1
Homayoon Kazerooni: Statically-balanced direct-drive robot arm. Regents of the University of Minnesota, Merchant Gould Smith Edell Welter & Schmidt, October 4, 1988: US04775289 (56 worldwide citation)

A robot (10) includes a statically-balanced direct-drive arm (14) having three degrees of freedom, all of which are independent articulated drive joints, the driving axes of two of which intersect at the center of gravity of the arm to eliminate gravity forces on the drive system without counterweig ...


2
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 ...


3
Homayoon Kazerooni: Human power amplifier for vertical maneuvers. David E Steuber, Skjerven Morrill MacPherson Franklin & Friel, February 2, 1999: US05865426 (43 worldwide citation)

A human power amplifier includes an end-effector which is grasped by a human operator and applied to a load. The end-effector is suspended, via a rope, from a take-up pulley, winch or drum which is driven by an actuator to lift or lower the load. The end-effector includes a force sensor which measur ...


4
Homayoon Kazerooni: Pneumatic human power amplifer module. David E Steuber, Skjerven Morrill MacPherson Franklin & Friel, June 29, 1999: US05915673 (42 worldwide citation)

A pneumatic human power amplifier module is usable in conjunction with a wide variety of pneumatic actuators and lifting devices to provide a human power amplifier for lifting a load. The module includes an end-effector, an electronic controller and a pneumatic circuit. The end-effector contains a h ...


5
Russdon Angold, Nathan H Harding, Homayoon Kazerooni: Semi-powered lower extremity exoskeleton. The Regents of the University of California, Diederiks & Whitelaw, November 15, 2011: US08057410 (29 worldwide citation)

The lower extremity exoskeleton comprises two leg supports connectable to person's lower limbs and configured to rest on the ground during their stance phase. Each leg support comprises a thigh link and a shank link; a knee joint configured to allow flexion and extension between the shank link and t ...


6
Homayoon Kazerooni: Human power amplifier for vertical maneuvers. Eugene Stephens & Associates, October 9, 2001: US06299139 (24 worldwide citation)

A human power amplifier includes an end-effector which is grasped by a human operator and applied to a load. The end-effector is suspended, via a rope, from a take-up pulley, winch or drum which is driven by an actuator to lift or lower the load. The end-effector includes a force sensor which measur ...


7
Homayoon Kazerooni, Nathan H Harding, Russdon Angold: Lower extremity exoskeleton. The Regents of the University of California, Diederiks & Whitelaw, May 24, 2011: US07947004 (24 worldwide citation)

A lower extremity exoskeleton, configurable to be coupled to a person, comprises two leg supports configurable to be coupled to the person's lower limbs and configured to rest on the ground during their stance phases. Each leg support comprises a thigh link, a shank link, and two knee joints. Each k ...


8
Homayoon Kazerooni, Dylan Miller Fairbanks, Albert Chen, Gene Shin: Device and method for wireless lifting assist devices. Homayoon Kazerooni, April 29, 2003: US06554252 (22 worldwide citation)

A wireless lifting assist device includes a pulley driven by an actuator which is attached to a ceiling. An end-effector is suspended, via a line, from the pulley and interfaces the object to be maneuvered. The wireless lifting assist device further provides an instrumented glove worn by an operator ...


9
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 ...


10
Homayoon Kazerooni: Human power amplifier for lifting load with slack prevention apparatus. Steven R Scott, Eugene Stephens & Associates, September 23, 2003: US06622990 (15 worldwide citation)

A human power amplifier includes an end-effector that is grasped by a human operator and applied to a load. The end-effector is suspended, via a line, from a take-up pulley, winch, or drum that is driven by an actuator to lift or lower the load. The end-effector includes a force sensor that measures ...