Means For Passive Movement Of Disabled Extremity To Return Natural Range Of Motion Patents (Class 601/5)
  • Patent number: 11000736
    Abstract: A method and apparatus for Activity Environment Generator (“AEG”) is provided. The AEG allows a user in a variety of settings such as: domestic settings, office chairs, TV chairs, train seats, airplane seats, domestic or hospital beds. The AEG is particularly useful in the fields of rehabilitation, physiotherapy, injury prevention, falls prevention, training and wellness in general and may also provide recreational and/or entertainment elements. The AEG provides dynamically controllable forces with which the user interacts in the course of his/her activity. In one aspect of the invention, the forces provided by the AEG are generated by a magnetic field. In another aspect of the invention, the forces provided by The AEG are generated by a pneumatic actuator. The AEG is optionally scalable and/or modular and, in specific embodiments, may include one or more of the following: a Remote Trainer, an AEG-Accessory, an AEG-Wearable, optimization by Big Data and machine-learning.
    Type: Grant
    Filed: October 11, 2018
    Date of Patent: May 11, 2021
    Inventor: Yuval Luzzatto
  • Patent number: 10987797
    Abstract: A wearable muscular strength assist apparatus and a method and a system of controlling the same are disclosed. The wearable muscular strength assist apparatus includes a main body for supporting the upper body of a wearer, a plurality of leg pulleys provided at the left and right sides of the main body, a plurality of links, each having one end for supporting a respective one of the legs of the wearer and the remaining end connected to a respective one of the leg pulleys so as to be interlocked therewith, a plurality of wires, each being connected to a respective one of the leg pulleys, and a driving unit provided at the main body and connected with the wires in order to provide the wires with tensile force for rotating the respective leg pulleys.
    Type: Grant
    Filed: December 8, 2017
    Date of Patent: April 27, 2021
    Assignees: Hyundai Motor Company, Kia Motors Corporation
    Inventors: Hun Keon Ko, Dong Jin Hyun, Seok Won Lee
  • Patent number: 10945908
    Abstract: A walking assistance method may include receiving at least one abnormal gait type selected from a plurality of abnormal gait types, and differently controlling a walking assistance apparatus based on the at least one abnormal gait type. Therefore, the walking assistance method may effectively assist various types of abnormal gaits.
    Type: Grant
    Filed: December 17, 2015
    Date of Patent: March 16, 2021
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Bokman Lim, Kyung-Rock Kim, Youngbo Shim, Jusuk Lee, Jun-Won Jang
  • Patent number: 10881911
    Abstract: The gait rehabilitation control system according to the present invention comprises an operation device unit for setting gait training mode of a patient and displaying gait state information of the patient; a gait device unit worn on the patient's feet so as to move along with the gait motion of the patient; and a control unit for driving the gait device unit according to the gait training mode set by the operation device unit, wherein the control unit comprises a gait pattern analysis unit for measuring reaction force between the patient's feet and the gait device unit, and analyzing the gait pattern of the patient with the data of the reaction force.
    Type: Grant
    Filed: October 7, 2015
    Date of Patent: January 5, 2021
    Assignee: CUREXO, INC.
    Inventors: Suncheol Kwon, Dongmyung Min, Younghwan Kim
  • Patent number: 10843332
    Abstract: A motion control system includes an actuator having an actuation member, the actuation member having a proximal end attached to the actuator on a first side of a joint and a distal end attached to an anchor element attachment point on a second side of the joint. A first sensor is configured to output signals defining a gait cycle and a second sensor is configured to output signals representing a tensile force in the at least one actuation member. A controller receives the output signals from the sensors and actuates the actuator, during a first portion of the gait cycle, to apply a force greater than a predetermined threshold tensile force to the anchor element attachment point via the actuation member to generate a beneficial moment about the joint and to automatically actuate the actuator.
    Type: Grant
    Filed: May 30, 2014
    Date of Patent: November 24, 2020
    Assignee: President and Fellow of Harvard College
    Inventors: Conor J. Walsh, Alan Thomas Asbeck, Ye Ding, Ignacio Galiana Bujanda, Stefano Marco Maria De Rossi
  • Patent number: 10800031
    Abstract: Implementations involve a shoulder exoskeleton having a spherical parallel manipulator with a plurality of parallel linear actuators connected to a base coupled to a user's arm. A passive slip mechanism is operatively coupled to the spherical parallel manipulator as well as being coupled to the user's arm. The slip mechanism increases system mobility and prevents joint misalignment caused by the translational motion of the user's glenohumeral joint from introducing mechanical interference.
