Hand And Finger Patents (Class 601/40)
  • Patent number: 12027063
    Abstract: A passive constraint device is disclosed which attaches to a laparoscopic instrument to kinematically constrain the user from over-gripping the instrument and to train the user in proper handling of the instrument. Passive constraint devices include three degrees of freedom adjustment of a palm rest and clamps to the laparoscopic instrument. An active constraint device is disclosed which attaches to a laparoscopic instrument to dynamically constrain a user from over-gripping the instrument and provide resistive feedback to a user to train the user in proper handling of the instrument. Active constraint devices include a finger guard that, in one embodiment, is elastic and, in other embodiments, is solid but connects to finger loops of a laparoscopic instrument via elastic connectors. Methods of use include a method for training surgical residents in the proper handling of laparoscopic instruments using passive and active constraint devices during residency training.
    Type: Grant
    Filed: July 17, 2020
    Date of Patent: July 2, 2024
    Assignee: THE BOARD OF REGENTS OF THE UNIVERSITY OF TEXAS SYSTEM
    Inventors: Ann Majewicz Fey, Diana Diesen, Husam Wadi
  • Patent number: 12005307
    Abstract: A climbing exercise apparatus having ipsilateral and contralateral modes of operation may include a frame supporting generally vertically oriented frame members in spaced apart relationship to one another fixedly secured to a base of the frame. The vertically oriented members may support endless belt and pulley systems. Handlebars and foot supports may be connected to upper and lower carriage members engaging the endless belt to establish ipsilateral and contralateral configurations of the climbing exercise apparatus.
    Type: Grant
    Filed: December 17, 2021
    Date of Patent: June 11, 2024
    Inventors: Joseph D Maresh, Kenneth W Stearns
  • Patent number: 11947726
    Abstract: A multi-orientation fingertip planar tactile feedback device includes a planar tactile feedback actuator. The planar tactile feedback actuator includes a holder and a feedback mechanism, a holding hole and an accommodating cavity are provided in the holder, one end of the holding hole penetrates through the holder, the other end is communicated with the accommodating cavity, the feedback mechanism includes a plurality of feedback parts that are arranged on cavity walls of the accommodating cavity respectively, and each feedback part includes a base, an air bag block and a baffle which are sequentially connected. A structure is simple; a finger touch force can be adjusted; five pairs of electrified coils are arranged, and force feedback vector synthesis can be performed therebetween; a direction of the force feedback generated by the electrified coil can be consistent with a direction of tactile feedback of the distal finger segment by the baffle.
    Type: Grant
    Filed: October 24, 2022
    Date of Patent: April 2, 2024
    Assignee: SOOCHOW UNIVERSITY
    Inventors: Tao Chen, Zhiwei Dai, Minglu Zhu, Huibin Jia, Lining Sun
  • Patent number: 11938377
    Abstract: An apparatus and method for physical therapy includes a base structure, a roller table positioned on the base structure including a plurality of free motion rollers, at least one motor and/or and at least one air compressor connected to the base structure, a plurality of powered rollers or a contact plate located within the base structure being in contact with the plurality of free motion rollers, at least one pneumatic block with a pneumatic piston connected to the at least one air compressor and being configured to raise and lower the power rollers and/or the contact plate, a load cell in communication with the apparatus being configured to measure and record a patient's response to the transition of the roller table and/or the contact plate, and a programmable logic controller.
    Type: Grant
    Filed: March 7, 2022
    Date of Patent: March 26, 2024
    Assignee: SUREFOOTED LLC
    Inventors: Bradford C. Taras, Udai M. Jayakumar
  • Patent number: 11890246
    Abstract: A motor teaching system is provided with a force presentation robot for teaching motion in accordance with a predetermined motor pattern by guiding movement of a movable part of the body of a test subject, a brainwave sensor, and a computer that classifies a cerebral activity pattern into one of a plurality of classes that include motor imagery, based on a brainwave signal. The computer guides evoking contents of the test subject prior to teaching of the motor pattern, such that a classification result obtained in the period of teaching the motor pattern will be the motor imagery class.
    Type: Grant
    Filed: June 7, 2017
    Date of Patent: February 6, 2024
    Assignee: Advanced Telecommunications Research Institute International
    Inventors: Asuka Takai, Tomoyuki Noda, Giuseppe Lisi, Tatsuya Teramae, Jun Morimoto, Hiroshi Imamizu
  • Patent number: 11744763
    Abstract: Disclosed is a hand and arm support assembly for use by a user or patient to rehabilitate a hand of the patient. The hand and arm support assembly includes a hand actuator assembly and a forearm rest assembly. The hand actuator assembly provides a support for a hand engagement assembly having a housing and hand actuator rod engagement members projecting upwards therefrom to engage the hand of the patient. The housing is rotatable to accommodate the position of the patient's hand and the rod engagement members are adapted to travel along slots towards and away from one another. The forearm rest assembly includes a first carriage and a second carriage to support the forearm and elbow of the patient. The first and second carriage can pivot about an axis relative to the housing to further accommodate the position of the patient's arm and elbow.
    Type: Grant
    Filed: December 18, 2019
    Date of Patent: September 5, 2023
    Assignee: Bionik, Inc.
