Hydraulic actuator system

US10352334B2 · kind B2 · utility

Assignee

• Ekso Bionics Holdings, Inc. · US

Inventors

• Kurt Amundson · Berkeley, US
• Russdon Angold · American Canyon, US
• David Eliot Scheinman · Woodside, US
• Tim Swift · Walnut Creek, US
• Daniel P. Norboe · Alameda, US
• Robert S. Moore · Union City, US
• Jonathan Beard · Leicester, GB
• Kyle Edelberg · Pasadena, US

Key dates

• Filing date: Aug 27, 2013
• Grant date: Jul 16, 2019
• Expiry date: Nov 15, 2036

Classification

• Technology area (CPC F): Mechanical Engineering; Lighting; Heating
• CPC primary: F15B2211/71
• WIPO field: Medical technology
• WIPO sector: Instruments

Abstract

The invention is directed to controlling a hydraulic actuation system having at least one degree of freedom, a prime mover, at least one actuation module and a controller, with each actuation module including: an over-center variable displacement pump having a power input connection configured to power the pump from the prime mover and a displacement varying input for varying the displacement of the pump; a displacement varying actuator configured to modulate the displacement varying input of the pump; an output actuator in direct communication with the pump, the output actuator configured to drive a corresponding degree of freedom; and at least one sensor establishing a feedback measurement that represents a force or motion of the output actuator. Based on a value of each feedback measurement, the force or motion of the output actuator is regulated by controlling the prime mover and the displacement actuator for the output actuator.