A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium, joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.
Knee orthoses or prostheses can be used to automatically, when appropriate, initiate a stand-up sequence based on the position of a person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to a position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.
A prosthetic device and related methods having height adjustment features. A prosthetic foot includes an elongate support member comprising fiber reinforced material and having a support surface configured to rest upon a ground surface prior to use, an adapter mounted to the support member and configured to secure the prosthetic foot to another prosthetic device, and a height adjustable feature configured to adjust a height of the adapter relative to the support surface.
A hydraulic ankle assembly to be used by a user, wherein the ankle assembly includes a base configured to be attached to a spring assembly, a hydraulic cylinder rotatably attached to the base and configured to dampen rotation of the hydraulic ankle assembly, and a prosthetic adapter portion rotatably attached to the base and the hydraulic cylinder and configured to be attached to a prosthetic worn by the user. The base, the hydraulic cylinder, and the prosthetic adapter portion define a force triangle that defines an axis of rotation of the hydraulic ankle assembly. The axis of rotation is positioned in line with the center of mass of the user when the user is standing. The force triangle reduces forces on the hydraulic cylinder.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
6.
ADDITIVE MANUFACTURED FOOTSHELLS AND FOOTSHELL COMPONENTS
A prosthetic device includes a footshell having a first portion and a second portion. The first portion has a first portion polymer lattice structure and the second portion has a second portion polymer lattice structure. The first portion polymer lattice structure has a first set of mechanical properties and the second portion polymer lattice structure has a second set of mechanical properties different from the first set of mechanical properties. The footshell also includes a sole attached to a bottom of the first portion and the second portion, wherein the sole is formed of a solid material.
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance, according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 1/02 - Appareils d'exercice extenseurs ou de ployage
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A prosthetic device includes a polymer lattice structure. The lattice structure includes a first surface arranged to face toward a residual limb, a second surface arranged to face away from the residual limb, a thickness between the first and second surfaces, and a variable lattice density across the thickness.
A61F 2/50 - Prothèses non implantables dans le corps
B29C 64/40 - Structures de support des objets en 3D pendant la fabrication, lesdites structures devant être sacrifiées après réalisation de la fabrication
B29C 64/188 - Procédés de fabrication additive impliquant des opérations supplémentaires effectuées sur les couches ajoutées, p.ex. lissage, meulage ou contrôle d’épaisseur
A61F 2/78 - Moyens pour protéger les prothèses ou pour les assujettir au corps, p.ex. bandages, harnais, courroies ou bas pour moignons
A prosthetic device includes an elongate support member of carbon filament material having a first surface, and an adapter. The adapter includes a compressible member, a base portion having a contact surface arranged to contact the first surface of the support member, a cavity sized to receive the compressible member, and a connector portion extending from the base portion and configured to releasably secure the prosthetic foot to a prosthesis, wherein application of a force to the connector portion compresses the compressible member to dampen movement of the base portion relative to the support member until the contact surface contacts the first surface.
A prosthetic device and related methods includes an elongate support member having a first surface, and an adapter mounted to the support member. The adapter includes a base portion, a movable member, a connector portion, and an adjustment member. The adjustment member is operable to move the movable member relative to the base portion to change an effective length of an interface between the adapter and the first surface of the support member. The connector portion extends from the base portion and is configured to releasably secure the prosthetic foot to a prosthesis.
An improvement to a prosthetic device which provides a spring member between first and second structural members that are rotatably connected to one another, the spring member providing predictable resistance as it is compressed by the rotation of the first and second structural members with respect to each other. The known resistance of the spring is used as an input to a model controlling a motor control circuit to provide counter-torque as rotational torque is applied to compress the spring.
Exemplary embodiments relate to techniques for supplying increased power to an augmentation device without increasing battery size. For example, the load may be a motor that provides augmentation power to a joint of a prosthetic ankle, and which is generally powered by a battery. A reconfigurable electrical circuit may connect a supercapacitor in series with the battery to boost the power from the battery at times when a pulse of increased power is demanded. For instance, states of one or more switches of the electrical circuit may be changed in order to briefly disconnect the motor from the circuit just prior to a powered plantarflexion phase of a gait cycle of the ankle, and then to reconnect the motor to a reconfigured circuit to provide a power boost. The circuit may also be reconfigured to allow the battery to recharge the supercapacitor during periods of nominal power demand.
