Joint Or Limb (e.g., Wrist, Arm, Leg, Etc.) Patents (Class 601/33)
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Patent number: 9931237Abstract: 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: GrantFiled: September 18, 2009Date of Patent: April 3, 2018Inventor: Peter Horvath
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Patent number: 9892435Abstract: 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: GrantFiled: February 19, 2010Date of Patent: February 13, 2018Assignee: GEARBOX LLCInventors: 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.
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Patent number: 9889058Abstract: 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: GrantFiled: March 13, 2014Date of Patent: February 13, 2018Assignee: AlterG, Inc.Inventors: Robert W. Horst, Richard R. Marcus
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Patent number: 9886729Abstract: 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: GrantFiled: February 4, 2010Date of Patent: February 6, 2018Assignee: Gearbox, LLCInventors: 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.
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Patent number: 9852652Abstract: 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: GrantFiled: November 22, 2013Date of Patent: December 26, 2017Assignee: Atheer, Inc.Inventors: Allen Yang Yang, Mohamed Nabil Hajj Chehade, Sina Fateh, Sleiman Itani
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Patent number: 9747423Abstract: 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: GrantFiled: December 22, 2016Date of Patent: August 29, 2017Assignee: University of Utah Research FoundationInventors: 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
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Patent number: 9737374Abstract: 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: GrantFiled: December 10, 2013Date of Patent: August 22, 2017Assignee: LEVITATE TECHNOLOGIES, INC.Inventor: Mark C. Doyle
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Patent number: 9623554Abstract: 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: GrantFiled: January 7, 2015Date of Patent: April 18, 2017Assignee: POSCOInventors: Ho Yu, Kyung-Lyong Han, Il-Seop Choi
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Patent number: 9572702Abstract: 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: GrantFiled: November 12, 2013Date of Patent: February 21, 2017Assignee: Bonutti Research, Inc.Inventors: Peter M. Bonutti, Boris P. Bonutti, Glen A. Philips, Kevin R. Ruholl, Clayton D. Britton
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Patent number: 9566470Abstract: 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: GrantFiled: March 16, 2016Date of Patent: February 14, 2017Inventor: Mary Ann Malizia
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Patent number: 9532895Abstract: 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: GrantFiled: July 31, 2015Date of Patent: January 3, 2017Assignee: OSSUR HFInventor: Harry Duane Romo
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Patent number: 9427865Abstract: 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: GrantFiled: April 8, 2015Date of Patent: August 30, 2016Assignee: LEVITATE TECHNOLOGIES, INC.Inventor: Mark C. Doyle
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Patent number: 9358414Abstract: 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: GrantFiled: November 5, 2012Date of Patent: June 7, 2016Inventor: Link A. Dephouse
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Patent number: 9333107Abstract: 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: GrantFiled: August 15, 2013Date of Patent: May 10, 2016Assignee: Google Inc.Inventors: Steven D. Potter, Christopher Everett Thorne, Michael Patrick Murphy
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Patent number: 9320669Abstract: 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: GrantFiled: June 23, 2014Date of Patent: April 26, 2016Assignee: Bonutti Research, Inc.Inventors: Peter M. Bonutti, Glen A. Phillips, Justin E. Beyers
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Patent number: 9289640Abstract: 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: GrantFiled: December 3, 2013Date of Patent: March 22, 2016Inventor: Steven M. Cersonsky
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Patent number: 9266233Abstract: 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: GrantFiled: March 12, 2014Date of Patent: February 23, 2016Assignee: SRI InternationalInventors: Roy David Kornbluh, Alexander Steele Kernbaum, Thomas Low, Katherine Goss Witherspoon, Brian Keith McCoy, Adam Arnold Edward Ziemba, Paul Michael Birkmeyer, Richard M. Mahoney
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Patent number: 9168195Abstract: 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: GrantFiled: February 18, 2014Date of Patent: October 27, 2015Assignee: UNIVERSITY OF TSUKUBAInventor: Yoshiyuki Sankai
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Patent number: 9017271Abstract: 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: GrantFiled: October 10, 2008Date of Patent: April 28, 2015Assignee: Eidgenossische Technische Hochschule ZurichInventors: Tobias Nef, Andreas Brunschweiler, Robert Riener, Niklaus Schulz
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Patent number: 9005145Abstract: 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: GrantFiled: December 11, 2009Date of Patent: April 14, 2015Inventor: Marc Champsaur
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Patent number: 8986232Abstract: 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: GrantFiled: January 25, 2010Date of Patent: March 24, 2015Assignee: Fondazione Istituto Italiano di TecnologiaInventors: Jody A. Saglia, Nikos G. Tsagarakis, Jian S. Dai, Darwin G. Caldwell
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Patent number: 8968220Abstract: 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: GrantFiled: December 30, 2008Date of Patent: March 3, 2015Assignees: Industry-University Cooperation Foundation Hanyang University Erica Campus, Hansung University Industry-University CooperationInventors: Jungsoo Han, Changsoo Han, Hyeyoen Jang, Jaeho Jang, Youngsu Lee, Sungjoon Hong
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Patent number: 8968223Abstract: 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: GrantFiled: December 15, 2009Date of Patent: March 3, 2015Assignee: Honda Motor Co., Ltd.Inventors: Yasushi Ikeuchi, Jun Ashihara, Hiroshi Matsuda