    Type: Grant
    Filed: July 26, 2017
    Date of Patent: October 13, 2020
    Assignee: Arizona Board of Regents on behalf of Arizona State University
    Inventors: Panagiotis Artemiadis, Hyunglae Lee, Justin Hunt
  • Patent number: 10792210
    Abstract: A apparatus includes an a exoskeleton system with a plurality of sensors for generating signals indicating a current motion and a current arrangement of at least the exoskeleton system, a hip segment, and at least one lower limb. The lower limb includes thigh and shank segments for coupling to a lateral surface of a user's leg. The thigh segment includes a first powered joint coupling the thigh segment to the hip segment, a second powered joint coupling the thigh segment to the shank segment, and a controller coupled to the sensors, the first powered joint, and the second powered joint. The controller is configured for determining a current state of the exoskeleton system and a current intent of the user based on the signals and generating control signals for the first and second powered joints based on the current state and the current intent.
    Type: Grant
    Filed: June 20, 2017
    Date of Patent: October 6, 2020
    Inventors: Michael Goldfarb, Ryan J. Farris, Hugo A. Quintero
  • Patent number: 10786414
    Abstract: A lower limb of an exoskeleton or a bipedal robot, having a thigh segment (1), a leg segment (3) and a foot (4). The leg segment includes two connecting rods (3a, 3b) having proximal ends that are articulated along parallel axes on the thigh segment, the two connecting rods having distal ends articulated along parallel axes on the foot.
    Type: Grant
    Filed: August 29, 2014
    Date of Patent: September 29, 2020
    Inventor: Philippe Garrec
  • Patent number: 10780009
    Abstract: Apparatus for locomotion therapy is provided which includes a base (11), a first table portion (15) and a tilting mechanism (12, 13) to tilt said first table portion (15) between a horizontal position, an inclined or a vertical position. A foot mechanism (16) is mounted to the first table portion (15). Furthermore, the position of a second table portion (17) is adjustable with respect to the first table portion (15) to adapt the apparatus to patients of different heights.
    Type: Grant
    Filed: November 8, 2013
    Date of Patent: September 22, 2020
    Assignee: HOCOMA AG
    Inventors: Rainer Bucher, Konstantin Daremas
  • Patent number: 10702442
    Abstract: Provided is a walking aid device capable of easily offering walking training by aiding the oscillation of the user's pelvis. The walking aid device comprises a drive part which supports each of at least two or more locations of the user's lumbar region, and applies external force independently to each of the supported locations; a gait recognition unit which recognizes the user's gait; and a control unit which sets the user's ideal walking motion pattern based on a recognition result of the gait recognition unit, and controls the external force applied by the drive part to each of the locations of the lumbar region so that the user's pelvis position within the lumbar region will oscillate to match the walking motion pattern.
    Type: Grant
    Filed: May 19, 2016
    Date of Patent: July 7, 2020
    Inventors: Yoshiyuki Sankai, Masahiro Takama, Tomoyoshi Kawabata, Hiromasa Hara, Ryotaro Sabe, Martin Peris Martorell
  • Patent number: 10687970
    Abstract: Provided are an assistance device, an assistance garment, and an assistance method that enable easy replacement of a part of structure, suppression of fatigue of a wearer, and reduction of a load in an action of the wearer, without requiring time and effort for putting on and taking off. An assistance device 1 is provided on a garment and reduces a load in an action of a wearer 5. The assistance device 1 is provided with an assisting part 10 that is replaceable and applies force for assisting the an action to the body of the wearer 5 by changing flexibility, and an assist-control part 12 that controls the flexibility.
    Type: Grant
    Filed: November 20, 2015
    Date of Patent: June 23, 2020
    Assignee: R.U. TECHNOLOGIES, INC.
    Inventor: Shoichi Akiyama
  • Patent number: 10640010
    Abstract: A seat assembly is provided with a seat bottom adapted to be mounted to a vehicle body. A seat back is adapted to be mounted adjacent to the seat bottom. At least one actuator is oriented in a region of one of the seat bottom and the seat back to adjust a seating position. A controller is in electrical communication with the actuator and is programmed to receive input indicative of a total travel time or distance, and adjust the seating position after a predetermined portion of the total travel time or distance to limit occupant discomfort.
    Type: Grant
    Filed: October 3, 2017
    Date of Patent: May 5, 2020
    Assignee: Lear Corporation
    Inventors: Arjun Yetukuri, Michelle A. Pereny, Marie-Eve Cote
  • Patent number: 10639510
    Abstract: A Trunk Support Trainer (TruST) is a dynamic device that trains subjects to improve strength and coordination of the upper body, while seated, and facilitates the trunk to safely move beyond the region of stability. In embodiments, the device creates an ‘assist-as-needed’ force field to support postures beyond stable sitting positions.