    Inventors: Stephen Lawrence, Taya Hamilton
  • Patent number: 11730657
    Abstract: A tension adjustment structure of a hand rehabilitation device includes a palm orthosis body, a forearm orthosis body, and a tension adjustment unit. The palm orthosis body includes a plurality of finger support rods and a thumb support rod. The forearm orthosis body includes a fixing seat. The tension adjustment unit includes a plurality of elastic members. First ends of the elastic members are connected to the finger support rods and the thumb support rod, respectively. Second ends of the elastic members are connected to the fixing seat. The elastic members are adjustable to generate different stretching tensions by adjusting respective lengths of the second ends of the elastic members to be secured to the fixing seat.
    Type: Grant
    Filed: July 27, 2020
    Date of Patent: August 22, 2023
    Assignee: Yong Tai Global Co., Ltd.
    Inventor: Tseng-Chiu Wang
  • Patent number: 11730658
    Abstract: The present invention relates to a device for assisting body movement, comprising: a pulley for winding or unwinding a wire for moving a specific body between a first position and a second position; a motor for rotating the pulley forward or backward to wind the wire on or unwind the wire from the pulley; and a stopper portion for restricting winding or unwinding of the wire so that the specific body does not move out from between the first position and the second position, wherein the stopper portion comprises: a pulley hook that protrudes to form a swing trajectory on one side of the pulley; and a stopper formed to have a predetermined arc length along the swing trajectory of the pulley hook and provided with a stopper track to which the pulley hook is movably coupled.
    Type: Grant
    Filed: February 4, 2021
    Date of Patent: August 22, 2023
    Assignee: NEOFECT CO., LTD.
    Inventors: Byung Geol Park, Young Geun Choi, Seo Jeong Han, Kyung Hwan Yoo
  • Patent number: 11701289
    Abstract: A rehabilitation glove based on a bidirectional driver of a honeycomb imitating structure, including five bidirectional drivers and a cotton glove. The drivers are fixed to a back of the glove through hook and loop fasteners. Each driver includes a hollow buckling air bag in a continuous bent state, a middle guide layer in a continuous bent state and a hollow stretching air bag. The buckling air bag and the middle guide layer are symmetrically arranged, and the stretching air bag in a straightened state is arranged below the middle guide layer. A novel bidirectional driver of a honeycomb imitating structure is provided, which may provide a patient with rehabilitation training in two degrees of freedom: buckling and stretching. A control algorithm of the bidirectional driver is further provided to perform force control output for the driver, which may better help the patient recover hand functions.
    Type: Grant
    Filed: January 6, 2022
    Date of Patent: July 18, 2023
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Jianwei Lai, Huijun Li, Hong Zeng, Baoguo Xu, Ting Wu
  • Patent number: 11673253
    Abstract: An exoskeleton includes a first support, a second support, and a joint connecting the first and second supports. An actuator causes relative rotation between the first and second supports at the joint. The actuator includes a motor, a ball screw, a ball nut, and a yoke. The motor causes translation of the yoke via the ball screw and the ball nut. In some embodiments, the actuator further includes a roller and a joint cam having a track. Translation of the yoke causes movement of the roller within the track, and movement of the roller within the track causes rotation of the joint cam. In other embodiments, the actuator further includes a linkage and a joint crank. Translation of the yoke causes movement of the linkage, and movement of the linkage causes rotation of the joint crank. Rotation of the joint cam or the joint crank causes relative rotation between the first and second supports.
    Type: Grant
    Filed: March 7, 2018
    Date of Patent: June 13, 2023
    Assignee: Ekso Bionics, Inc.
    Inventor: Aaron Julin
  • Patent number: 11672721
    Abstract: A motion assisting apparatus includes a multijoint structure having links in series rotatably connected in a relative manner, the links being integrally deformed in a bendable manner, a linear member inserted through each of the links, wherein one end is fixed to the link in front and another end is elongated via the link in rear, a sliding/holding part which fixes an elongated portion of the linear member, and slidably guides the rear link in a connecting direction between each of the links, a drive unit which drives the rear link to slide toward the sliding/holding part and causes the multijoint structure, through which the linear member has been inserted, to engage in an extending or flexing motion, and a control unit which drive-controls the drive unit so that a sliding direction, a sliding speed and a sliding position of the rear link will become an intended state.
    Type: Grant
    Filed: March 21, 2017
    Date of Patent: June 13, 2023
    Assignees: CYBERDYNE, INC., University of Tsukuba
    Inventor: Yoshiyuki Sankai
  • Patent number: 11642181
    Abstract: A user system for a robotic surgical system, the user system including a handheld groundless user interface device configured to control the robotic surgical system, and a user console. The user console includes a seat and a first adjustable, ergonomic arm support linkage coupled to the seat, in which the first arm support linkage is movable between a folded storage configuration and at least one unfolded use configuration corresponding to at least one of a user characteristic and a surgical task characteristic. The at least one unfolded use configuration may be pre-stored in a database.
    Type: Grant
    Filed: January 2, 2020
    Date of Patent: May 9, 2023
    Assignee: Verb Surgical Inc.