Exemplary embodiments herein relate to a unique 4-bar linkage transmission provided between two adjacent links of a powered augmentation device that provides a varying mechanical advantage. Due to the kinematics of the linkage, the mechanical advantage between the actuator and the augmented joint varies with the position of the linkage. Thus, a high mechanical advantage can be provided in positions at which relatively high joint torque is required, and low mechanical advantage in positions at which relatively high joint speed is required. Consequently, the speed-torque (or velocity-force) operating area of the actuator can be consolidated by mapping the widespread output regions onto a smaller input region. This allows the actuator to be optimized for a narrower range of usage.
A prosthetic foot having a base spring having a toe end portion and a heel end portion, and a top spring assembly. The top spring assembly includes a first spring member having a distal end and a proximal end, a second spring member spaced apart from the first spring member along substantially an entire length of the first spring member, the second spring member having a distal end and a proximal end, a first bond connection provided between the distal ends of the first and second spring members, a second bond connection provided between the distal end of the second spring member and a top surface of the base spring in a forefoot portion of the base spring, and a spring connector extending through at least a first hole formed in the base spring, the second bond connection and the second spring member.
A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium, joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for Reflex Parameter Modulation a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61H 1/02 - Appareils d'exercice extenseurs ou de ployage
17.
CONTROLLING TORQUE IN A PROSTHESIS OR ORTHOSIS BASED ON A DEFLECTION OF SERIES ELASTIC ELEMENT
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A vacuum pump may be used to attach a prosthetic and/or orthotic device to a residual limb. The vacuum pump may be in line below a socket of a residual limb. The socket may be a portion of the prosthesis that accepts the residual limb. The vacuum pump may generate a vacuum condition between the prosthesis and the residual limb. Generally, a vacuum condition may be generated between a socket and the residual limb. The residual limb may be covered with a sock, elastomeric liner, or sheath covering the limb. The vacuum condition may positively attach the prosthesis to the residual limb without the need for straps, retaining pins, or suction type vacuum which do not use a vacuum pump.
Knee orthoses or prostheses can be used to automatically, when appropriate, initiate a stand-up sequence based on the position of a person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to a position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.
An improvement to a prosthetic device which provides a spring member between first and second structural members that are rotatably connected to one another, the spring member providing predictable resistance as it is compressed by the rotation of the first and second structural members with respect to each other. The known resistance of the spring is used as an input to a model controlling a motor control circuit to provide counter-torque as rotational torque is applied to compress the spring.
A61F 2/00 - Filtres implantables dans les vaisseaux sanguins; Prothèses, c.-à-d. éléments de substitution ou de remplacement pour des parties du corps; Appareils pour les assujettir au corps; Dispositifs maintenant le passage ou évitant l'affaissement de structures corporelles tubulaires, p.ex. stents
Methods and apparatus for an orthopedic device. In one embodiment, the orthopedic device includes a first panel defining opposed first and second sides; a second panel having a first end secured to the first side of the first panel along a seam, and a second end securable to the second side of the first panel at a location site; and a first strap having a first end secured to the first side of the first panel along the seam and laying under the second panel, and a second end securable to the second side of the first panel at the location site. The orthopedic device may include a dynamic force strap that includes three ends, that collectively helically extend between upper and lower portions of the orthopedic device and connect to the first panel.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
A prosthetic foot includes a base spring, a top spring assembly, a connector assembly, and a heel cushion. The top spring assembly includes first and second spring members, and first and second bond connections. The second spring member extends parallel with and spaced apart from the first spring member. The first bond connection is between distal ends of the first and second spring members, and the second bond connection is between a distal end of the second spring member and a top surface of the base spring. The top spring assembly has a first portion arranged horizontally, and a second portion arranged vertically. The connector is connected to a proximal end of the top spring assembly to connect the prosthetic foot to a lower limb prosthesis. The heel cushion is mounted to the base spring at a location spaced forward of a heel end of the base spring.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61F 2/70 - Moyens d'actionnement ou de commande électriques
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
A prosthetic foot with a structural component having a proximal attachment member for fastening the prosthetic foot to a below-knee tube, a below-knee shaft or a prosthetic knee joint, with a forefoot portion secured or formed on the structural component, and with a heel-side spring-damper system which is assigned to the structural component and which is compressed at a heel strike and bears on a sole-side guide element. The structural component is designed as a leaf spring which extends in a posterior direction from the proximal attachment means, and forms an arch and is guided in an anterior and distal direction, wherein the arch protrudes posteriorly beyond the guide element.
An improvement to a prosthetic device which provides a spring member between first and second structural members that are rotatably connected to one another, the spring member providing predictable resistance as it is compressed by the rotation of the first and second structural members with respect to each other. The known resistance of the spring is used as an input to a model controlling a motor control circuit to provide counter-torque as rotational torque is applied to compress the spring.
