Search Results - Robotics

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Total Energy Shaping for Task-Invariant Control of Lower-Limb Exoskeletons

We present a total energy shaping control methodology for the development of portable lower-limb assistive exoskeletons and orthotic devices that help reduce the human’s effort and augment natural motion. Current robotic exoskeletons restrict joint motion to pre-defined position trajectories during gait rehabilitation; such methods aim to replicate...

Published: 5/20/2020 | Inventor(s): Robert Gregg, Ge Lv

Keywords(s): Biocompatible, Devices, Electronics, Engineering & Physical Sciences, Mechanical Systems, Medical Devices, Research Tools, Sensors & Controls, Signal Processing, Software, Therapeutics, Transportation, Wireless

Category(s): Robotics, Healthcare, Control Strategy

A Lower Limb Powered Orthosis for Improved Rehabilitation Training

Physical training is often needed for patients to relearn how to walk after a stroke, or other neurological damage. However, the frequency and availability of physical training are limited by finite medical resources: most lower-limb rehabilitation orthoses are stationary and only available in a limited number of clinical settings, due to their large...

Published: 5/20/2020 | Inventor(s): Robert Gregg, Hanqi Zhu

Keywords(s): Electronics, Engineering & Physical Sciences, Medical Devices, Motors, Research Tools, Sensors & Controls, Therapeutics

Category(s): Devices, Healthcare, Robotics, Mechanical Systems

Virtual Body-Weight Support via Lower-Limb Exoskeleton

Summary:This is a novel control system for powered lower-limb exoskeletons (or orthoses) that provides body-weight support (BWS) for people who have sustained a stroke and other neurological injury. Patients are provided with BWS during conventional gait retraining to help them produce the coordinated muscle activities needed for walking. Although current...

Published: 5/20/2020 | Inventor(s): Robert Gregg, Ge Lv, Hanqi Zhu

Keywords(s): Biotechnology, Engineering & Physical Sciences, Life Sciences, Medical Devices, Motors, Research Tools, Sensors & Controls, Signal Processing, Therapeutics

Category(s): Electronics, Healthcare, Robotics, Control Strategy, Devices, Mechanical Systems

Powered Prosthetic Leg for Restoring Natural Locomotion and Mobility Across Tasks

Current passive prostheses are used to alleviate the effects of amputation, but they are limited in their ability to completely restore functionality because such mechanisms may only dissipate energy that the user introduces. In the case of above-knee amputees, many passive prosthetic devices aim to mimic normal walking conditions but typically leave...

Published: 6/26/2024 | Inventor(s): Robert Gregg, Toby Elery, Siavash Rezazadeh, Christopher Nesler

Keywords(s): Devices, Electronics, Energy Storage & Battery, Engineering & Physical Sciences, Healthcare, Life Sciences, Mechanical Systems, Medical, Medical Devices, Therapeutics

Category(s): Robotics

Unified Lower-Limb Prosthetic Control Strategy

Non-Confidential Description: This technology defines a novel control strategy for a powered prosthetic leg that unifies the entire gait cycle, eliminating the need to switch between controllers during different periods of gait. Current control methods divide the gait cycle into several sequential periods with independent controllers, resulting...

Published: 5/20/2020 | Inventor(s): Robert Gregg, David Quintero, Anne Martin

Keywords(s): Biotechnology, Devices, Electronics, Engineering & Physical Sciences, Healthcare, Life Sciences, Mechanical Systems, Motors, Sensors & Controls, Therapeutics

Category(s): Biomedical, Control Strategy, Robotics