Means For Passive Movement Of Disabled Extremity To Return Natural Range Of Motion Patents (Class 601/5)
  • Patent number: 11369541
    Abstract: A device for muscle strength support includes a flexible support structure configured to be worn on a body of a user during use of the device and an actuator unit configured to exert a tensile force on a first tension member of the flexible support structure to support the muscle strength during a movement of a first body part. The first tension member extends along a first path through a guide strap of the flexible support structure to the actuator unit, the guide strap limiting a section of the first path in a direction perpendicular to a path longitudinal direction. The first tension member is further configured to be attached to the first body part during use of the device by a first fastening member.
    Type: Grant
    Filed: November 20, 2017
    Date of Patent: June 28, 2022
    Assignee: EXOIQ GMBH
    Inventors: Robert Weidner, Jens Peter Wulfsberger, Zhejun Yao
  • Patent number: 11344465
    Abstract: An elbow joint rehabilitation system and an elbow joint rehabilitation method are provided. The elbow joint rehabilitation system includes a support member, a motor, a torque sensing unit, a first electromyography sensor, a second electromyography sensor and a motor control device. In the elbow joint rehabilitation method, the support member is configured to support an arm of a patient. Thereafter, the torque sensing unit is configured to sense the torque applied on the support member to obtain a sensed arm torque signal. Then, the first electromyography sensor and the second electromyography sensor are configured to sense the muscle activities of biceps and triceps of the patient to obtain electromyography signals. Thereafter, the motor is controlled to drive the support member to perform rehabilitation in accordance with the sensed arm torque signal, the electromyography signals and a current support member position provided by the motor.
    Type: Grant
    Filed: April 26, 2019
    Date of Patent: May 31, 2022
    Assignee: METAL INDUSTRIES RESEARCH & DEVELOPMENT CENTRE
    Inventors: Bo-Wei Pan, Sheng-Hong Yang, Ping-Yi Hsieh, Jian-Jia Zeng, Tzyy-Ker Sue
  • Patent number: 11337881
    Abstract: A control system and method for an exoskeleton is provided. The control system utilizes the admittance control paradigm to provide a system and method for manipulating the exoskeleton using minimal force from the user. A force/torque sensor and servo motors are fitted onto a passive arm support, enabling motorized support for a user with upper extremity weaknesses. The exoskeleton may be used on any extremity. The admittance control paradigm includes an impedance control and an admittance control to allow a user with upper extremity weakness and limited independence to intuitively and with minimal force control the precise trajectory of their arms to achieve a greater degree of independence in activities of daily living. Unlike existing passive arm supports that utilize springs or rubber bands to balance the user's arm against gravity, this system provides more precise gravity compensation and minimizes the amount of force required to control the exoskeleton.
    Type: Grant
    Filed: August 21, 2018
    Date of Patent: May 24, 2022
    Inventors: Madeline Corrigan, Richard Foulds
  • Patent number: 11331239
    Abstract: A power assistive device (100) 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 (100) includes a hand brace (102) and a base (104). The hand brace (102) includes finger driving units (206) that adjustably connect to a platform (202, 204), actuators (208) that connect to the finger driving units (206), and force sensors (232) that connect to the finger driving units (206) and the bottom of the hand brace (102) and detect force signals generated by movement of the hand brace (102).
    Type: Grant
    Filed: November 24, 2017
    Date of Patent: May 17, 2022
    Assignee: REHAB-ROBOTICS COMPANY LTD.
    Inventors: Kam Fai Michael Tsui, Haris Begovic, Pui Yung Tsui, Wai Chiu Or, Pak Hin Leung
  • Patent number: 11324654
    Abstract: A rehabilitation device includes a first support unit adapted to support palms of a rehabilitation patient; a second support unit which is provided in one side of the first support unit and adapted to support fingers of the rehabilitation patient; a driving unit which moves the second support unit toward a direction of a back of a hand of the rehabilitation patient; and a joint unit which allows the first support unit to be tilted as the second support unit moves.