    Type: Grant
    Filed: March 6, 2018
    Date of Patent: May 5, 2020
    Assignee: The Trustees of Columbia University in the City of New York
    Inventors: Sunil K. Agrawal, Moiz Khan
  • Patent number: 10610399
    Abstract: An orthotic device includes an upper arm section for receiving an upper portion of an arm of a subject, a forearm section for receiving a forearm section of the arm, and at least one elbow joint rotatably coupling the upper arm section and the forearm section. In the orthotic device, the forearm section includes a release control operatively coupled to the at least one elbow joint, where the release control is configured to transition the at least one elbow joint from a restricted motion state to a free motion state when the release control is activated.
    Type: Grant
    Filed: November 2, 2015
    Date of Patent: April 7, 2020
    Assignee: Vanderbuilt University
    Inventors: Michael Goldfarb, Benjamin Gasser, Judith Lefkowitz
  • Patent number: 10603242
    Abstract: A hip orthosis having: an elastic rotary actuator positioned at the rear part of orthosis; an extensible transmission system, positioned along the side of the user and suitable for transmitting the action of the actuator to the joint of the hip; a link which transmits the mechanical action to user's thigh; and a chain of degrees of freedom through which the three elements are connected to a frame which interfaces the entire orthosis with the user's body is disclosed. The degrees of freedom can be passive, actuated or connected to elastic elements.
    Type: Grant
    Filed: February 8, 2016
    Date of Patent: March 31, 2020
    Assignee: Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'Anna
    Inventors: Nicola Vitiello, Francesco Giovacchini, Marco Cempini, Matteo Fantozzi, Matteo Moise, Marco Muscolo, Mario Cortese
  • Patent number: 10569137
    Abstract: A healthy motion environment managing apparatus includes a wearable intelligent equipment, an environment adjusting equipment, a fitness equipment and an environment parameter collecting equipment. The wearable intelligent equipment includes an input unit, a memory unit, a processing unit and a communication unit. The environment parameter collecting equipment configured for sending a value of a collected current environment parameter to the wearable intelligent equipment. The processing unit compares a difference of the value of the collected current environment parameter and a value of one of optimum motion environment parameters, if the difference is larger than a set threshold, a start instruction is sent to the environment adjusting equipment via the communication unit. The invention can adjust the motion environment quickly and conveniently and can improve the user experience greatly.
    Type: Grant
    Filed: July 24, 2017
    Date of Patent: February 25, 2020
    Assignee: Xiamen Cowell Industrial Ltd.
    Inventor: Yao-Jun Li
  • Patent number: 10548755
    Abstract: Provided is a motion assist device that can minimize the number of actuators that are required for assisting a certain mode of motion of the user while allowing a greater freedom of motion beside from the motion which the motion assist device is designed to assist. A power transmission mechanism for the device includes a belt drive mechanism which is incorporated with a differential mechanism.
    Type: Grant
    Filed: October 23, 2017
    Date of Patent: February 4, 2020
    Assignee: Honda Motor Co., Ltd.
    Inventors: Toru Takenaka, Kei Shimada
  • Patent number: 10413220
    Abstract: A limb movement function evaluating method and the implantation system are provided. The aforementioned system includes a limb fixing device, limb guiding device, driver, actuator, impedance detector, and movement function analyzer. The limb fixing device is used to fix the first end of the user limb. The driver is used to guide the second end of the user limb through the actuator so as to make the second end moving relatively to the first end. The impedance detector is further connected to the driver so as to measure mechanical impedance where the movement of the user limb responses to the driving point of the driver. Finally, the limb movement analyzer compares the measured mechanical impedance and the movement path of the user limb so as to form a limb movement function curve. Therefore, the medical staff can make accurate rehabilitation evaluation according to the limb movement function curve.
    Type: Grant
    Filed: May 20, 2016
    Date of Patent: September 17, 2019
    Inventors: Shih-Fu Ling, Fong-Chin Su
  • Patent number: 10390723
    Abstract: A rise action assistance device according to an aspect of the present disclosure is provided with: a myoelectric potential acquirer that acquires a myoelectric value of a sitting user's tibialis anterior muscle, and a myoelectric value of the sitting user's vastus lateralis muscle or a myoelectric value of the sitting user's vastus medialis muscle; an angle acquirer that acquires a bend angle of the sitting user's upper body; a detector circuit that detects a start of a rise action by the user, based on the myoelectric value of the user's tibialis anterior muscle, the myoelectric value of the user's vastus lateralis muscle or the myoelectric value of the user's vastus medialis muscle, and the bend angle of the user's upper body; and an assistor that starts assistance of the rise action after the start of the rise action is detected.
