1
Homayoon Kazerooni, Jean Louis Racine, Andrew Chu, Adam Zoss: Lower extremity enhancer. The Regents of the University of California, Morrison & Foerster, December 8, 2009: US07628766 (53 worldwide citation)

A lower extremity enhancer to be worn by a user to enable the user to carry a load includes two leg supports having a plurality of jointed links. Proximal ends of the leg supports are connected to a back frame adapted to carry the load. Distal ends of the leg supports are connected to two foot links ...


2
Homayoon Kazerooni, Adam Zoss, Nathan H Harding, Russdon Angold: Power generating leg. The Regents of the University of California, Diederiks & Whitelaw, February 8, 2011: US07883546 (17 worldwide citation)

A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements ...


3
Homayoon Kazerooni, Jean Louis Racine, Andrew Chu, Adam Zoss: Lower extremity enhancer. The Regents of the University of California, Diederiks & Whitelaw, December 6, 2011: US08070700 (11 worldwide citation)

A lower extremity enhancer to be worn by a user includes two leg supports having a plurality of jointed links. Proximal ends of the leg supports are connected to a back frame. Distal ends of the leg supports are connected to two foot links. The leg supports are powered by a plurality of actuators ad ...


4
Homayoon Kazerooni, Nathan Harding, Russdon Angold, Kurt Amundson, Jon William Burns, Adam Zoss: Wearable material handling system. Ekso Bionics, The Regents of the University of California, Diederiks & Whitelaw, March 3, 2015: US08968222 (10 worldwide citation)

An exoskeleton configured to be coupled to a person includes an exoskeleton trunk and leg supports adapted to contact the ground. Hip torque generators extend between the exoskeleton trunk and respective leg supports. A load holding mechanism is rotatably coupled to the exoskeleton trunk, preferably ...


5
Russdon Angold, Adam Zoss, Homayoon Kazerooni, Jon Burns, Kurt Amundson, Nathan Harding: Exoskeleton load handling system and method of use. Ekso Bionics, Diederiks & Whitelaw, November 29, 2016: US09504623 (1 worldwide citation)

An exoskeleton, configurable to be coupled to a person, includes an exoskeleton trunk connected to first and second leg supports at respective hip joints, which allow for flexion and extension about respective hip axes. A counterweight device including an auxiliary mass is connected to the exoskelet ...


6
Homayoon Kazerooni, Katherine Strausser, Adam Zoss, Tim Swift: Human machine interfaces for lower extremity orthotics. Ekso Bionics, The Regents of the University of California, Diederiks & Whitelaw, October 31, 2017: US09801772

A system and method by which movements desired by a user of a lower extremity orthotic is determined and a control system automatically regulates the sequential operation of powered lower extremity orthotic components to enable the user, having mobility disorders, to walk, as well as perform other c ...


7
Reuben Sandler, Katherine Strausser, Adam Zoss, Tim Swift: Gait orthotic system and method for achieving hands-free stability. Ekso Bionics, Diederiks & Whitelaw, December 25, 2018: US10159620

A gait orthotic system includes a balance aid and a gait orthotic device. The gait orthotic device has a rigid attachment mechanism configured to securely and releasably couple the balance aid to the gait orthotic device. When the balance aid is coupled to the gait orthotic device, the gait orthotic ...


8
Katherine Strausser, Adam Zoss, James Alexander Stryker, Kurt Reed Amundson: Human machine interface for lower extremity orthotics. Ekso Bionics, Diederiks & Whitelaw, January 15, 2019: US10179079

A lower extremity orthotic control system determines a movement desired by a user, particularly with a user employing gestures or other signals to convey or express their intent to the system, and automatically regulates the sequential operation of powered lower extremity orthotic components. In a p ...


9
Adam Zoss, Katherine Strausser, Tim Swift, Russ Angold, Jon Burns, Homayoon Kazerooni, Dylan Fairbanks, Nathan Harding: Human machine interface for human exoskeleton. Ekso Bionics, The Regents of the University of California, Diederiks & Whitelaw, March 29, 2016: US09295604

A powered exoskeleton configured to be coupled to lower limbs of a person is controlled to impart a movement desired by the person. The intent of the person is determined by a controller based on monitoring at least one of: positional changes in an arm portion of the person, positional changes in a ...


10
Homayoon Kazerooni, Adam Zoss, Nathan H Harding, Russdon Angold: Power generating leg. The Regents of the University of California, Morrison & Foerster, October 4, 2007: US20070233279-A1

A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements ...