This enables a sufficient support force to be generated when standing up from a half-sitting posture or a crouching posture, without significantly interfering with walking.
    Type: Grant
    Filed: November 6, 2009
    Date of Patent: November 4, 2014
    Assignee: Honda Motor Co., Ltd.
    Inventor: Yoshihisa Matsuoka
  • Publication number: 20140316308
    Abstract: Provided are an upper limb rehabilitation robot including: a sensing member that is mounted and fixed to an upper limb of a user and captures motion of the upper limb according to a movement intention of the user; a motion control unit that is electrically connected to the sensing member, calculates a movement direction, a distance or angle, a speed, and an auxiliary force (target value) needed for the upper limb to move, intended by the upper limb, based on the motion captured by using the sensing member, and generates and outputs a control signal according to the calculated movement direction, distance or angle, speed, and auxiliary force (target value); and a multi-joint robot, to an end of an arm of which the sensing member is coupled, wherein the multi-joint robot guides movement of the upper limb fixed to the sensing member to selectively move or rotate toward a food tray placed at a designated position of a table along an X-axis, a Y-axis, or a Z-axis and provides an assistance force to the upper limb.
    Type: Application
    Filed: October 10, 2013
    Publication date: October 23, 2014
    Applicant: Daegu Gyeongbuk Institute of Science and Technology
    Inventors: Seung Yeol LEE, Tae Hun KANG, Dong Bin SHIN, Dae Jin KIM, Sung Hoon EOM, Jeon Il MOON
  • Patent number: 8845560
    Abstract: A physical therapy chair. Implementations may include a seat bottom coupled to a chair base adjustable along a z axis. A seat back couples to the seat bottom at an angle to the axis. An arm support slidably couples to the seat back and is fixable at desired positions. An arm has first, second, and third arm portions. The first arm portion pivotally couples to the arm support, the second arm portion rotatably couples to the first arm portion, and the third arm portion rotatably couples to the second arm portion. A leg couples to the seat bottom and has upper and lower leg portions. The upper leg portion has an upper first portion and an upper second portion. The upper first portion pivotally couples to the seat bottom and slidably couples to the upper second portion which slides thereby to change a length of the upper leg portion.
    Type: Grant
    Filed: June 17, 2011
    Date of Patent: September 30, 2014
    Inventors: Antonio Hernandez, Diego Vazquez, Javier Hernandez, Juan Carlos Valenzuela Gallardo, Marcos Galindo, Michelle Myrann, Joan Davis, Maureen Tiernan
  • Publication number: 20140276261
    Abstract: An exoskeleton for a limb of a user wherein the limb has an upper portion that is pivotally mounted to another part of the exoskeleton about a pivot axis and the upper portion is drivingly connected to the exoskeleton by a force applied via a drive force transmission axis that is vertically offset from the pivot axis.
    Type: Application
    Filed: March 15, 2013
    Publication date: September 18, 2014
    Applicant: BIONIK LABORATORIES, INC.
    Inventors: Thiago Caires, Michal Prywata