Massachusetts Institute of Technology

Sony Corporation

Xiborg Inc.

Ken Endo

Hugh Miller Herr

Lee Harris Magnusson

Michael Frederick Eilenberg

Pavitra Krishnaswamy

Jared Markowitz

Jing Wang

Hirozumi Takeshima

Prosthetic

Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.

Artificial joints using agonist-antagonist actuators

To propose a novel and improved actuator and artificial leg capable of miniaturizing an apparatus. An actuator () includes: a leaf spring () whose one end () is cantilevered, the leaf spring being capable of deflection deformation in a plate thickness direction in accordance with torque by transmitting the torque; and a support member () configured to support a part of the leaf spring on a deflection direction side in a case where the torque transmitted by the leaf spring is greater than a predetermined value.

Actuator and artificial leg

A neuromuscular model-based controller for a robotic limb having at least one joint includes a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop to determine at least one torque or impedance command to be sent to the robotic limb. One or more parameters that determine relation between feedback data and activation of the muscle model are adjusted consequent to sensory data from at least one of an intrinsic sensor and an extrinsic sensor. A controller in communication with the neuromuscular model is configured to receive the at least one torque or impedance command and controls at least one of position, torque and impedance of the robotic limb joint.

Neuromuscular model-based sensing and control paradigm for a robotic leg

There is provided a movement support apparatus including a lower limb coupling portion configured to be coupled to a lower limb, an elastic member, a ground contact unit configured to include a ground contact plate coming into contact with a surface and a transmission portion transmitting force generated by the elastic member, and an ankle portion configured to be installed between the lower limb coupling portion and the ground contact unit. The ground contact unit is installed to be displaceable between a position at which the transmission portion comes into contact with the ankle portion and a position at which the transmission portion is uncoupled from the ankle portion.

Movement support apparatus

Growing community of inventors

Tokyo, Japan

Ken Endo