    Inventors: Brent Michael Nobles, Joan Savall
  • Patent number: 11606991
    Abstract: A grip strengthening device having a finger portion for enhancing the grip by means of at least one artificial tendon arranged along at least one finger portion, wherein the finger portion comprises material along both sides and a tip, and possible along a dorsal side, the at least one artificial tendon is attached along both sides so that the artificial tendon may move, wherein the artificial tendon runs closer to a ventral side than the dorsal side of the finger portion, at least at positions corresponding to joints of a wearer's finger, the finger portion will transfer a force to provide a movement of the finger when the artificial tendon is retracted, wherein the artificial tendon runs in a detour towards or to a position in the middle between the dorsal and ventral side or closer to the dorsal side at a proximal portion of the finger portion.
    Type: Grant
    Filed: May 29, 2017
    Date of Patent: March 21, 2023
    Assignee: BIOSERVO TECHNOLOGIES AKTIEBOLAG
    Inventors: Martin Oskar Gustaf Ewaldsson, Johan Ingvast
  • Patent number: 11494147
    Abstract: Examples are disclosed that relate to sensor devices configured to sense bending in multiple joints. One example provides a sensor device configured to span a first articulable joint and a second articulable joint. The sensor device comprises a plurality of electrodes arranged in a stack and connected to a base. The plurality of electrodes comprise a first electrode arranged at a first joint region of the sensor device that is configured to be positioned at the first articulable joint, a second electrode arranged at a second joint region of the sensor device that is configured to be positioned at the second articulable joint, and a reference electrode.
    Type: Grant
    Filed: June 26, 2019
    Date of Patent: November 8, 2022
    Assignee: Microsoft Technology Licensing, LLC
    Inventors: Sang Ho Yoon, Siyuan Ma, James David Holbery
  • Patent number: 11446198
    Abstract: A lower support type rehabilitation device for fingers includes a cover plate having a hand covering portion and a plurality of through holes. A plurality of finger supports are disposed on the hand covering portion, each having a first finger base, a second finger base pivotally connected to the first finger base, two side arms and a beam disposed on the first finger base. A traction device is disposed on the hand covering portion and has a first processing module, a plurality of driving modules electrically connected to the first processing module, a plurality of pulling ropes connected to the plurality of driving modules and a plurality of pressure sensors electrically connected to the first processing module. Each of the plurality of pulling ropes passes through one of the plurality of through holes for fixing to the beam of the first finger base.
    Type: Grant
    Filed: December 13, 2018
    Date of Patent: September 20, 2022
    Assignee: Southern Taiwan University of Science and Technology
    Inventors: Yang-Kun Ou, Chun-Chih Chen, Yu-Ling Wang, Yu-Ning Huang
  • Patent number: 11439868
    Abstract: Holistic training device wherein a trainee user executes a training operation of sequential cycles of a first step of synchronized contraction of left limbs and extension of right limbs, followed by a second step of reverse synchronized contraction of right limbs and extension of left limbs thereof, including a frame (10) with shorter parallel beams (1,2), longer parallel beams (3,4) and a beam (5) extending intermedially in between beams (1,2) with plate extensions (31,41) receiving freely rotatable axles (53,54) at the sides thereof.
    Type: Grant
    Filed: June 1, 2020
    Date of Patent: September 13, 2022
    Inventor: Stylianos Stratigos
  • Patent number: 11413209
    Abstract: A device comprising at least two ferrules, which may have a first ferrule (3) and a second ferrule (4), joined by elements by programmable elastic means (5) in the manner of elastic rods or straps with shape memory, wherein each ferrule (3) (4) has a housing (3.1) (4.1) for housing vibration-generating means (6) and (7) fed by means of cables (6.1) and (7.1), respectively, by a control unit which is in charge of controlling and adjusting vibration intensity, phase and speed, wherein the programmable elastic means is preferably a nickel-titanium alloy, and may be compressed air. A device is obtained that is simple to implement and apply in the treatment of arthritis and arthrosis disorders.
    Type: Grant
    Filed: March 27, 2019
    Date of Patent: August 16, 2022
    Assignee: DEMAC, S.A.
    Inventor: José Luis De La Torre Barreiro
  • Patent number: 11400009
    Abstract: An exoskeleton device for rehabilitation of distal joints of an upper limb of a patient is described. The exoskeleton device includes a multi-bar linkage and a first platform to support fingers of the patient. The exoskeleton device includes a second platform to support a palm of the patient. The first platform and the second platform are coupled to the multi-bar linkage. The exoskeleton device also includes a transmission unit to drive the multi-bar linkage to move the first platform and the second platform to provide flexion and extension of the distal joints of the upper limb of the patient. In addition, the exoskeleton device includes an armrest and a fastening mechanism to fasten a forearm of the patient.
    Type: Grant
    Filed: October 11, 2018
    Date of Patent: August 2, 2022
    Assignee: Indian Institute of Technology Delhi
    Inventors: Amit Mehndiratta, Neha Singh, Sneh Anand
  • Patent number: 11382772
    Abstract: Prosthesis for at least one cut-off finger resulting in a stump at the height of the proximal, middle and/or distal phalange, or in a finger with missing stump. The prosthesis from a modular hinged mechanism allowing for a self-return flexion movement and the activation of said mechanism from at least one force applied to any point of a plane on said mechanism. A prosthesis for a hand with missing stumps is also provided from the wrist movement providing a range of operation greater than the art, wherein said flexion is activated from an extension movement of the wrist.