    Type: Grant
    Filed: February 14, 2017
    Date of Patent: August 27, 2019
    Inventors: Tsuyoshi Inoue, Hiroyuki Motoyama, Yusuke Kato, Jun Ozawa
  • Patent number: 10343016
    Abstract: A rehabilitation device includes: an operation unit operated by a patient under rehabilitation; an operation amount detection unit that detects an operation amount of the operation unit; a driving unit that applies torque to the operation unit; a control unit that controls driving of the driving unit; and a movement state detection unit that detects a movement state of a moving part of the patient. The control unit calculates a target value of the operation amount to be performed on the operation unit based on the movement state detected by the movement state detection unit and a predetermined movement model and controls the driving unit so that the operation amount detected by the operation amount detection unit follows the calculated target value of the operation amount.
    Type: Grant
    Filed: June 24, 2014
    Date of Patent: July 9, 2019
    Inventors: Hitoshi Yamada, Masashi Yamashita
  • Patent number: 10307319
    Abstract: In one aspect, an orthosis for increasing range of motion of a body joint generally includes first and second dynamic force mechanisms for simultaneously applying a dynamic force to body portions on opposite sides of a body joint.
    Type: Grant
    Filed: March 4, 2016
    Date of Patent: June 4, 2019
    Assignee: Bonutti Research, Inc.
    Inventors: Peter M. Bonutti, Glen A. Phillips, Joseph Mathewson
  • Patent number: 10248200
    Abstract: One aspect of the invention provides a wearable device including: at least one compliant region adapted and configured to be placed over a joint of a subject and at least two flexible but less compliant regions coupled to opposite ends of the compliant region. Another aspect of the invention provides a wearable robotic device including a wearable device as described herein and at least one actuator adapted and configured to move the flexible but less compliant regions relative to each other.
    Type: Grant
    Filed: February 27, 2015
    Date of Patent: April 2, 2019
    Assignee: Drexel University
    Inventors: Andrew Cohen, Genevieve Dion, Mark Winter, Eric Wait, Michael Koerner
  • Patent number: 10248085
    Abstract: A robot design system, and associated method, that is particularly well-suited for legged robots (e.g., monopods, bipeds, and quadrupeds). The system implements three stages or modules: (a) a motion optimization module; (b) a morphology optimization module; and (c) a link length optimization module. The motion optimization module outputs motion trajectories of the robot's center of mass (COM) and force effectors. The morphology optimization module uses as input the optimized motion trajectories and a library of modular robot components and outputs an optimized robot morphology, e.g., a parameterized mechanical design in which the number of links in each of the legs and other parameters are optimized. The link length optimization module takes this as input and outputs optimal link lengths for a particular task such that the design of a robot is more efficient. The system solves the problem of automatically designing legged robots for given locomotion tasks by numerical optimization.
    Type: Grant
    Filed: October 13, 2016
    Date of Patent: April 2, 2019
    Inventors: Sehoon Ha, Alexander Nicholas Alspach, Joohyung Kim, Katsu Yamane, Stelian Coros
  • Patent number: 10195099
    Abstract: Motion of a body segment is assisted when the body segment is moving in a positive power mode but not when it is moving in a negative power mode. When the motion of the body segment is cyclical, for example during walking, assistance to the body segment is switched on and off throughout the cycle to correspond to positive and negative power modes respectively. Energy used to assist the body segment may be harvested from prior motion of the body segment, either in prior cycles and/or when the body segment is moving in a negative power mode. The energy used may also be harvested from other body segments. Assisting motion of a body segment may be used to reduce the metabolic cost of locomotion, or to reduce exertion, when walking, jogging, running or sprinting.
    Type: Grant
    Filed: January 11, 2016
    Date of Patent: February 5, 2019
    Assignee: Bionic Power Inc.
    Inventors: Daniel Loren Hepler, Clive Edward Mullins
  • Patent number: 10179078
    Abstract: The invention relates to embodiments of methods for extending a subject-controllable range of joint motion, and for increasing subject control of joint movement within a range of motion. Embodiments include fastening a powered device around a joint so as to be able to control the joint, allowing the subject to move the joint within a range of volitional motion, and then engaging the powered device to support movement of the joint into an expanded, rehabilitative range. In some embodiments, the device supports joint movement by substantially providing the force to move the joint beyond the volitional boundary. In other embodiments, supporting movement includes the subject substantially providing the force, and the device allowing movement only in a desired direction. The invention further relates to a system for increasing the functional capability of a joint by implementing embodiments of the method.
    Type: Grant
    Filed: June 6, 2013
    Date of Patent: January 15, 2019
    Assignee: AlterG, Inc.
    Inventors: Kern S. Bhugra, Robert W. Horst, Robert L. Jardine
  • Patent number: 10130281
    Abstract: The device is used to measure bioimpedances and has in each case at least one measurement electrode for each foot and each hand of a person who is to be measured. The electrodes are connected to an evaluation unit. In addition, at least one balance is used to determine a body weight of the person who is to be measured. The hand electrodes, provided for contact with the hands of the person who is to be measured, are arranged in the area of at least one positionable support element.
