1974 results about "Exoskeleton" patented technology

Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.

An exoskeleton worn by a human user consisting of a rigid pelvic harness worn about the waist of the user and exoskeleton leg structures each of which extends downwardly alongside one of the human user's legs. The leg structures include hip, knee and ankle joints connected by adjustable length thigh and shin members. The hip joint that attaches the thigh structure to the pelvic harness includes a passive spring or an active actuator to assist in lifting the exoskeleton and said human user with respect to the ground surface upon which the user is walking and to propel the exoskeleton and human user forward. A controllable damper operatively arresting the movement of the knee joint at controllable times during the walking cycle, and spring located at the ankle and foot member stores and releases energy during walking.

A background subtraction apparatus of the present invention includes a key point locator for locating key points on a known object type, a boundary point locator for locating boundary points of the known object that make up the edges of the known object, and an edge processor for processing the edges to provide a clean-edged extraction of the known object from a background image. Preferably, the key point locator includes an alignment detector for detecting alignment of an image of the known object type with a skeleton image. Still more preferably, the skeleton image is an exoskeleton image and the known object type is a human being.

A human-computer interface system having an exoskeleton including a plurality of structural members coupled to one another by at least one articulation configured to apply a force to a body segment of a user, the exoskeleton comprising a body-borne portion and a point-of-use portion; the body-borne portion configured to be operatively coupled to the point-of-use portion; and at least one locomotor module including at least one actuator configured to actuate the at least one articulation, the at least one actuator being in operative communication with the exoskeleton.

Apparatus for a CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm with a base end and a probe end, and an Exoskeleton driving the Internal CMM Arm through a plurality of transmissions. One or more contact probes, optical probes and tools are mounted on the probe end. The CMM Arm with Exoskeleton is provided in manually operable and automated embodiments. The CMM Arm with Exoskeleton is operable for accurate measurement or for performing accurate operations. Methods are provided for operation of the CMM Arm with Exoskeleton.

A robot system including a robot, an operator control center and having a communication system connecting the robot and control center wherein an operator in the control center responds with natural movements to stimulus signals from the robot environment by issuing commands that control the robot. In one embodiment, the operator occupies a command chair with an exoskeletal arm that is secured to the "shoulder" (backrest) of the chair. The operator slides his hand into a glove of the invention attached to the end of the exoskeletal arm. He views the robot environment through a video screen and exerts control in response to views presented on the screen. The communication system sends signals to the operator glove in response to conditions at the robot site prompting the operator to take appropriate action.

The invention relates to an arm exoskeleton comprising a moving system of joints placed in parallel with the joints of the human arm, the exoskeleton comprising a shoulder exoskeleton, an elbow exoskeleton, and a wrist exoskeleton. In all, the exoskeleton has sixteen joints providing sixteen degrees of freedom. A support worn on the torso of a human operator comprises a rigid front plate and a rigid back plate. The shoulder exoskeleton has its proximal end fixed to the front plate, whereby the front plate provides a fixed reference for all movements of the exoskeleton, and the wrist exoskeleton is fixed to a rigid glove worn on the hand of the operator. Active joints are controlled by flexible cable tendons bridging the exoskeleton, said tendons themselves being actuated by control units disposed on the rigid back plate. Inflatable cushions prevent the wrist exoskeleton and the shoulder exoskeleton from moving relative to the arm of the operator. The invention is applicable in particular to remotely controlling a robot in space.

The present invention relates to an exoskeleton interface apparatus that parallels human arm motion and is comprised of a serial assemblage of five powered linkages and joints based at a rigid support structure worn on the torso of the human subject. Such apparatus generates shoulder rotation using three orthogonal revolute joints mounted on serial linkages encompassing and intersecting at the anatomical glenohumeral joint. Elevation of the shoulder joint is articulated using a link member driven by a single revolute joint mounted in the torso structure. Passive adjustable linkages are used to match variation in anatomical forearm length, upper arm length, and scapula-to-glenohumeral radius. A plurality of integrated dc motor / harmonic drive transmission modules is co-located on adjoining linkages to power the joints. Force is exchanged with the human at the handgrip and elbow brace, and reacted to the torso structure via the base attachment. The present invention is applicable in particular to rehabilitation of the shoulder.