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Patent number: 8968222Abstract: 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: GrantFiled: December 17, 2009Date of Patent: March 3, 2015Assignees: Ekso Bionics, Inc., The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss
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Patent number: 8932240Abstract: 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: GrantFiled: August 24, 2012Date of Patent: January 13, 2015Assignee: Lantz Medical Inc.Inventor: Robert T. Kaiser
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Patent number: 8932241Abstract: 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: GrantFiled: September 14, 2010Date of Patent: January 13, 2015Assignee: University of TsukubaInventor: Yoshiyuki Sankai
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Patent number: 8926534Abstract: 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: GrantFiled: September 19, 2007Date of Patent: January 6, 2015Assignee: Myomo, Inc.Inventors: John M. McBean, Kalais N. Narendran
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Patent number: 8920346Abstract: 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: GrantFiled: February 5, 2008Date of Patent: December 30, 2014Assignee: Bonutti Research Inc.Inventors: Boris P. Bonutti, Peter M. Bonutti, Glen A. Phillips
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Patent number: 8920060Abstract: 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: GrantFiled: April 16, 2010Date of Patent: December 30, 2014Assignee: Toyota Jidosha Kabushiki KaishaInventor: Wataru Maekita
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Patent number: 8915871Abstract: 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: GrantFiled: February 4, 2005Date of Patent: December 23, 2014Assignee: Motorika LimitedInventor: Omer Einav
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Patent number: 8905950Abstract: 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: GrantFiled: February 24, 2009Date of Patent: December 9, 2014Assignee: Bonutti Research, Inc.Inventors: Peter M. Bonutti, Boris P. Bonutti, Kevin R. Ruholl, Glen A. Phillips
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Patent number: 8905951Abstract: 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: GrantFiled: August 27, 2011Date of Patent: December 9, 2014Assignee: Restorative Therapies, Inc.Inventors: Andrew Barriskill, Scott Simcox
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Patent number: 8900167Abstract: 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: GrantFiled: April 4, 2008Date of Patent: December 2, 2014Assignee: University of DelawareInventors: Sunil Agrawal, Kalyan K. Mankala, Sai Banala
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Patent number: 8894592Abstract: 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: GrantFiled: May 19, 2009Date of Patent: November 25, 2014Assignees: University of California at Berkekey, Ekso Bionics, Inc.Inventors: Kurt Amundson, Russdon Angold, Nathan Harding, Homayoon Kazerooni
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Patent number: 8894591Abstract: 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: GrantFiled: December 8, 2011Date of Patent: November 25, 2014Assignee: Honda Motor Co., Ltd.Inventor: Yutaka Hiki
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Patent number: 8888723Abstract: 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: GrantFiled: February 4, 2005Date of Patent: November 18, 2014Assignee: Motorika LimitedInventor: Omer Einav
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Patent number: 8888722Abstract: 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 thType: GrantFiled: July 14, 2010Date of Patent: November 18, 2014Assignee: University of TsukubaInventor: Yoshiyuki Sankai
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Patent number: 8888724Abstract: 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: GrantFiled: December 10, 2009Date of Patent: November 18, 2014Assignee: M.A.R.B. Rehab International, LLCInventors: Ned B. Armstrong, David Mitchell
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Patent number: 8876741Abstract: 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: GrantFiled: November 6, 2009Date of Patent: November 4, 2014Assignee: Honda Motor Co., Ltd.Inventor: Yoshihisa Matsuoka
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Publication number: 20140316308Abstract: 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: ApplicationFiled: October 10, 2013Publication date: October 23, 2014Applicant: Daegu Gyeongbuk Institute of Science and TechnologyInventors: Seung Yeol LEE, Tae Hun KANG, Dong Bin SHIN, Dae Jin KIM, Sung Hoon EOM, Jeon Il MOON
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Patent number: 8845560Abstract: 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: GrantFiled: June 17, 2011Date of Patent: September 30, 2014Inventors: Antonio Hernandez, Diego Vazquez, Javier Hernandez, Juan Carlos Valenzuela Gallardo, Marcos Galindo, Michelle Myrann, Joan Davis, Maureen Tiernan
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Publication number: 20140276261Abstract: 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: ApplicationFiled: March 15, 2013Publication date: September 18, 2014Applicant: BIONIK LABORATORIES, INC.Inventors: Thiago Caires, Michal Prywata
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Patent number: 8834169Abstract: A method and apparatus for upper limb rehabilitation training of coordinated arm/forearm, forearm/forearm and grasping movements of a motor impaired patient comprises a nonrobotic, passive support, an arm/forearm sensor, a gripping device, a grip sensor capable of measuring an impaired grasping force of a grasping of the patient, a computer to process measurements of coordinated and simultaneous impaired arm/forearm, forearm/forearm and grasping movements to control a graphical representation of the arm/forearm and grasping movements in interaction with a virtual environment, and to provide a visual feedback signal to the patient of simulated normal activities of daily living performed with enhanced motor ability relative to the actual impaired motor ability. A visual feedback signal of the simulated activities of daily living is provided to motivate the patient to perform the upper limb rehabilitation movement training despite limited motor ability.Type: GrantFiled: August 30, 2006Date of Patent: September 16, 2014Assignee: The Regents of the University of CaliforniaInventors: David Reinkensmeyer, Robert J. Sanchez, Jr., Punit Shah, Robert F. Smith, Jr.