    Type: Grant
    Filed: September 5, 2019
    Date of Patent: May 10, 2022
    Assignee: LEADERS REHAB ROBOT
    Inventors: Yeung Ki Kim, Ki Beom Kim
  • Patent number: 11298285
    Abstract: A powered exoskeleton is designed to provide assistance to a user, where the powered exoskeleton may have power-generating elements in one location and power-applying elements in another location, so that a user can easily wear the powered exoskeleton.
    Type: Grant
    Filed: March 14, 2019
    Date of Patent: April 12, 2022
    Assignee: ARIZONA BOARD OF REGENTS ON BEHALF OF NORTHERN ARIZONA UNIVERSITY
    Inventor: Zachary F Lerner
  • Patent number: 11278786
    Abstract: A patient support apparatus includes a controller having a processor and a memory. The memory may have instructions stored therein related to an exercise regimen for a patient. A graphical user interface may be provided. The controller may be configured to display an alert on the graphical user interface when the patient requires exercise. User inputs may be displayed on the graphical user interface to enable a caregiver to record exercises completed by the patient.
    Type: Grant
    Filed: August 28, 2019
    Date of Patent: March 22, 2022
    Assignee: Hill-Rom Services, Inc.
    Inventor: Timothy A. Lane, II
  • Patent number: 11262844
    Abstract: A rehabilitation system includes: a rehabilitation robot configured to execute corresponding actions according to motion instructions; a brain wave detector configured to detect brain wave signals of a user; and control device configured to generate motion instructions according to brain wave signals to control the rehabilitation robot to execute corresponding actions.
    Type: Grant
    Filed: March 5, 2018
    Date of Patent: March 1, 2022
    Assignee: BOE TECHNOLOGY GROUP CO., LTD.
    Inventor: Yingyi Li
  • Patent number: 11207014
    Abstract: Automatic electromyography (EMG) electrode selection for robotic devices is disclosed. A plurality of signals from a corresponding plurality of sensors coupled to a skin of a user is received. For each pair of at least some pairs of the plurality of sensors, a sensor pair signature is generated based on differences in signals that are generated by the respective pair of sensors. Each of the sensor pair signatures is compared to a predetermined sensor pair signature to identify a particular pair of sensors. A signal difference between two signals generated by the particular pair of sensors is subsequently utilized to generate a command to drive a motor.
    Type: Grant
    Filed: August 29, 2018
    Date of Patent: December 28, 2021
    Assignee: Lockheed Martin Corporation
    Inventor: Gavin A. Barnes
  • Patent number: 11198213
    Abstract: A flexible driver, a robot joint, a robot and an exoskeleton robot, the transmission mechanism including an active rotating member, a driven rotating member and a rope, which form a rope drive relationship; wherein, the rope is tightly wound around rotating surfaces of the active rotating member and the driven rotating member, and a rotational central axis of the active rotating member is perpendicular to a rotational central axis of the driven rotating member. An output end of the driving mechanism is connected to the active rotating member, to drive rotation of the active rotating member. The output mechanism includes a flexible driving part, and an output part which is used for connecting to an external actuator. The driven rotating member drives rotation of the output part through the flexible driving part. The flexible driver drives flexibly the actuator through a compact structure as well as reliable and high-efficient transmission.
    Type: Grant
    Filed: August 7, 2017
    Date of Patent: December 14, 2021
    Assignee: SHENZHEN MILEBOT ROBOTICS CO., LTD.
    Inventors: Gong Chen, Jing Ye, Feng Hu
  • Patent number: 11160715
    Abstract: Provided are a support rehabilitation training robot and an operation method thereof. The support rehabilitation training robot includes a crawler-type walking machine, a pedestal, a lifting lead screw mechanism, a manipulator and a counterweight mechanism. The manipulator includes a shoulder joint, a revolute joint, an elbow joint and a wrist joint. Each of the joints includes a motor, a harmonic reducer and an output terminal.
    Type: Grant
    Filed: February 28, 2017
    Date of Patent: November 2, 2021
    Inventor: Chunbao Wang
  • Patent number: 11135120
    Abstract: Examples of a device for guiding and detecting a motion of a target joints and a motion assistance system such motion guiding devices are described. The motion guiding and detecting device comprises a motion generator and a motion transfer and target interfacing unit to transfer the motion generated by the motion generator to the target joint. The system further includes a motion detection and feedback unit that interfaces with the target, and a controller that interfaces with both the feedback unit and the motion generator to control and coordinate the motion of the motion generator and the target joint.
