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US 9,788,985 B2Granted
Friction-based orthotic impedence modulation device
AssigneeYale University
InventorsAaron Dollar, Kamran Shamaei Ghahfarokhi
Life of this patent
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Abstract
The present invention relates to an impedance modulation device for an orthotic application. The device includes a high-stiffness loading spring, a low-stiffness return spring, a shaft having an output connector, and an engagement mechanism. When the engagement mechanism engages the shaft, the device exhibits a high stiffness at the output connector, and wherein when the engagement mechanism disengages the shaft, the device exhibits a low stiffness at the output connector.
Claims12
An impedance modulation device for an orthotic application, comprising:
- a high-stiffness loading spring having a first spring constant;
- a low-stiffness return spring having a second spring constant lower than the first spring constant;
- a shaft having an output connector;
- an engagement mechanism comprising a gear, an actuator that drives the gear, and a lever configured to be pushed by the gear;
- and
- a bearing block configured to latch and unlatch to the shaft;
- wherein when the engagement mechanism engages the shaft to latch the bearing block to the shaft, the device exhibits a high stiffness at the output connector, and wherein when the engagement mechanism disengages the shaft to unlatch the bearing block to the shaft, the device exhibits a low stiffness at the output connector.
4 more elements
An orthotic device, comprising:
- a frame;
- an impedance modulator comprising:
- a high-stiffness loading spring having a first spring constant,
- a low-stiffness return spring having a second spring constant lower than the first spring constant,
- a shaft having a connector, and
- an engagement mechanism comprising a gear, an actuator that drives the gear, and a lever configured to be pushed by the gear, and;
- a bearing block;
- and
- a pulley assembly positioned relative to a joint and connected to the shaft connector;
- wherein the pulley assembly turns and pulls the shaft of the impedance modulator, and when the engagement mechanism engages the shaft to latch the bearing block to the shaft, the impedance modulator exhibits a high stiffness at the shaft connector, and when the engagement mechanism disengages the shaft to unlatch the bearing block to the shaft, the impedance modulator exhibits a low stiffness at the shaft connector.
7 more elements
Dependencies are inferred from the claim text.