The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

Generally described the invention relates to methods and apparatuses for aligning the lower extremities of a patient with a mechanical axis. More specifically, the present invention provides an exoskeleton or external framework that positions a patient's leg into a desired mechanical axis in preparation for surgery or other medical treatment.

A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.

An exoskeleton bracing system includes: a trunk support for affixing to the trunk of a disabled person and leg braces for connecting to the legs of the person, each leg brace including limb segment braces. Motorized joints are adapted to provide relative angular movement between the limb segment braces of the leg braces and between the leg braces and the trunk support. One or more ground force sensors are designed to sense ground force exerted on each of the leg braces. The system also includes a controller for receiving sensed signals from said one or more ground force sensors, with an algorithm for identifying a stance from the sensed signals and, based on the identified stance, actuating the motorized joints to perform an action relating to a mode of locomotion selected from a set of predefined actions corresponding to the identified stance.

A supportive, lightweight athletic shoe construction is described which includes an inflatable upper and a sole. The upper includes a foot conforming support member, an inflatable exoskeleton and an overlay which inhibits outward bulging of the exoskeleton. The sole includes a rigid carrier element, a forefoot unit and a heel unit. The forefoot unit includes a plurality of components which are arranged to work with the biomechanics of the foot. The athletic shoe is structurally minimalistic and functionally efficient.

The present invention relates to an apparatus for a Robust CMM Arm with Exoskeleton is provided comprising an Internal CMM Arm and an Exoskeleton driving the Internal CMM Arm through a plurality of transmission means such that one or more internal volumes are sealed against ingress of solid objects and fluids. It also relates to a haptic control of an RCA.

An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably via over-shoulder members configured to support a load in front of the person. In use, hip torque generators create torque between the exoskeleton trunk and respective leg supports in the stance phase, wherein at least one torque generator is configured to create a first torque between the exoskeleton trunk and one of the first and second leg supports in the stance phase opposing a second torque generated on the exoskeleton by a weight of the load. Load bearing sensors may be utilized to determine the torque generated by the load and communicate with a controller to control power to the torque generators.

The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and the thigh link. The lower extremity exoskeleton further comprises an exoskeleton trunk connectable to the person'supper body. The exoskeleton trunk is connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. Two torque generators are coupled to each of the knee joints. A power unit, capable of providing power, is coupled to the torque generators. In operation when a leg support is in a stance phase and climbing a slope or stairs, the power unit injects power into the respective torque generator thereby extending the respective knee angle. When a leg support is in stance phase and not climbing a slope or stairs, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to resist flexion of the respective knee joint. When a leg support is in a swing phase, the power unit does not inject any power to the respective torque generator, but without dissipating any stored power in said power unit, it forces the torque generator to minimize its resistance to knee flexion and extension.

The invention provides a wearable exoskeleton lower limb rehabilitation robot, which comprises a foot exoskeleton, an ankle exoskeleton, a shank exoskeleton, a knee exoskeleton, a thigh exoskeleton, a hip joint exoskeleton and a waist exoskeleton, wherein the ankle exoskeleton is connected with the foot exoskeleton, the shank exoskeleton is connected with the ankle exoskeleton, the knee exoskeleton is connected with the shank exoskeleton, the thigh exoskeleton is connected with the knee exoskeleton, the hip joint exoskeleton is connected with the thigh exoskeleton, and the waist exoskeleton is connected with the hip joint exoskeleton. A harmonic speed reducer is used to drive, a disc type electric machine is utilized, so the zero rotation error as well as the well fit between the drive and the joints of patients are realized, the wearable exoskeleton lower limb rehabilitation robot can be driven by a battery which is fixed at the back of the patients, so the problem of the limit movement range of the traditional rehabilitation devices is solved, and the invention has the characteristic of portability.

