# US 10,502,284 B2 · Spring augmented orthotic or prosthetic equipped with a compact parallel eccentric actuator > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,502,284 B2 - Document ID: US10502284B2 - Status: Granted - Kind: B2 - Application number: 15/007,152 - Filed: 2016-01-26 - Published: 2016-05-19 - Granted: 2019-12-10 - Earliest claimed: 2014-09-29 - Assignees: Delbert Tesar - Applicants: Delbert Tesar - Inventors: Delbert Tesar - Web page: https://patentgrep.com/patent/US10502284B2 ## CPC - F16H 1/32: in which the central axis of the gearing lies inside the periphery of an orbital gear - A61F 2/70: electrical - A61H 3/00: Appliances for aiding patients or disabled persons to walk about (apparatus for helping babies to walk A47D13/04 {; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003}) - A61F 2002/5072: {having spring elements} - A61F 2002/6836: {Gears specially adapted therefor, e.g. reduction gears} - F16H 57/0436: {Pumps} - F16H 57/0486: {with fixed gear ratio (axle or inter-axle differentials F16H57/0483)} - F16H: GEARING - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) - A61H: PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY (electrotherapy, magnetotherapy, radiation therapy or ultrasound therapy A61N) ## Abstract An orthotic or prosthetic actuator is provided which includes a parallel eccentric gear train which terminates on a first end in a first plate, and which terminates on a second end in a second, rotatable plate which is adjacent to the first plate. The actuator further includes a spring which is disposed between these adjacent plates. The actuator preferably utilizes Oldham coupling, by way of a pair of crosslinks disposed on each side of the motor, to restrain rotation of the dual parallel eccentric gears in the actuator, while permitting their linear oscillation. The crosslinks are preferably equipped with a tongue/spline lubrication system to provide continuous lubrication to the mated and loaded crosslink tongue and groove surfaces. ## Claims ### Claim 1 An actuator for orthotics or prosthetics, comprising: a parallel eccentric gear train which terminates on a first end in a first plate, and which terminates on a second end in a second, rotatable plate which is adjacent to said first plate; and a spring disposed between the first and second plates; wherein said spring is driven by a solenoid commanded dog clutch. ### Claim 2 (depends on 1) The actuator of claim 1, wherein said parallel eccentric gear train includes an Oldham coupling. ### Claim 3 (depends on 2) The actuator of claim 2, further comprising first and second parallel eccentric gears, wherein said Oldham coupling restrains the rotation of said first and second parallel eccentric gears. ### Claim 4 (depends on 3) The actuator of claim 3, wherein said Oldham coupling permits the linear oscillation of said first and second parallel eccentric gears. ### Claim 5 (depends on 3) The actuator of claim 3, wherein said Oldham coupling includes first and second crosslinks. ### Claim 6 (depends on 1) The actuator of claim 1, wherein said actuator is equipped with first and second eccentrics that are driven 180° out of phase, wherein said first eccentric drives a first parallel gear and the second eccentric drives a second parallel gear. ### Claim 7 (depends on 6) The actuator of claim 6, wherein said first eccentric is equipped with a first crosslink, and wherein said second eccentric is equipped with a second crosslink. ### Claim 8 (depends on 7) The actuator of claim 7, wherein said first eccentric comprises a first parallel eccentric gear, and wherein said first crosslink is equipped with a first plurality of tongues which mate with a first set of grooves in said first stator, and which mate with a second set of grooves in said parallel eccentric gear. ### Claim 9 (depends on 8) The orthotic actuator of claim 8, further comprising a second pair of crosslinks. ### Claim 10 (depends on 9) The actuator of claim 9, wherein said second eccentric comprises a second parallel eccentric gear, and wherein said second crosslink is equipped with a second plurality of tongues which mate with a third set of grooves in said stator, and which mate with a fourth set of grooves in said second parallel eccentric gear. ### Claim 11 (depends on 1) The actuator of claim 1, wherein said spring is a spiral spring. ### Claim 12 (depends on 1) The actuator of claim 1, wherein said dog clutch is attached to said spring. ### Claim 13 (depends on 12) The actuator of claim 12, wherein said dog clutch is equipped with a clutch face having a plurality of face teeth thereon. ### Claim 14 (depends on 13) The actuator of claim 13, further comprising a plurality of détentes which maintain each position of the dog clutch face. ### Claim 15 (depends on 1) The actuator of claim 1, wherein said spring is preloaded to a predetermined torque level. ### Claim 16 (depends on 1) The actuator of claim 1, wherein said actuator controls the motion of an exoskeleton, and wherein said spring is adapted to store and return energy in repeating cycles of said exoskeleton.