Ekso Bionics, Inc.

Google Inc.

X Development LLC

Credence Systems Corporation

James Lubin

Russ Angold

Mario Solano

Tom Mastaler

Chris Paretich

Kurt Amundson

Matt Sweeney

Nicholas Fleming

Chris Meadows

Wayne H Miller

Nathan H Harding

James Alexander Stryker

Adam Zoss

Reuben Sandler

Justine Rembisz

Dylan Miller Fairbanks

Elmar Mair

Aaron Julin

Adam Preuss

Vincent Nabat

Taylor Heanue

Claudio Fantacci

Brandon Kinman

Byron David

Stefano Saliceti

Jonathan Evans

J Chase Kew

Ken Caluwaerts

Stuart M Firestone

Adam Pruess

Kevin Dacey

Claire Cunningham

Dylan Fairbanks

In various implementations a removable appendage of a robot can allow for stable pitch and yaw, while mitigating interference with other movements of the robot. A neck of the robot can include at least two linear actuators, each coupled to a rod that is driven to move linearly from the linear actuators. An appendage of the robot can be coupled to the neck. The appendage can include a at least two tracks, where each track receives an end of the rods to slidably engage the rod.

Robot appendage actuation

A tool-holding arm includes a plurality of links and a tool coupling that removably secures a tool to the tool-holding arm. A first fluid spring provides a gravity-counteracting force to the tool-holding arm. A locking mechanism selectively locks the first fluid spring. An adjustment mechanism selectively adjusts an amount of the gravity-counteracting force provided by the first fluid spring.

Control mechanisms and methods of tool-holding arm for exoskeletons

A docking station is provided that includes at least one component configured to couple to a robot and an identification surface. The identification surface includes a first curvature that varies at a first substantially constant rate of change along a first dimension the identification includes a second curvature that varies at a second substantially constant rate of change along a second dimension. The second dimension is orthogonal to the first dimension. The identification surface includes a third curvature that varies at a third substantially constant rate of change along a third dimension. The third dimension is orthogonal to the first dimension and the second dimension.

Robot docking station identification surface

An exoskeleton includes a first link that pivots in a transverse plane about a first vertical axis and a second link that pivots in a transverse plane about a second vertical axis. The second link is coupled to the first link. An arm support assembly is coupled to the second link and pivots about a horizontal axis. The arm support assembly includes a spring that generates an assistive torque that counteracts gravity. The arm support assembly provides the assistive torque to an arm of a wearer to support the arm of the wearer. The arm support assembly further includes a cam profile and a cam follower. Contact between the spring, cam follower and cam profile determines an amount of the assistive force provided by the arm support assembly. A cuff is coupled to the arm support assembly and the arm of the wearer.

Exoskeleton and method of providing an assistive torque to an arm of a wearer

A tool arm mount couples a tool arm to an aerial work platform. The tool arm mount includes a first mounting hook that hangs on a first rail of the aerial work platform and a second mounting hook that hangs on a second rail of the aerial work platform. The first mounting hook defines a first channel in which the first rail is received, and the second mounting hook defines a second channel in which the second rail is received. The first and second mounting hooks are coupled to a spine of the tool arm mount. The tool arm mount also includes a first lock that locks the first mounting hook to the first rail.

Tool arm mount for aerial work platform

An exoskeleton includes strapping for coupling the exoskeleton to a wearer. The exoskeleton also includes a hip structure, a thigh link rotatably connected to the hip structure and a shank link rotatably connected to the thigh link. The weight of the exoskeleton is transferred to a surface on which the exoskeleton is standing through the hip structure, the thigh link and the shank link. An arm brace supports an arm of the wearer, and a telescopic link is rotatably connected to the arm brace. An energy storage device delivers power to a tool through a conduit, and a conduit-energy storage device coupling connects the conduit to the energy storage device.

Human exoskeleton devices for heavy tool support and use

An exoskeleton can be reconfigured, adjusted and/or controlled on the fly utilizing devices which fall into three categories, particularly including a swappable unactuated leg, lockable transverse and coronal hip rotations, and software controlled free joints. More specifically, the first device allows for the creation of a modular joint system in which individual exoskeleton joints or limbs can be changed or swapped to optimize an exoskeleton for a particular user. The second device is concerned with mechanically controlling, such as locking and unlocking, joints thereby allowing, for example, an exoskeleton leg to pivot or not pivot in an axis that is not actuated. The third device allows an actuated exoskeleton joint to be adjusted on the fly using software to simulate a freely rotating joint. The various devices can be used either alone or in combination to enable any given exoskeleton to be appropriately reconfigured, such as when a patient advances during therapy.

Reconfigurable exoskeleton

A product change tool for selectively engaging a product change element with an IC tester interface and disengaging the product change element from the tester interface includes a mobile frame mounted to a base frame and constrained to move relative to the base frame along an axis of linear movement, and a force mechanism for urging the mobile frame to move along the axis of linear movement relative to the base frame. The force mechanism includes first and second links pivotally connected together at their proximal ends and secured at their distal ends to the mobile frame and the base frame respectively. The distal ends of the links are spaced apart along the axis of linear movement and the proximal ends of the links are between the distal ends relative to that axis. An actuator is coupled to the proximal ends of the links for urging the proximal ends of the links in directions transverse to the axis of linear movement, whereby the spacing of the distal ends of the links along the axis changes and the mobile frame moves relative to the base frame along the axis.

Integrated circuit tester

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Oakland, CA, United States of America

James Lubin