    Type: Grant
    Filed: July 4, 2019
    Date of Patent: July 12, 2022
    Assignee: PRO/BIONICS S.A. DE C.V.
    Inventors: Luis Armando Bravo Castillo, Magno Alcantara Talavera
  • Patent number: 11305418
    Abstract: An individual linkage mechanism for a finger of an exoskeleton glove with sections that are interconnected with joints to enable changing their mutual angular orientation, which linkage mechanism includes a first linkage attached to the glove, a second linkage connected to the first linkage through a first joint, a third linkage connected to the second linkage through a second joint, and a fourth linkage connected to the third linkage through a third joint, wherein the fourth linkage is provided with a finger orthosis, and the second linkage, the third linkage and the fourth linkage are capable to assume a mutually parallel placement wherein the finger orthosis is adjacent to the second joint at a farthest end from the glove, and the third joint is closer to the glove than the second joint.
    Type: Grant
    Filed: January 25, 2019
    Date of Patent: April 19, 2022
    Assignee: Adjuvo Motion B.V.
    Inventor: Johannes Luijten
  • Patent number: 11278464
    Abstract: An exoskeleton finger rehabilitation training apparatus includes a housing. A first motor and a second motor are disposed inside the housing. A direction of an output shaft of the first motor is opposite to a direction of an output shaft of the second motor. The output shaft of the first motor is provided with a first motor gear. A right side of the first motor gear is engaged with a first transmission gear. An edge of the first transmission gear is sequentially connected to an index finger sleeve and a middle finger sleeve that are axially arranged. The output shaft of the second motor is provided with a second motor gear. A right side of the second motor gear is engaged with a second transmission gear. An edge of the second transmission gear is sequentially connected to a pinky sleeve and a ring finger sleeve that are axially arranged.
    Type: Grant
    Filed: March 21, 2019
    Date of Patent: March 22, 2022
    Assignee: SOUTHEAST UNIVERSITY
    Inventors: Aiguo Song, Jianwei Lai, Huijun Li, Jianqing Li, Baoguo Xu, Hong Zeng, Jun Zhang
  • Patent number: 11246786
    Abstract: A power assistive device for hand rehabilitation that provides training of a combined movement of finger flexion-extension and forearm supination-pronation to a user. The power assistive device includes a hand brace and a base. The hand brace includes finger assemblies that adjustably connect to a platform, actuators that connect to the finger assemblies, and strain gauge sensors that connect to the finger assemblies and detect force signals generated by movement of the finger assemblies. The base removably connects to the hand brace and includes a forearm support, a C-shaped ring that includes C-shaped tracks formed along an inner circumferential surface of the C-shaped ring, a rotatable platform that moves along the C-shaped tracks, a mounting platform that connects to the rotatable platform, and an electromyography (EMG) sensor that attaches to the forearm of the user and senses EMG signals generated by movement of the hand of the user.
    Type: Grant
    Filed: December 22, 2016
    Date of Patent: February 15, 2022
    Assignee: REHAB-ROBOTCS COMPANY LTD.
    Inventors: Kam Fai Michael Tsui, Haris Begovic, Pui Yung Tsui, Wai Chiu Or, Pak Hin Leung
  • Patent number: 11213417
    Abstract: A lower-leg exoskeleton that includes an inflatable actuator configured to be worn over a front portion of a leg of a user and configured to be disposed directly adjacent to and surrounding a joint of the leg of the user. The inflatable actuator is configured, when worn by the user, to receive and transmit an actuator load generated by the inflatable actuator around the joint of the user to a load contact point. Inflation of the inflatable actuator generates a moment about the joint of the user to cause flexion of the leg of the user.
    Type: Grant
    Filed: December 9, 2019
    Date of Patent: January 4, 2022
    Assignee: ROAM ROBOTICS INC.
    Inventors: Brenton Piercy, Tim Swift, Giancarlo Nucci, Callum Lamb, Pete Lynn, Saul Griffith, Leanne Luce
  • Patent number: 11141341
    Abstract: An improved dual glove exoskeleton system and method for rehabilitation of stroke victims is provided to increase recovery through optic, neural, and muscular stimulation. The proposed approach employs an algorithm that is configured to determine a degree of dysfunction, of certain extremities, and in particular, an upper extremity. During rehabilitation and recovery, the proposed system is designed to monitor a position of a healthy limb and allow a patient to attempt a mirrored position in a damaged limb. The system and method then completes the movement in an assisted-control manner. The system detects how each finger responds individually to the treatment and chooses an exercise program that is appropriate under the circumstances to further assist with rehabilitation.
    Type: Grant
    Filed: May 6, 2019
    Date of Patent: October 12, 2021
    Inventors: Eleni Koltzi, Dimitrios Tzovaras, Ioannis Kostavelis, Paschalis Sideridis, Konstantinos Piliounis
  • Patent number: 11123254
    Abstract: A finger exoskeleton robot includes a support plate, at least one finger mechanism, and a temperature control system. Each of the finger mechanisms includes a plurality of finger sleeves and joint drivers. The sleeves of the finger mechanism are sequentially arranged at a distance and configured to be correspondingly worn on a plurality of knuckles of the user's fingers. Every two finger sleeves adjacent to each other of the finger mechanism are connected by one joint driver. The support plate and one of the finger sleeves closest to the support plate are connected by one joint driver. The joint driver is switched between a flat state and a curved state when the temperature of the joint drivers is higher than or lower than a phase change temperature value. A temperature control system is electrically connected to the respective joint drives and respectively controls the temperature of the joint drivers.
