BERKELEY BIONICS;THE REGENTS OF THE UNIVERSITY OF CALIFORNIA
发明人:
KAZEROONI, HOMAYOON,HARDING, NATHAN,ANGOLD, RUSSDON,AMUNDSON, KURT,BURNS, JON WILLIAM,ZOSS, ADAM
申请号：
CA2746327
公开号：
CA2746327C
申请日:
2009.12.17
申请国别(地区):
CA
年份:
2017
代理人:
摘要：
An exoskeleton ( 100) configured to be coupled to a per-son(187) includes an exoskeleton trunk (109) and leg supports (101, 102)adapted to contact the ground. Hip torque generators ( 145, 146) extendbetween the exoskeleton trunk (109) and respective leg supports (101,102). A load holding mechanism (221 ) is rotatably coupled to the ex-oskeletontrunk (109), preferably via over-shoulder members (138) con-figuredto support a load (154) in front of the person (187). In use, hiptorque generators (145, 146) create torque between the exoskeleton trunk(109) and respective leg supports (101, 102) in the stance phase, whereinat least one torque generator (145 or 146) is configured to create a firsttorque between the exoskeleton trunk (109) and one of the first and sec-ondleg supports (101, 102) in the stance phase opposing a second torquegenerated on the exoskeleton ( 100) by a weight of the load (154). Loadbearing sensors (236, 303) may be utilized to determine the torque gener-atedby the load (154) and communicate with a controller (137) to controlpower to the torque generators (145, 146).
