Ekso Bionics, Inc.

University of California

Lockheed Martin Corporation

Berkeley Bionics

Russdon Angold

Nathan H Harding

Kurt Amundson

Homayoon Kazerooni

Adam Zoss

Nicholas Fleming

Matthew Sweeney

Robert Moore

Jon William Burns

Tim Swift

Reuben Sandler

Adam Preuss

Katherine Strausser

Jonathan M Beard

Chris Paretich

Daniel P Norboe

Mario Solano

Chris Meadows

Jared Jones

Mike Hughes

Renata Smith

Brett Jaeger

Niel McCaffrey

Mark Fiedler

Thomas Mastaler

Dan Brown

Duane Edmonds

Katherine Calvert

Kelly Mettler

Jeff Vickers

Bradley Roan

David Scheinman

Kyle Edelberg

Scott Garrett

Adam Brian Zoss

Nathan Herbert Harding

Niel Mccaffrey

Matthew D Sweeney

A positionable tool support device is mounted near a work surface for supporting a tool for a user. The tool support device includes a surface mount to secure the tool support device to a support surface. A gravity-balancing articulated arm assembly is coupled to and extends from the surface mount. The gravity-balancing articulated arm assembly is selectively adjustable about both vertical and horizontal axes. A rigid support extension is coupled to the gravity-balancing articulated arm assembly for selective rotation relative to the gravity-balancing articulated arm assembly. A flexible tensile member is coupled to and extends, in a relaxed state, vertically downward from the rigid support extension. The tensile member is coupled to the tool.

Devices for the support of tools

A first exoskeleton is in communication with a central server or a peripheral device. The first exoskeleton collects first data and transmits the first data to the central server or peripheral device. The central server or peripheral device generates second data using the first data and transmits the second data to the first exoskeleton or a second exoskeleton.

Methods of exoskeleton communication and control

An exoskeleton configured to be coupled to a user includes a plurality of interconnected support elements constituted by rigid compression members interconnected through a tensegrity joint. The joint includes a tensile member having a first end and a second end coupled to first and second ones of the support elements respectively.

Exoskeleton and method of increasing the flexibility of an exoskeleton joint

A lower extremity orthosis is configured to be coupled to across at least one joint of a person for gait assistance and can incorporate knee, thigh, hip and ankle/foot assistive orthotic devices which can be used in various combinations to aid in the rehabilitation and restoration of muscular function in patients with impaired muscular function or control.

Machine to human interfaces for communication from a lower extremity orthotic

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

An exoskeleton includes first and second compression members configured to be coupled to a wearer of the exoskeleton. A tensegrity joint connects the first compression member to the second compression member, the joint including a tensile member having a first end and a second end. The first end is coupled to the first compression member on a first side of the joint, and the second end is coupled to the first compression member on a second side of the joint opposite the first side.

Universal tensegrity joints for human exoskeleton

A gait orthotic device, such as a powered exoskeleton, includes at least one joint; at least one actuator configured to cause movement of the device at the joint; a cushioning mechanism coupled to the device for absorbing energy or spreading a force during an impact with a surface or object; and a controller. The controller is configured to determine when a fall is occurring and direct the actuator to: orient the device so the cushioning mechanism makes contact with the surface or object during the fall; or reduce a kinetic energy of the device during the fall by performing positive joint work. The cushioning mechanism can take various forms, including an airbag, a spring, a bumper, a roll bar or a kickstand. Preferably, the cushioning mechanism is an airbag in the form of an airbag module that is detachably coupled to the device for removal and replacement.

Gait orthotic device and method for protecting gait orthotic device and user from damage

An exoskeleton device provides for selectively adjusting an exoskeleton hip pivot/pivot position in the sagittal plane relative to the position of the hip pivot of a wearer of the exoskeleton. The exoskeleton hip pivots/pivot positions can be shifted forward or rearward relative to the hip pivots of the wearer and can either be automatically actuated by an exoskeleton control system or manually adjusted by the exoskeleton wearer. The invention particularly allows for differential hip placement in order to compensate for changing load or actuation conditions.

Non-anthropomorphic hip joint locations for exoskeletons

An exoskeleton comprises a torso brace, configured to be coupled to a torso of a user, and a leg support, configured to be coupled to a leg of the user. A plurality of links couples the torso brace to the leg support. The plurality of links includes a first link, coupled to the torso brace at a first pivot point, and a second link, coupled to the leg support at a second pivot point. The first link is coupled to the second link through a third pivot point located between the first and second pivot points. The first pivot point enables adduction of the leg support, and the third pivot point enables abduction of the leg support.

Exoskeleton and method of increasing the flexibility of an exoskeleton hip joint

An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskeleton trunk through an actuator such that the auxiliary mass extends in a position behind the exoskeleton trunk. A front load is supported by the exoskeleton through a load bearing device including a load shifting device for selectively operating powered reel mechanisms to raise or lower the front load with respect to the exoskeleton trunk. The auxiliary mass can be selectively shifted with respect to the exoskeleton trunk to balance the moment created about the hip axes by the auxiliary mass and the moment created by a downward force of the load on the load bearing device.

Exoskeleton load handling system and method of use

A portable load lifting assist system () includes a movable support structure including an exoskeleton torso () including an exoskeleton trunk () that is configured to be coupled to a person's upper body, and a load lifting mechanism () secured to the movable support structure including a winch () having a motor driven reel mechanism for reeling first and second lifting straps or cables () that are secured to first and second end effectors (). First and second handles () are attached to an outside surface of the first and second end effectors, wherein the lifting straps or cables when driven by the winch lift a load contacted by the first and second end effectors. A lower extremity exoskeleton () is configured to be coupled to a person's lower limbs. The exoskeleton trunk couples to the person's upper body through an upper body interface device () that is coupled to the lower extremity exoskeleton.

Portable load lifting system

A lower limb orthotic device includes a thigh link connected to a hip link through a hip joint, a hip torque generator including a hip actuator and a first mechanical transmission mechanism interposed between the thigh link and the hip link, a shank link connected to the thigh link through a knee joint, a knee torque generator including a knee actuator and a second mechanical transmission mechanism interposed between the thigh link and the shank link, and a controller, such as for a common motor and pump connected to the hip and knee torque generators, for regulating relative positions of the various components in order to power a user through a natural walking motion, with the first and second mechanical transmission mechanisms aiding in evening out torque over the ranges of motion, while also increasing the range of motion where the torque generators can produce a non-zero torque.

Hip and knee actuation systems for lower limb orthotic devices

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.

Wearable material handling system

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.

Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton

Growing community of inventors

American Canyon, CA, United States of America

Russdon Angold