    Type: Grant
    Filed: April 29, 2019
    Date of Patent: September 21, 2021
    Assignees: Beijing BOE Optoelectronics Technology Co., Ltd., BOE TECHNOLOGY GROUP CO., LTD.
    Inventors: Bangcan Xue, Yanjun Liu, Liguang Deng, Wenfeng Jin, Jian Bai, Xiaoliang Fu, Dong Zhang, Tao Jia, Zhehua Long, Jia Meng, Shuqian Dou
  • Patent number: 11000082
    Abstract: Electronic assistive gloves for covering artificial prosthetic or robotic hands. The glove includes a base layer formed to fit on the artificial hand, a plurality of sensors carried by the base layer, and an encapsulation layer covering the base layer and formed of a material that mimics human skin.
    Type: Grant
    Filed: February 22, 2018
    Date of Patent: May 11, 2021
    Assignee: Purdue Research Foundation
    Inventors: Chi Hwan Lee, Min Ku Kim
  • Patent number: 10828527
    Abstract: Exosuit systems and methods according to various embodiments are described herein. The exosuit system can be a suit that is worn by a wearer on the outside of his or her body. It may be worn under the wearer's normal clothing, over their clothing, between layers of clothing, or may be the wearer's primary clothing itself. The exosuit may be assistive, as it physically assists the wearer in performing particular activities, or can provide other functionality such as communication to the wearer through physical expressions to the body, engagement of the environment, or capturing of information from the wearer.
    Type: Grant
    Filed: November 6, 2018
    Date of Patent: November 10, 2020
    Assignee: SEISMIC HOLDINGS, INC.
    Inventors: Richard Mahoney, Melinda Cromie Lear
  • Patent number: 10780011
    Abstract: A finger joint rehabilitation exercise aid part includes a rubber part, at least one small bracket, one middle bracket and one large bracket. The small bracket, the middle bracket and the large bracket are fixed on the rubber part and are provided with a fixing hole for fixing a power source. A front end of the rubber part is provided with a finger sheath, and the patient's finger can reach into the finger sheath. As such, according to the finger joint rehabilitation exercise aid part, the rubber part is sheathed on the patient's finger. The rubber part is forced by the power source to bend and straighten and drives the patient's fingers to perform exercise at the same time, thus helping patients perform rehabilitation training.
    Type: Grant
    Filed: July 3, 2018
    Date of Patent: September 22, 2020
    Assignees: BEIJING HENGTONG XINJIA TECHNOLOGY DEVELOPMENT CO, LTD., ZHONGSHAN CHANGYAO MEDICAL EQUIPMENT CO, LTD.
    Inventors: Keqiang Yang, Zhenwei Mao, Keijiron Yamamoto
  • Patent number: 10751244
    Abstract: A finger joint rehabilitation device includes at least one of an index finger joint rehabilitation exercise aid part, a middle finger joint rehabilitation exercise aid part, a ring finger joint rehabilitation exercise aid part, a little finger joint rehabilitation exercise aid part and a thumb joint rehabilitation exercise aid part; at least one corrugated tube; one protective brace fixed on a wrist and a palm; and the index finger joint rehabilitation exercise aid part, the middle finger joint rehabilitation exercise aid part, the ring finger joint rehabilitation exercise aid part, the little finger joint rehabilitation exercise aid part and the thumb joint rehabilitation exercise aid part are all provided with the corrugated tube and are all fixed on the protective brace.
    Type: Grant
    Filed: July 3, 2018
    Date of Patent: August 25, 2020
    Assignees: BEIJING HENGTONG XINJIA TECHNOLOGY DEVELOPMENT CO, LTD., ZHONGSHAN CHANGYAO MEDICAL EQUIPMENT CO, LTD.
    Inventors: Keqiang Yang, Zhenwei Mao, Keijiron Yamamoto
  • Patent number: 10709923
    Abstract: An apparatus for the motor rehabilitation of the upper and lower limbs is disclosed, which is compact, portable, lightweight, and easy to transport. The apparatus has an adapter for the distal end of the patient's limb, a robotic arm, a gear system, two motors, and virtual and/or augmented reality software to interact with the patient. A management and control system makes possible the execution of movements and exercises in the three-dimensional space so that patients with neurological, musculoskeletal, muscular, rheumatic, motor and/or cognitive diseases or injuries and patients in post-surgical recovery may exercise and recover the movements of their upper and/or lower limbs. The equipment may also be used for the purpose of training and physical fitness.
    Type: Grant
    Filed: September 26, 2017
    Date of Patent: July 14, 2020
    Inventors: Antonio Massato Makiyama, Tomas Yoshio Makiyama
  • Patent number: 10709633
    Abstract: A coupling device couples a walker to a torso orthosis which is coupled to a person. The coupling device includes an orthosis coupling member coupled to said torso orthosis, a walker coupling member coupled to said walker, and a mechanism coupled to the orthosis coupling member from its first end and to the walker coupling member from its second end. The mechanism constrains said orthosis coupling member to move along a free line. The torso orthosis is worn by the person and said coupling device is coupled to both said walker and said torso orthosis. The person may be walking along a moving direction not parallel with said free line. The mechanism forces said walker and torso orthosis to move along said moving direction and allows said torso orthosis to move freely along said free line when said moving direction is not parallel with said free line.