    Type: Grant
    Filed: March 14, 2011
    Date of Patent: November 20, 2018
    Assignee: SECA AG
    Inventor: Sönke Vogel
  • Patent number: 10117801
    Abstract: Disclosed are a walking assistance robot and a method of controlling the walking assistance robot. The control method includes collecting motion information by sensing or measuring a motion of at least one joint, determining a motion state of the at least one joint based on the sensed or measured motion of the at least one joint, and controlling the walking assistance robot based on the determined motion state of the at least one joint.
    Type: Grant
    Filed: September 26, 2014
    Date of Patent: November 6, 2018
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: Bok Man Lim, Kee Hong Seo
  • Patent number: 10111802
    Abstract: There is provided a method of controlling a wearable robot. The method includes measuring an electrical signal from a scalp of a wearer, estimating a current walking speed of the wearer using the measured electrical signal, and outputting assistive torque which allows the estimated current walking speed to approximate a target walking speed.
    Type: Grant
    Filed: December 2, 2014
    Date of Patent: October 30, 2018
    Assignee: Samsung Electronics Co., Ltd.
    Inventors: No San Kwak, Young Bo Shim
  • Patent number: 10086890
    Abstract: A robot includes a main body, a handlebar disposed on the main body and grippable by a user, a detection unit that detects a load applied to the handlebar, a moving device including a rotating body and moving the robot by controlling the rotation of the rotating body, and a switching unit that switches a support mode for supporting the user with walking. The support mode includes a first mode in which the robot autonomously moves to guide the user who is walking and a second mode in which the robot moves in accordance with a first load detected by the detection unit. When the robot moves in the first mode, the switching unit switches the support mode from the first mode to the second mode on the basis of the second load detected by the detection unit.
    Type: Grant
    Filed: June 12, 2017
    Date of Patent: October 2, 2018
    Inventors: Mayu Yokoya, Kazunori Yamada
  • Patent number: 10080697
    Abstract: Examples of a motion system are disclosed. The motion system comprises a plurality of Stewart platform based actuators connected one to each another forming a desired modular configuration. Each of the plurality of actuators is controlled by a central controller that is configured to independently control the plurality actuators and adjust in real time their position, orientation and motion trajectory. The plurality of actuators are arranged in the desired configuration, shape and size to provide motion system that can mimic a natural motion/gait of human or animal body.
    Type: Grant
    Filed: June 25, 2015
    Date of Patent: September 25, 2018
    Inventors: Stephen Glen Swift, Michael Peter McCrodan, Siamak Arzanpour, Sohell Sadeqi
  • Patent number: 10016330
    Abstract: Provided is a step assist device including a first phase angle modifying section that, according to repetition of the step movement, modifies in a staged manner the phase angle input thereto, based on a predetermined phase change pattern, such that a phase pattern of the phase angle approaches a straight line relative to the passage of time, and outputs the modified phase angle as a first modified phase angle. The control section acquires a target value based on a continuous change pattern of the auxiliary force set in advance for at least one of the first modified phase angle and a prescribed phase angle, and controls the providing section according to the target value.
    Type: Grant
    Filed: June 11, 2015
    Date of Patent: July 10, 2018
    Assignee: HONDA MOTOR CO., LTD.
    Inventor: Yosuke Endo
  • Patent number: 9789919
    Abstract: An example implementation involves receiving measurements from an inertial sensor coupled to the robot and detecting an occurrence of a foot of the legged robot making contact with a surface. The implementation also involves reducing a gain value of an amplifier from a nominal value to a reduced value upon detecting the occurrence. The amplifier receives the measurements from the inertial sensor and provides a modulated output based on the gain value. The implementation further involves increasing the gain value from the reduced value to the nominal value over a predetermined duration of time after detecting the occurrence. The gain value is increased according to a profile indicative of a manner in which to increase the gain value of the predetermined duration of time. The implementation also involves controlling at least one actuator of the legged robot based on the modulated output during the predetermined duration of time.
    Type: Grant
    Filed: March 22, 2016
    Date of Patent: October 17, 2017
    Assignee: Google Inc.
    Inventors: Kevin Blankespoor, Marco da Silva
  • Patent number: 9757064
    Abstract: A wrist joint performance measuring device includes a base having a seat and two positioning arms on two sides of the seat. A switching device is pivotably mounted to the base. A forearm support is connected to the switching device. A measurement device includes a pivotal seat, a torque meter, a first handle, and a second handle. The pivotal seat is pivotably connected to the forearm support. The torque meter is mounted to the pivotal seat. The first handle or the second handle is connected to a force receiving end of the torque meter. The forearm support and the measurement device are movable by the switching device to one of the two positioning arms and are positioned by the one of the two positioning arms.
