Patent
Artificial human limbs and joints employing actuators, springs and variable-damper elements
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TLDR
In this paper, the authors employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking and movement on stairs and surfaces having different slopes.Abstract:
Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.read more
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Powered ankle-foot prosthesis
Samuel Kwok Wai Au,Hugh M. Herr +1 more
TL;DR: To minimize prosthesis cost of transport and motor or transmission size, a parallel stiffness is selected that supplies the necessary ankle stiffness during early stance period dorsiflexion, eliminating the need for SEA during that gait phase.
Patent
Hybrid terrain-adaptive lower-extremity systems
TL;DR: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain this paper.
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Exoskeletons for running and walking
Hugh M. Herr,Conor J. Walsh,Daniel Joseph Paluska,Andrew Valiente,Kenneth Pasch,William Grand +5 more
TL;DR: An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the waist of the user, and ex-oskeleton leg structures, each of which extends downwardly alongside one of the human user's legs as mentioned in this paper.
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Soft exosuit for assistance with human motion
TL;DR: In this article, the authors provided a system for generating force about one or more joints including a soft exosuit having a plurality of anchor elements and at least one connection element disposed between them.
Journal ArticleDOI
Clutchable series-elastic actuator: Implications for prosthetic knee design
TL;DR: A fully autonomous knee prosthesis designed utilizing a novel mechanism, known as a clutchable series-elastic actuator (CSEA), which provided biomechanically accurate torque-angle behavior and reduced the net electrical energy consumption of the CSEA Knee.
References
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Impedance Control: An Approach to Manipulation
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