    Type: Grant
    Filed: November 20, 2018
    Date of Patent: July 14, 2020
    Assignee: The Regents of the University of California
    Inventors: Homayoon Kazerooni, Nicholas J. Errico, Katherine Marie Fearing, Wayne Yi-Wei Tung
  • Patent number: 10687795
    Abstract: Delivery systems for in situ forming foam formulations are provided. The devices may include various actuation mechanisms and may entrain air into fluid formulation components in a variety of ways, including mixing with air and the addition of compressed gas.
    Type: Grant
    Filed: January 20, 2017
    Date of Patent: June 23, 2020
    Assignee: Arsenal Medical, Inc.
    Inventors: Upma Sharma, Rany Busold, Adam Rago, Gregory T. Zugates, Toby Freyman, Lisette Manrique Miller
  • Patent number: 10682250
    Abstract: The robotic gripping assist (“RGA”) provides a user with additional grip strength by supporting and forcefully pushing a user's fingers and hand to a gripping position. Motors are supported on a user's forearm and act as a source for the forced movement. A flexible member is worn on the back of a user's hand. The motors individually draw in or let out wires that cause the flexible member to move from a gripping to non-gripping position, and may pivot the flexible member laterally to provide for ulnar and radial wrist flexion. By bending the flexible member downward, through reeling in wires below the member, the attached fingers of the user are forced into a gripping position. Lateral movement is provided by reeling in the wires on the side of the intended bending direction.
    Type: Grant
    Filed: September 16, 2019
    Date of Patent: June 16, 2020
    Assignee: United Arab Emirated University
    Inventors: Fady Al Najjar, Nouf Fadel Nasser Alsaedi, Waleed Khalil Ahmed, Mostafa Al Kasabi
  • Patent number: 10596059
    Abstract: An exoskeleton includes an arm brace coupled to an arm of a wearer and a tensile member connected to the arm brace. An actuator exerts a pulling force on the tensile member. The pulling force reduces a length of the tensile member between the arm brace and the actuator and causes the arm of the wearer to bend at an elbow.
    Type: Grant
    Filed: March 17, 2017
    Date of Patent: March 24, 2020
    Assignee: Ekso Bionics, Inc.
    Inventors: Russ Angold, Nicholas Fleming, Emily Rogers, Brett Jaeger, Chris Paretich
  • Patent number: 10543110
    Abstract: A lower-leg exoskeleton including an inflatable actuator that is configured to be worn over a front portion of a foot of a user; a rigid foot structure coupled to the inflatable actuator that is configured to surround a portion of a foot of the user; and a rigid shin structure coupled to the inflatable actuator and configured to engage the shin of the user. When worn by a user, the lower-leg exoskeleton can receive and transmit an actuator load generated by the inflatable actuator to a load contact point defined by the rigid foot structure which is forward of the heel of a user. Inflation of the inflatable actuator can generate a moment about the ankle of a user to cause flexion of the foot of the user.
    Type: Grant
    Filed: March 28, 2016
    Date of Patent: January 28, 2020
    Assignee: ROAM ROBOTICS INC.
    Inventors: Brenton Piercy, Tim Swift, Giancarlo Nucci, Callum Lamb, Pete Lynn, Saul Griffith, Leanne Luce
  • Patent number: 10456286
    Abstract: In one embodiment, a torque-compensating assistive wrist brace includes a hand member adapted to be provided on a user's hand, a forearm member adapted to be provided on the user's forearm, and an assistive linkage that connects the hand and forearm members together and that applies a balancing torque to a wrist of the user that counteracts intrinsic stiffness within the wrist and assists the user in rotating the wrist in both the flexion and extension directions.
    Type: Grant
    Filed: September 19, 2016
    Date of Patent: October 29, 2019
    Assignee: The Regents of the University of California
    Inventors: Mark M. Plecnik, Derek Bissell, David Reinkensmeyer, J. Michael McCarthy
  • Patent number: 10449677
    Abstract: The robotic gripping assist (“RGA”) provides a user with additional grip strength by supporting and forcefully pushing a user's fingers and hand to a gripping position. A motor, controller, and power source are supported on a user's forearm and act as a source for the forced movement. A bending member is worn on the back of a user's hand. The motor draws in or lets out wires that cause the bending member to bend or straighten. By bending the bending member, through rotating the motor in a first direction, the attached fingers of the user are forced into a gripping position. The fingers are moved to a non-gripping position by rotating the motor in the opposite direction.
    Type: Grant
    Filed: March 12, 2019
    Date of Patent: October 22, 2019
    Assignee: United Arab Emirates University
    Inventors: Fady Al Najjar, Nouf Fadel Nasser Alsaedi, Waleed Khalil Ahmed
  • Patent number: 10350131
    Abstract: A walk training apparatus includes a walking assist device, a first tensile portion, and a second tensile portion. The walking assist device is configured to be attached to a leg of a user so as to assist the user in walking. The first tensile portion pulls at least one of the walking assist device and the leg of the user toward a vertically upper side and toward a front side. The second tensile portion pulls at least one of the walking assist device and the leg of the user toward the vertically upper side and toward a rear side.