    Type: Grant
    Filed: July 1, 2015
    Date of Patent: September 12, 2017
    Assignee: E-Da Hospital
    Inventors: Chih-Kun Hsiao, Yuan-Kun Tu, Yi-Jung Tsai, Teng-Yao Yang, Shang-Hua Yu, Chun-Wei Kang, Hao-Yuan Hsiao
  • Patent number: 9744093
    Abstract: A leg support exoskeleton is strapped on as wearable device to support its user during squatting. The exoskeleton includes a knee joint connected to a first line and a second link, which is configured to allow flexion and extension motion between the first link and the second link. A force generator has a first end that is rotatably connected to the first link. A constraining mechanism is connected to the second link and has at least two operational positions. In a first operational position, the second end of the force generator engages the constraining mechanism, where the first link and the second link flex relative to each other. In a second operational position, the second end of the force generator does not engage the constraining mechanism; the first link and the second link are free to flex and extend relative to each other.
    Type: Grant
    Filed: June 27, 2016
    Date of Patent: August 29, 2017
    Assignee: U.S. Bionics, Inc.
    Inventors: Wayne Tung, Minerva Pillai, Homayoon Kazerooni
  • Patent number: 9707147
    Abstract: The present invention provides a device which can generate commands for controlling a physical therapy apparatus adapted to accept external commands. The device has a base, a motion manipulation portion and a moveable portion of substantially the same shape and dimensions as the portion of the physical therapy apparatus which interacts with at least one part of the body of a patient. The device also includes conversion means for converting stored time-dependent output signals to a series of command signals and means for transmitting the command signals to the physical therapy apparatus. The command signals are produced by the movements of the moveable portion, and, when transmitted to the physical therapy apparatus, can induce the physical therapy apparatus to undergo a series of motions substantially identical to those of the moveable portion.
    Type: Grant
    Filed: June 11, 2012
    Date of Patent: July 18, 2017
    Assignee: HEADWAY LTD.
    Inventors: Tamir Levital, Yaron Moshe River
  • Patent number: 9701013
    Abstract: The invention relates to a method for controlling a robot (1) defined by a node model and deformable by means of actuators (2). Effector points of the robot must follow a predetermined path. A matrix K defines a change in the inner forces of the robot in each node, on the basis of the change in position of the nodes. Said method includes: updating the K values on the basis of the current position of the nodes of the robot; determining the Jacobian matrix J of the vector ?(x), x being a vector of the position of the nodes and the vector ?(x) comprising respective lines which indicate the coordinates of the gaps between the position of each effector point and the predetermined path thereof, and the movement of each actuator; calculating the values of the matrix W=J·K?1·JT; and solving the equation ?=W·?+?0 and controlling the robot on the basis of said resolution.
    Type: Grant
    Filed: February 4, 2014
    Date of Patent: July 11, 2017
    Assignee: Inria Institut National De Recherche En Informatique Et En Automatique
    Inventor: Christian Duriez
  • Patent number: 9649206
    Abstract: A motorized prosthetic device includes a joint member, a limb member, a pressure sensor, and a kinematic sensor. The pressure sensor indicates interaction between the motorized prosthetic device and the ground and the kinematic sensor measures torque at the joint member. A controller receives data from the pressure sensor and kinematic sensor and calculates a control signal based at least on the received data. An electrical motor receives the control signal and operates an actuator in accordance with the received control signal.
    Type: Grant
    Filed: July 17, 2013
    Date of Patent: May 16, 2017
    Assignee: Victhom Laboratory Inc.
    Inventor: Stéphane Bédard
  • Patent number: 9636270
    Abstract: A finger assist device is formed by rotatably connecting a plurality of units in a finger bending direction and a finger spreading direction. The unit is worn on a finger by nipping the finger with a nipping part from the pad and the back of the finger, and a drive force is controlled by detecting a first contact force between the finger pad and the nipping part and a second contact force between the finger back and the nipping part. Since the intention of the wearer of the finger assist device appears in the first contact force and the second contact force, the drive force of the finger assist device is appropriately controlled according to the wearer's intention, and thereby, bending and spreading of the finger may be appropriately assisted.
    Type: Grant
    Filed: March 10, 2014
    Date of Patent: May 2, 2017
    Assignee: Seiko Epson Corporation
    Inventor: Osamu Miyazawa
  • Patent number: 9545353
    Abstract: A method of operating an exoskeleton device includes: receiving sensor information; connecting a clutch system to a pulley system in; determining whether to engage a drive train gear to the clutch system based on the sensor information; engaging the drive train gear through the clutch system when determined to engage the drive train gear; and powering a first motor to drive the drive train gear for controlling a joint or segment of exoskeleton device.