A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each knee joint is configured to allow flexion and extension between the respective shank link and the respective thigh link. The lower extremity exoskeleton also comprises an exoskeleton trunk configurable to be coupled to the person's upper body. The exoskeleton trunk is rotatably connectable to the thigh links of the leg supports allowing for the flexion and extension between the leg supports and the exoskeleton trunk. In this exemplary embodiment, the energy required for flexion and extension movement between the shank link and the respective thigh link of a leg support over a cyclic knee motion is provided by the person.

A system and method for the repair of damaged tissue and bones, congenitally missing tissue / cosmetic reconstruction of tissue is described. The system has a layered porous structure with a sufficiently large area of exposed pores to promote neo-vascularization as well as bone and tissue formation. The disclosed porous implant system can contain bioactive agents necessary for rapid tissue formation and keep ingrowth of unwanted tissue out of the implant surgical site. The implant can be reinforced with an additional, stronger polymer layer and / or may include an endoskeleton or exoskeleton for dimensional stability.

A lower extremity exoskeleton, configurable to be coupled to a person, includes: leg supports configurable to be coupled to the person's lower limbs and designed to rest on the ground during stance phases, with each leg support having a thigh link and a shank link; two knee joints, each configured to allow flexion and extension between respective shank and thigh links; an exoskeleton trunk configurable to be coupled to the person's upper body, rotatably connectable to the thigh links of the leg supports, allowing for the flexion and extension between the leg supports and the exoskeleton trunk; two hip actuators configured to create torques between the exoskeleton trunk and the leg supports; and at least one power unit capable of providing power to the hip actuators. In use, power is supplied to the hip actuators in an amount to reduce the energy consumed by a user during a walking cycle.

The present invention concerns a double-skinned inflatable bottle blank and its method of manufacturing which comprises: (i) stacking two sheets of liquid impermeable, flexible foil material, preferably in coplanar arrangement; (ii) blanking the sheets to create respective, preferably shape-congruent blanks having each a contoured perimeter edge; (iii) bonding the two blanks along joining seams that follow the contoured perimeter edges, but for at one or more inflation locations, thereby to define a double skinned blank into which an inflating fluid can be introduced through the inflation location; (iv) additionally bonding the two blanks at a plurality of discrete stiffening seams which are arranged in a predetermined grid or pattern thereby defining a grid-work of intersecting, inflatable stiffener structures in at least such part of the double skinned blank which will provide an upstanding peripheral wall of the bottle when erected through inflation; (v) folding the double skinned blank; and (vi) selectively bonding together portions of the joined perimeter edge of the double skinned blank, but for at a predetermined filling / dispensing location, to define a double-skinned, inflatable bottle blank with an internal cavity surrounded by a bottom wall for standing the bottle upright, said peripheral wall and a top wall, the filling / dispensing location located preferentially in the top wall such as to define a dispensing orifice for filling and dispensing liquid into and from the internal cavity, the inflatable stiffener structures providing an exoskeleton about the internal cavity when inflated.

A lower extremity exoskeleton includes: at least one power unit; two leg supports designed to rest on the ground; two knee joints configured to allow flexion and extension between respective shank and thigh links of the leg supports; an exoskeleton trunk rotatably connectable to the leg supports; and two hip actuators configured to create torques between the exoskeleton trunk and the leg supports. In use, the hip actuators create a torque to move the leg supports backward relative to the exoskeleton trunk during a stance phase, which pushes the exoskeleton trunk forward. A second torque may be used to move the leg supports forward relative to the exoskeleton trunk into a swing phase. Additionally, a swing torque may be generated during the swing phase to move the leg support forward relative to the exoskeleton trunk. This results in decreased oxygen consumption and heart rate of a user wearing the exoskeleton.

The invention discloses a wearable lower limb exoskeleton walking-assisted robot, which comprises an ankle joint motion module, a knee joint motion module, a hip joint motion module, a drive module and a waist and supporting frame module, wherein the knee joint motion module is connected with the ankle joint motion module and the hip joint motion module respectively; the drive module is connected with the knee joint motion module and the ankle joint motion module respectively; and the hip joint motion module is connected with the waist and supporting frame module. During the walking period of the robot, the consistency of hip joint motion and human body motion is good, the coaxiality and the position deviation of the knee joints of a human body and the robot are small, and the ankle joint is compact in structure.