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Patent number: 8821420Abstract: A hand and wrist restorer and method of use having a cuff which is capable of grasping a portion of the outer skin of a limb and securing the fascia tissue thereunder together with a support which allows a user to provide a distal force upon the limb while rotating or moving the distal portion of the limb whereby a stretch of the fascia tissue occurs.Type: GrantFiled: January 24, 2011Date of Patent: September 2, 2014Inventor: Dennis J. Callahan
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Patent number: 8800366Abstract: This invention relates to a robotic exoskeleton comprising mechanical linkages that couple to one or more selected joints of a limb of a subject. The robotic exoskeleton may be provided with means for obtaining data respecting angular position, torque, and/or acceleration of at least one of the joints or the links of the mechanical linkages, and may be used for assessing, studying, diagnosing a deficit, and/or treating an impairment in sensorimotor function of a limb of a subject.Type: GrantFiled: November 13, 2012Date of Patent: August 12, 2014Assignee: Queen's University at KingstonInventors: Stephen H. Scott, Ian E. Brown, Stephen J. Ball
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Patent number: 8801641Abstract: A lower extremity exoskeleton, configurable to be coupled to a person, includes two leg supports configurable to be coupled to the person's lower limbs, an exoskeleton trunk configurable to be coupled to the person's upper body, which is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk, two hip actuators configured to create torques between the exoskeleton trunk and the leg supports, and at least one power unit capable of providing power to the hip actuators wherein the power unit is configured to cause the hip actuator of the leg support in the swing phase to create a torque profile such that force from the exoskeleton leg support onto the person's lower limb during at least a portion of the swing phase is in the direction of the person's lower limb swing velocity.Type: GrantFiled: July 23, 2009Date of Patent: August 12, 2014Assignees: Ekso Bionics, Inc., The Regents of the University of CaliforniaInventors: Homayoon Kazerooni, Kurt Amundson, Russdon Angold, Nathan Harding
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Patent number: 8801639Abstract: A biomedical device (1) for robotized rehabilitation of a human upper limb, particularly for neuromotor rehabilitation of the shoulder and elbow joint, includes a first rigid rod (2) and a second rigid rod (3), both of which can be associated with the upper limb (4) of a patient (5) and are articulated to each other at two adjacent ends (2a, 3a) thereof by way of a first universal joint (6) which can be arranged proximate to the elbow joint (7) of the upper limb (4).Type: GrantFiled: September 27, 2011Date of Patent: August 12, 2014Assignee: C.N.R. Consiglio Nazionale Delle RicercheInventors: Matteo Malosio, Nicola Pedrocchi, Lorenzo Molinari Tosatti
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Patent number: 8795207Abstract: The portable device for rehabilitating an impaired user having difficulties in executing simultaneous reaching and lifting tasks comprises an armrest whereto the forearm of the user can be fastened and mechanism for enabling the movement of the armrest on a surface. It furthermore comprises mechanism for monitoring the movement of the armrest and mechanism for sensing a force exercised by the arm of the user in an orthogonal direction to the surface. The device enables the user to conduct reaching movements in a large workspace having the forearm supported and fastened. The fact that the forearm is supported and fastened to the device allows for better control of the shoulder training movements, avoiding uncontrolled trajectories at the level of the elbow that are possible in case only a handle is grasped.Type: GrantFiled: May 23, 2008Date of Patent: August 5, 2014Assignee: Fundacion FatronikInventors: Ettore Cavallaro, Thierry Keller
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Patent number: 8790283Abstract: A fitness/medical device assisting the movement of the lower limbs during the walking activity is substantially composed of brackets firmly connected to the shoes, a set of substantially rigid rods (7, 7A) connecting the brackets with articulation joints (6, 6A, 8, 8A, 9), elastic or inextensible cables for connecting the brackets, and at least one spring (5) acting between the rods and the connecting cables. The shape and joints of the various components of the kinematic mechanism allows accumulating the energy produced by one of the lower limbs when getting in contact with the ground, in order to give it back to the other lower limb when lifting from the ground, so producing a great reduction of the energy needed in the walking activity and at the same time promoting the acquisition of a correct posture.Type: GrantFiled: April 6, 2009Date of Patent: July 29, 2014Inventor: Enrico Lapi
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Patent number: 8784343Abstract: 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: GrantFiled: July 29, 2011Date of Patent: July 22, 2014Assignee: Bonutti Research, Inc.Inventors: Peter M. Bonutti, Glen A. Phillips, Justin E. Beyers