Ekso Bionics, Inc.

David Scheinman

Kurt Amundson

Tim Swift

Russdon Angold

Jonathan M Beard

Russ Angold

Robert Moore

Daniel P Norboe

Kyle Edelberg

The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.

Hydraulic actuator system

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San Francisco, CA, United States of America

David Scheinman