Neuromuscular model-based sensing and control paradigm for a robotic leg
3,016,760 3,098,645 3, 207497 3,844,279 3,871,032 3,916,450 4,442,390 4,463,291
4,518,307 4,532.462 4,546,295 4,546,296 4,546.297 4,546.298 4,569,352 4,600,357 …
4,518,307 4,532.462 4,546,295 4,546,296 4,546.297 4,546.298 4,569,352 4,600,357 …
Exoskeletons for running and walking
HM Herr, C Walsh, DJ Paluska, A Valiente… - US Patent …, 2019 - Google Patents
An exoskeleton worn by a human user consists of a rigid pelvic harness, worn about the
waist of the user, and exoskeleton leg structures, each of which extends downwardly …
waist of the user, and exoskeleton leg structures, each of which extends downwardly …
Artificial human limbs and joints employing actuators, springs, and variable-damper elements
HM Herr, DJ Paluska, P Dilworth - US Patent 9,333,097, 2016 - Google Patents
Abstract Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal
architectures employ an electric motor for supplying positive energy to and storing negative …
architectures employ an electric motor for supplying positive energy to and storing negative …
Neuromuscular model-based sensing and control paradigm for a robotic 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 …
a neuromuscular model having a muscle model, muscle geometry and reflex feedback loop …
Method for using a model-based controller for a robotic leg
HM Herr, H Geyer, MF Eilenberg - US Patent 10,307,272, 2019 - Google Patents
A model-based neuromechanical controller for a robotic limb having at least one joint
includes a finite state machine configured to receive feedback data relating to the state of the …
includes a finite state machine configured to receive feedback data relating to the state of the …
Powered ankle-foot prosthesis
HM Herr, JA Weber, KWS Au, BW Deffenbaugh… - US Patent …, 2018 - Google Patents
A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance
that increase amputees metabolic walking economy compared to a conventional passive …
that increase amputees metabolic walking economy compared to a conventional passive …
Powered ankle-foot prosthesis
HM Herr, JA Weber, KWS Au, BW Deffenbaugh… - US Patent …, 2022 - Google Patents
2018-11-06 Assigned to MASSACHUSETTS INSTITUTE OF TECHNOLOGY reassignment
MASSACHUSETTS INSTITUTE OF TECHNOLOGY ASSIGNMENT OF ASSIGNORS …
MASSACHUSETTS INSTITUTE OF TECHNOLOGY ASSIGNMENT OF ASSIGNORS …
Powered artificial knee with agonist-antagonist actuation
HM Herr, EC Martinez-Villalpando, JA Weber - US Patent 9,149,370, 2015 - Google Patents
A knee prosthesis comprises an agonist-antagonist arrangement of two series-elastic
actuators in parallel, including a knee joint, flexion and extension actuators connected to the …
actuators in parallel, including a knee joint, flexion and extension actuators connected to the …
Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
HM Herr, KWS Au, DJ Paluska, P Dilworth - US Patent 9,339,397, 2016 - Google Patents
An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel
extremity and a toe extremity, and a flexible elastic ankle member that connects the foot …
extremity and a toe extremity, and a flexible elastic ankle member that connects the foot …
Artificial human limbs and joints employing actuators, springs and variable-damper elements
HM Herr, DJ Paluska, P Dilworth - US Patent 10,588,759, 2020 - Google Patents
It is to be understood that the methods and apparatus which have been described above are
merely illustrative applica tions of the principles of the invention. Numerous modifi cations …
merely illustrative applica tions of the principles of the invention. Numerous modifi cations …