    Type: Grant
    Filed: January 16, 2017
    Date of Patent: October 5, 2021
    Assignee: HUMAN iN MOTiON RObOTiCS INC.
    Inventors: Siamak Arzanpour, Soheil Sadeqi, Shaun Bourgeois, Jung Wook Park
  • Patent number: 11135122
    Abstract: Examples of a self-supported device for guiding motions of a target joint of a target body are disclosed. The device comprises a motion generator, a motion transfer system, a target body interfacing system, a load bearing system and a controller. The load bearing system comprises a plate connected to the motion transfer system and a network of joints and links configured to constrain the plate to rotate in three dimensions about a center of rotation of the load bearing system. A position of the center of rotation of the load bearing system being adjustable by adjusting a connection point between the links. The plate of the load bearing system is connected to an adjustable target body interfacing system that is configured to be mounted to the target body. The center of rotation of the load bearing system coincides (or nearly coincides) with a center of rotation of the target joint of the target body.
    Type: Grant
    Filed: May 13, 2019
    Date of Patent: October 5, 2021
    Assignee: Human in Motion Robotics Inc.
    Inventors: Siamak Arzanpour, Jung Wook Park, Liam Page, Hossein Dehghani, Nikita Bazhanov
  • Patent number: 11110024
    Abstract: Upper arms are fixed to drive shafts of a pair of drive sources at or near respective left and right hip joints. The upper arms are coupled to an upper body trunk harness by first passive rotary shafts via third passive rotary shafts, and are mounted to a lower body trunk harness by a mounting device. Lower arms are fixed to drive source bodies, and are coupled to thigh harnesses by second passive rotary shafts via fourth passive rotary shafts. The first and second passive rotary shafts and third and fourth passive rotary shafts are angularly displaceable about axial lines in a lateral direction of the wearer and axial lines in an anteroposterior direction of the wearer, respectively. An acceleration/angular speed sensor fixed to the lower body trunk harness detects an acceleration of the body trunk in a vertical direction by landing of a foot.
    Type: Grant
    Filed: July 27, 2017
    Date of Patent: September 7, 2021
    Assignee: POWER ASSIST INTERNATIONAL CORPORATION
    Inventor: Eiichi Yagi
  • Patent number: 11103369
    Abstract: An artificial leg motion assisting apparatus and an artificial leg motion assisting method which are capable of transmitting knee joint motive power to a commercially-available trans-femoral prosthesis without making a wearer feel a sense of discomfort. When the artificial leg motion assisting apparatus is attached to the commercially-available trans-femoral prosthesis, a control unit controls a drive unit by a specified control method on the basis of mechanical impedance adjusted by an impedance adjustment unit and transmits output of the drive unit to a knee joint coupling.
    Type: Grant
    Filed: March 17, 2017
    Date of Patent: August 31, 2021
    Assignees: CYBERDYNE INC., UNIVERSITY OF TSUKUBA
    Inventor: Yoshiyuki Sankai
  • 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
    Assignee: VANDERBILT UNIVERSITY
    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
    Assignee: COMMISSARIAT A L ENERGIE ATOMIQUE ET AUX ENERGIES ALTERNATIVES
    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
    Assignees: CYBERDYNE INC., UNIVERSITY OF TSUKUBA
    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
    Assignee: NATIONAL CHENG KUNG UNIVERSITY
    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
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    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
    Assignees: TOYOTA JIDOSHA KABUSHIKI KAISHA, TOYOTA SCHOOL FOUNDATION
    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: 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
    Assignee: DISNEY ENTERPRISES, INC.
    Inventors: Sehoon Ha, Alexander Nicholas Alspach, Joohyung Kim, Katsu Yamane, Stelian Coros
  • 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: 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
    Assignee: PANASONIC INTELLECTUAL PROPERTY MANAGEMENT CO., LTD.
    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