    Type: Grant
    Filed: August 17, 2017
    Date of Patent: July 16, 2019
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hiroshi Shimada, Masayuki Imaida, Hitoshi Konosu, Yoshinori Fujikake, Eiichi Saitoh
  • Patent number: 10350105
    Abstract: A wrist-hand-finger orthosis (100, 200) comprises a splint (110, 210) comprising a supporting splint section (120, 220) extending over the MCP joints and at least a greater portion of the fingers. The supporting splint section (120, 220) has a dorsal main surface (126, 226) adapted to face the palmar side of the hand. A wrist and forearm splint section (130, 230) is connected to or integral with the supporting splint section (120, 220). Inflatable bladders (140, 240; 150, 250) are arranged on the dorsal main surface (126, 226) at a MCP portion (122, 22) and a phalanx portion (124, 224) of the supporting splint section (120, 220) to be aligned with the MCP joints of the hand and the phalanges of fingers, respectively. The orthosis (100, 200) is particularly useful for human subjects having suffered from neurological diseases or cerebrovascular accident (CVA).
    Type: Grant
    Filed: September 21, 2015
    Date of Patent: July 16, 2019
    Assignee: MEDIROYAL NORDIC AB
    Inventor: Thomas Eriksson
  • Patent number: 10278883
    Abstract: In at least some aspects, the present concepts include a method of enabling rehabilitation of bodily control of a user comprising the acts of: integrating the user within a multi-module robotic system, the multi-module robotic system comprising modules of a flexible exosuit, a support module, a mobile base, or a combination thereof, applying one or more forces, cues, or a combination thereof on the user, based on one or more subtask-specific functions of the modules, to cause a developing of one or more subtasks of the bodily control, and managing control of one or more remaining subtasks of the bodily control by the modules in place of at least in part, the user while applying the one or more forces, cues, or a combination thereof.
    Type: Grant
    Filed: February 5, 2015
    Date of Patent: May 7, 2019
    Assignees: President and Fellows of Harvard College, Children's Medical Center Corporation
    Inventors: Conor J. Walsh, Eugene C. Goldfield, Sang-Eun Song, Evelyn Park
  • Patent number: 10130840
    Abstract: A passive muscle training device includes a base having at least one first link and at least one second link. At least one first rod is pivotably connected to the at least one first link. At least one second rod is pivotably connected to the at least one second link. The at least one first rod and the at least one second rod each have a handle extending beyond the cover on the base. A power input end is pivotably connected to the first rod and drives an eccentric portion of a shaft to swing the at least first rod and the at least one second rod alternatively. The user holds the two handles and the user's muscles are trained by centripetal contraction and centrifugal contraction due to the movement of the handles.
    Type: Grant
    Filed: June 29, 2017
    Date of Patent: November 20, 2018
    Assignee: B. Green Technology Co., Ltd.
    Inventors: Yu Chu Chen, Cheng Hsun Huang
  • Patent number: 10121066
    Abstract: A method of calculating the stress on a joint by determining when a joint angle is outside the normal range of motion for the joint. Applications include analysis of elbow joint stress for baseball pitchers, for example to mitigate the risk of injury to the ulnar collateral ligament (UCL). During a movement such as a baseball pitch, sensor data is collected to track the position, orientation, or motion of body segments; joint angles are derived from this sensor data. Joint angles are then compared to a range of motion, which may be measured for each individual. Joint stress contributions from movements that exceed the range of motion may be combined over time to calculate cumulative joint fatigue. This joint fatigue measure may for example be used for pitchers to quantify recovery periods (days off) and future workloads (such as maximum pitch counts).
    Type: Grant
    Filed: November 16, 2017
    Date of Patent: November 6, 2018
    Assignee: Blast Motion Inc.
    Inventors: Patrick Cherveny, James R. Thornbrue, Bhaskar Bose
  • Patent number: 9974706
    Abstract: A driving device includes a wearable mechanism that is worn on a wearing part, an actuator that drives the wearable mechanism, and first and second force sensors that are provided on the wearable mechanism and detect a force. The first and second force sensors are provided at positions at which a first detected value obtained from the first force sensor and a second detected value obtained from the second force sensor are changed in response to a motion of the wearing part. When a difference between the first and second detected values is less than a pre-decided first threshold value and the first or second detected value is greater than a pre-decided second threshold value, the actuator drives the wearable mechanism so that the second detected value is constant.
    Type: Grant
    Filed: May 28, 2015
    Date of Patent: May 22, 2018
    Assignee: Seiko Epson Corporation
    Inventors: Tomo Ikebe, Yutaka Arakawa, Tomohisa Iwazaki
  • Patent number: 9737453
    Abstract: A walk training apparatus includes a walking assist device, a first tensile portion, and a second tensile portion. The walking assist device is configured to be attached to a leg of a user so as to assist the user in walking. The first tensile portion pulls at least one of the walking assist device and the leg of the user toward a vertically upper side and toward a front side. The second tensile portion pulls at least one of the walking assist device and the leg of the user toward the vertically upper side and toward a rear side.