    Type: Grant
    Filed: July 30, 2012
    Date of Patent: January 17, 2017
    Assignee: Leonis Medical Corporation
    Inventors: Jon Smith, Kern Bhugra
  • Patent number: 9433552
    Abstract: An electromotive walking assistance device includes a drive unit including a plurality of wheels and a motor for driving at least on portion of the plurality of wheels, a sensor unit sensing a distance from a user, a manipulation unit sensing a user's manipulation, and a controller controlling the motor based on a signal of the distance from the user and a signal of the user's manipulation.
    Type: Grant
    Filed: January 16, 2014
    Date of Patent: September 6, 2016
    Inventors: Yoonyoung Chang, Honggul Jun, Jaehark Park, Duksang Kim, Eulpyo Hong, Gyunghwan Yuk, Jungsik Kim, Byungju Dan, Hongsoo Park, Byeongrim Jo, Byunghoon Min, Sangho Yoon, Heuisik Seo
  • Patent number: 9375598
    Abstract: An upper extremity rehabilitation device includes: a base, a rotary shaft unit, a rotation drive unit, a brake unit, a linear move unit, a hand gripping assembly, a first and a second connecting rods. The rotary shaft unit is pivoted to the base. The rotation drive unit is disposed on the base and includes a drive portion connected to the first shaft portion. The brake unit includes an outer pipe disposed on the rotary shaft, and an inner pipe movably disposed in the outer pipe. The linear move unit includes a linear seat pivoted to the second shaft portion, and a linear platform movably disposed on the linear seat. The hand gripping assembly is disposed on the linear platform. The first connecting rod is pivoted to the brake unit. The second connecting rod is pivoted to the first connecting rod and the linear seat.
    Type: Grant
    Filed: February 9, 2015
    Date of Patent: June 28, 2016
    Assignee: Hiwin Technologies Corp.
    Inventors: Wei-Fan Lai, Fu-Han Hsieh
  • Patent number: 9333109
    Abstract: The present invention provides a motion assist apparatus capable of reducing the discomfort of a user that may be caused when a motion is assisted. A motion assist apparatus 1 has actuators 11, which apply a force for controlling the posture of the upper body of a user P through the intermediary of a second frame 14, a posture estimation sensor PS, which detects a posture angle ? of the upper body of the user P, a control unit C, which controls the actuators 11 to reduce a deviation d? of a posture angle ? from a reference posture angle ?0, and a trigger sensor TS, which detects the occurrence of a trigger event. The control unit C sets the posture angle at the time of the occurrence of the trigger event as the reference posture angle ?0.
    Type: Grant
    Filed: May 20, 2015
    Date of Patent: May 10, 2016
    Assignee: Honda Motor Co., Ltd.
    Inventors: Yasuhito Kuromiya, Hiroyuki Goto, Makoto Nakatsuka, Hideo Shimizu, Tatsuya Ishikawa
  • Patent number: 9254402
    Abstract: The present invention discloses a movement facilitative device, basically comprising a first fixing module, a second fixing module, an energy storing module and a switching module, wherein the first fixing module and the second fixing module are fixed on the first extremity and the second extremity of the animal respectively. The first fixing module is connected with the second fixing module. The present invention has the advantages of decreasing the force required by the muscles during the exercise as well as retarding the impact enforced thereon while the user is jogging or exercising. Furthermore, the switching module of the present invention minimizes the limitations to the movement of the user so as to let the user exercise more effortlessly.
    Type: Grant
    Filed: July 20, 2012
    Date of Patent: February 9, 2016
    Assignee: National Taiwan University of Science and Technology
    Inventors: Mau-Pin Hsu, Jheng-Ying Lin, Jia-Yang Liang
  • Patent number: 9216131
    Abstract: To provide a walking assist device which can apply torque to a knee joint at a suitable timing. A walking assist device includes an actuator, a reaction force sensor and an angle sensor. The walking assist device is fitted to a user's leg. The actuator is able to apply torque to a knee joint of one leg of the user. The reaction force sensor detects a reaction force that the foot of the one leg receives from the floor. The angle sensor detects a hip joint angle of the one leg around a pitch axis. The walking assist device specifies a timing to start applying the torque to the knee joint in a direction that swings the lower leg backward, based on the detected reaction force and the detected hip joint angle.