A multi-layered microcapsule has an inner extracellular matrix and an outer shell. The inner extracellular matrix includes a first inner layer of biopolymer and a second intermediate layer of polymer that provides partial immune-protection and holds the first layer in place. The outer shell can form an exoskeleton to provide mechanical stability. Each of the individual layers can be varied to optimize mechanical stability, cell function, and immuno-protection.

The invention provides a five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy. The strategy comprises two training patterns corresponding to the different recovery period of a patient, i.e. a passive interactive recovery training control strategy and an active-auxiliary interactive recovery training control strategy; during passive movement, a surface myoelectric signal of relevant muscles on a healthy upper limb of a patient is picked up and taken as the movement intention of the patient, thereby controlling a robot to drive a diseased side to realize movement passive training; during active movement, the movement intention of an upper limb of a human body is judged through acquiring in real time the arthrosis force moment generated by a diseased limb acting on the robot during movement, and an applied force is converted into the velocity quantity of the tail end of a mechanical arm by means of a proportional controller, thereby driving the robot to follow the intention so as to carry out recovery active-auxiliary training of the diseased limb. The five-degree of freedom exoskeleton-type upper limb recovery robot interactive recovery training control strategy can provide all-around recovery training movement for a clinic hemiplegia patient, thereby increasing the activeness of the patient in recovery training and the confidence of the patient in recovery; meanwhile, the recovery training control strategy also increases the attractiveness of a recovery process and promotes recovery efficacy.

A control system for controlling an exoskeleton worn by a user and having one or more actuators associated with various body members of the exoskeleton each corresponding to a body part of the user. The control system comprises a user interface for receiving input data indicative of a desired movement sequence, a memory component for storing pre-programmed movement data indicative of one or more sequential instructions required to effect the movement sequence, each instruction being associated with relative actuator movements for performing the instruction, and an actuator controller for moving the one or more actuators according to the relative actuator movements for each instruction. The control system also comprises a terrain sub-system for adjusting the actuator movements upon detection of a change in terrain slope and a balance control sub-system for periodically adjusting the balance of the exoskeleton during relative movement of the one or more actuators.

The present invention relates to an exoskeleton interface apparatus that parallels human arm motion and is comprised of a serial assemblage of five powered linkages and joints based at a rigid support structure worn on the torso of the human subject. Such apparatus generates shoulder rotation using three orthogonal revolute joints mounted on serial linkages encompassing and intersecting at the anatomical glenohumeral joint. Elevation of the shoulder joint is articulated using a link member driven by a single revolute joint mounted in the torso structure. Passive adjustable linkages are used to match variation in anatomical forearm length, upper arm length, and scapula-to-glenohumeral radius. A plurality of integrated dc motor / harmonic drive transmission modules is co-located on adjoining linkages to power the joints. Force is exchanged with the human at the handgrip and elbow brace, and reacted to the torso structure via the base attachment. The present invention is applicable in particular to rehabilitation of the shoulder.

The invention discloses a lower limb exoskeleton rehabilitation robot in the technical field of medical equipment. The lower limb exoskeleton rehabilitation robot comprises an ankle joint motion module, a knee joint motion module, a hip joint motion module, a hip and support module and a crutch module, wherein one end of the knee joint motion module is connected with the ankle joint motion module, and the other end of the knee joint motion module is connected with the hip joint motion module; the hip and support module is connected with the hip joint motion module; and the crutch module is independent of an exoskeleton body. The lower limb exoskeleton rehabilitation robot can help patients who suffer from paraplegia stand up and walk, and the bend and stretch motion of a knee joint and a hip joint is controlled by collecting contact information of a crutch and the ground so as to help the patients to stride; and an oppositely-pulled spring of the knee joint can help to reduce impact from the ground, so that patients can walk comfortably, and the efficiency of rehabilitation training is improved.