    Type: Grant
    Filed: May 18, 2015
    Date of Patent: August 22, 2017
    Assignee: TOYOTA JIDOSHA KABUSHIKI KAISHA
    Inventors: Hiroshi Shimada, Masayuki Imaida, Hitoshi Konosu, Yoshinori Fujikake, Eiichi Saitoh
  • Patent number: 9687407
    Abstract: Apparatuses and methods are provided for the treatment of lateral epicondylitis (tennis elbow) via the stretching of an affected user's restricted muscle(s), be it the extensor digitorum communis (EDC), extensor carpi radialis brevis (ECRB), supinator muscle, or any combination thereof. The apparatus can comprise various adjustable straps and rigid members configured to secure the apparatus to the user's arm and hold the user's interphalangeal joints, metacarpal phalangeal joints, and wrist in flexion, the user's forearm in pronation, and the user's elbow in extension. This combination of joint positions can constitute a desired position which, when held for prolonged periods, can cause the elongation of the restricted muscle tissue. This in turn can cause relief of the user's symptoms of lateral epicondylitis.
    Type: Grant
    Filed: April 30, 2013
    Date of Patent: June 27, 2017
    Assignee: Tennis Elbow R & D Ltd.
    Inventor: Mark James Laurensse
  • Patent number: 9671194
    Abstract: A device for cyclically operating a trigger of a firearm includes a glove having a finger stall, a pull mounted at the finger stall, and a drive mechanism coupled to the pull to move the finger stall from a bent configuration toward a straight configuration. The drive mechanism actuates in response to an activation signal.
    Type: Grant
    Filed: June 23, 2016
    Date of Patent: June 6, 2017
    Inventors: Steven K. Uhlmann, Thomas G. Kieran
  • Patent number: 9504282
    Abstract: A thumb brace comprising a glove having a thumb portion disposed between a palm side and a back side and comprising a first attachment region positioned adjacent a base of the thumb portion and a second attachment region positioned on the back side of the glove; a first elastic strap having a first end, a mid-portion, and a second end, wherein the mid-portion is disposed within a cradle of the glove between the thumb portion and an index finger portion of the glove, the first end is releasably attached to the first attachment region, and the second end is releasably attached to the first attachment region, whereby the first strap extends a distal end of a thumb metacarpal bone of a user of the brace; and a second elastic strap having a first end, a mid-portion, and a second end, wherein the first end is attached to the palm side of the glove and the second end is releasably attached to the second attachment region, whereby the second strap reduces a proximal end of a thumb metacarpal bone of a user of the bra
    Type: Grant
    Filed: March 29, 2016
    Date of Patent: November 29, 2016
    Inventor: Hugh Allen Frederick
  • Patent number: 9408771
    Abstract: An apparatus for manipulating the joint of a patient is provided. The apparatus comprises an actuator and a linkage. The actuator itself comprises: 1) a cylinder portion defining an interior cavity; and 2) an inflatable bladder member at least partially inside the cavity of the cylinder portion. The linkage is operatively positioned intermediate the actuator and the joint of the patient, the linkage configured to be activated and to flex the joint upon inflation of the bladder. A piston portion may also be provided and configured to move relative to cylinder portion within the cavity in response to inflation of the bladder. A patient connection and manipulation device may also be provided within the apparatus and configured to be attached relative to the patient, attached intermediate the linkage and the patient, and configured to at least partially assist with treatment upon activation of the linkage.
    Type: Grant
    Filed: August 29, 2011
    Date of Patent: August 9, 2016
    Assignee: ERMI, INC.
    Inventors: Thomas P. Branch, Thomas Cunningham, Edward Dittmar, Cale Jacobs
  • Patent number: 9375382
    Abstract: A hand rehabilitation device is used in rehabilitation therapies, for motility and functionality of the hands. The device has an orthosis, fitted to partially cover a patient's hand and forearm, and flexible rods for a passive and assisted active, concurrent, and/or selective bending or extension of the fingers. Movements are freely settable by an operator. Elements for sliding and supporting of the flexible rods during bending or extension of the fingers include ‘finger socks” or gloves provided with thimbles, fixed rods, or plates to stabilize the thimbles and hinged to move the flexible rods. A movement/command and control unit, integral to, or remoted located relative to, the orthosis is provided with actuators for moving the flexible rods. A tension adjusts the rods and rehabilitation device, adjusting and adapting to the hand s anatomical features.
    Type: Grant
    Filed: March 21, 2011
    Date of Patent: June 28, 2016
    Assignee: IDROGENET S.r.l.
    Inventors: Davide Fausti, Carlo Seneci
  • Patent number: 9254216
    Abstract: An apparatus and method are disclosed for limiting the range of motion of a first portion of the body of a user relative to a second portion of the user's body. A body attachable device is secured to the first and second portion of the user's body. At least one elongated member extends between the first and second portions of the user's body for moving longitudinally as the user's body moves. A range of motion limiter restrains further longitudinal movement of the elongated member at the desired terminal end of the range of motion by receiving an adjustable stop secured to the elongated member. A stop adjustment enables the stop to be moved positionally to an adjusted position, whereby the terminal end of a range of motion can be adjusted by the user.
    Type: Grant
    Filed: July 24, 2012
    Date of Patent: February 9, 2016
    Inventor: Farhad M. Limonadi