    Type: Grant
    Filed: November 13, 2009
    Date of Patent: December 22, 2015
    Inventors: Issei Nakashima, Shuhei Manabe
  • Patent number: 9199377
    Abstract: Provided are a method and system for extracting intended torque for a wearable robot. The method makes use of an angle or angular velocity of rotation of a motor driving a joint and an angle or angular velocity of rotation of a link connected to the joint, and includes a friction outputting process of outputting an estimated value of friction torque from the angle of rotation of the motor, a motor torque calculating process of calculating motor torque from the angular velocity of rotation of the motor, a link rotation calculating process of calculating the angular velocity of rotation of the link, and an intended torque calculating process of substituting the motor torque and the angular velocity of rotation of the link into a disturbance observer, and calculating an estimated value of the intended torque applied by a wearer.
    Type: Grant
    Filed: March 18, 2013
    Date of Patent: December 1, 2015
    Inventors: Su Jung Yoo, Woo Sung Yang
  • Patent number: 9173806
    Abstract: Examples of the present disclosure are related to systems and methods for controlling stimulation movement on a stimulation device. Specifically, embodiments are related to changing a stimulation pattern on a stimulation device responsive to bio feedback data associated with a user.
    Type: Grant
    Filed: September 11, 2014
    Date of Patent: November 3, 2015
    Assignee: Vibease Pte. Ltd.
    Inventors: Fnu Dematio, Kik Heong Gee
  • Patent number: 9155674
    Abstract: A chair utilizing self-weight traction consists of: a seat unit (10) which is arranged to swing about a horizontal shaft (14) installed on chair legs (12) and which has a seat plate (16) and a back plate 18; and a binding foothold (20) arranged below the seat unit (10) so as to bind a foot of a user. According to the present invention, the seat unit (10) of the chair swings backwardly about the horizontal shaft (14) using the body weight of the user, thus enabling the user to readily take a self-weight traction posture. Therefore, the user who works while seated and thus may have a high practical need for spinal stretching may simply stretch his/her spine even during work, without being restricted in time or space, leading to the effect of treating and preventing spinal disorders such as herniated lumbar disc and scoliosis caused by the long-term use of a chair.
    Type: Grant
    Filed: May 17, 2012
    Date of Patent: October 13, 2015
    Inventor: Mun Seok Kim
  • Publication number: 20150148714
    Abstract: A device for moving a knee joint in a body of a patient is provided. The device includes a first arm member coupled to a first leg support configured to support an upper portion of a leg of the patient, a second arm member coupled to a second leg support configured to support at least one of a lower portion of a leg and a foot of the patient, and a control assembly operatively connected to the first and second arm members and configured to selectively move the second arm member relative to the first arm member. The control assembly includes a first motorized drive assembly coupled to the first and second arm members and operable to drive movement of the second arm member relative to the first arm member and a second motorized drive assembly coupled to the first and second arm members and operable to drive movement of the second arm member relative to the first arm member.
    Type: Application
    Filed: February 4, 2015
    Publication date: May 28, 2015
    Inventors: Boris P. Bonutti, Peter M. Bonutti, Kevin Ruholl, Glen Phillips
  • Publication number: 20150133828
    Abstract: An exercise training apparatus 10 attached to a trainee who performs a body exercise training, includes movable bodies 11, 12, actuators 13, 14, change detecting means 15, 16 and a controlling means 25, the movable bodies 11, 12 having fixed members 11a, 12a which a part of a trainee's body is fixed to and exercising a trainee's extremities by rotating around shafts 19, 22, respectively, the change detecting means 15, 16 each detecting a physical quantity that changes depending on force applied to the fixed members 11a, 12a by a trainee, the controlling means 25, in response to a detection of a predetermined change in a physical quantity by the change detecting means 15, 16, driving the actuators 13, 14, rotating the movable bodies 11, 12 in a first direction and successively rotating the movable bodies 11, 12 in a second direction opposite to the first direction.
    Type: Application
    Filed: May 8, 2013
    Publication date: May 14, 2015
    Inventors: Kenji Hachisuka, Futoshi Wada, Taiji Oda, Yoshie Nakanishi, Ikuo Yamamoto, Takunori Tsuji, Hideyuki Sakoda
  • Publication number: 20150126911
    Abstract: A therapeutic apparatus is provided for periodic isotonic stretching of one or more muscles of a person or animal. A first orthotic brace is attachable to a first body part such as a leg or forearm and a fastening mechanism secures this brace to the body part. A second orthotic brace can be mounted on a second body part attached to the first body part. A brace connector pivotally connects the two braces and a linear actuator has an actuator rod mounted for movement into and out of the actuator body. A mounting device is attached to the actuator body for securing the actuator to the first brace. A holder connects the second orthotic brace to the actuator rod. A programmed controller can activate and control the actuator using a power supply such as an air pump. The controller operates the actuator in a repeating cyclical manner.
    Type: Application
    Filed: October 31, 2014
    Publication date: May 7, 2015
    Inventors: John Abramowicz, Lars Kristjansen