A61F 2/00 - Filtres implantables dans les vaisseaux sanguins; Prothèses, c.-à-d. éléments de substitution ou de remplacement pour des parties du corps; Appareils pour les assujettir au corps; Dispositifs maintenant le passage ou évitant l'affaissement de structures corporelles tubulaires, p.ex. stents
A foot prosthesis that includes at least one spring element, an attachment member, and a heel member. The at least one spring element has a toe end portion, a heel end portion, an upper surface, and a lower surface. The attachment member is mounted to the upper surface and is configured to connect the foot prosthesis to a lower limb prosthesis component. A position of the attachment member is adjustable along a length of the at least one spring element. The heel member is mounted below the lower surface of the at least one spring element, and a position of the heel member is adjustable along the length of the at least one spring element.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61F 2/60 - Jambes ou pieds artificiels ou leurs parties
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p.ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
A vacuum pump may be used to attach a prosthetic and/or orthotic device to a residual limb. The vacuum pump may be in line below a socket of a residual limb. The socket may be a portion of the prosthesis that accepts the residual limb. The vacuum pump may generate a vacuum condition between the prosthesis and the residual limb. Generally, a vacuum condition may be generated between a socket and the residual limb. The residual limb may be covered with a sock, elastomeric liner, or sheath covering the limb. The vacuum condition may positively attach the prosthesis to the residual limb without the need for straps, retaining pins, or suction type vacuum which do not use a vacuum pump.
A method for controlling a powered device to augment a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint is disclosed. In some embodiments, the method modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the actuator is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
33.
Controlling torque in a prosthesis or orthosis based on a deflection of series elastic element
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61F 2/50 - Prothèses non implantables dans le corps
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/60 - Jambes ou pieds artificiels ou leurs parties
A61F 2/74 - Moyens d'actionnement ou de commande à fluide
34.
Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61F 2/70 - Moyens d'actionnement ou de commande électriques
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
G01L 5/00 - Appareils ou procédés pour la mesure des forces, du travail, de la puissance mécanique ou du couple, spécialement adaptés à des fins spécifiques
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
38.
Hydraulically amplified vacuum pump for prosthetic and orthotic devices
Methods and apparatus are disclosed relating to a mechanical vacuum socket pump used to establish a vacuum in a socket of an artificial limb. In one case, the pump includes a housing within which two pistons coaxially reciprocate. A surface of each of the pistons is linked hydraulically, such that driving one piston causes movement of the other piston through a hydraulic chamber. One piston is also linked to a pneumatic chamber such that movement of that piston draws air from a limb socket or expels air to the atmosphere upon movement of the piston's pneumatic surface. The surface area of the hydraulic surface of this piston is significantly less than the surface area of the pneumatic surface, so a small volumetric displacement of hydraulic fluid may cause a large displacement of air. Thus, the pump efficiently pumps air with minimal compression and extension of the pump as a whole.
A cervical collar provides height adjustment using a locking member disposed on a height adjustment member extending through a height adjustment aperture. As the locking member is moved between locked and unlocked positions, ridges on a main collar body and on a chin support member may be interlocked or allowed to slide over each other from one desired position to another, thereby providing a height adjustment mechanism for the cervical collar.
A foot prosthesis that includes at least one spring element, an attachment member, and a heel member. The at least one spring element has a toe end portion, a heel end portion, an upper surface, and a lower surface. The attachment member is mounted to the upper surface and is configured to connect the foot prosthesis to a lower limb prosthesis component. A position of the attachment member is adjustable along a length of the at least one spring element. The heel member is mounted below the lower surface of the at least one spring element, and a position of the heel member is adjustable along the length of the at least one spring element.
2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.
In an artificial limb system having an actuator coupled to a joint for applying a torque characteristic thereto, a control bandwidth of a motor controller for a motor included in the actuator can be increased by augmenting a current feedback loop in the motor controller with a feed forward of estimated back electromotive force (emf) voltage associated with, the motor. Alternatively, the current loop is eliminated and replaced with a voltage loop related to joint torque. The voltage loop may also be augmented with the feed forward of estimated back emf, to improve the robustness of the motor controller.
A61F 2/46 - Outils particuliers pour l'implantation des articulations artificielles
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61F 2/54 - Bras ou mains artificiels ou leurs parties
A61F 2/60 - Jambes ou pieds artificiels ou leurs parties
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
44.
Controlling torque in a prosthesis or orthosis based on a deflection of series elastic element
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61F 2/50 - Prothèses non implantables dans le corps
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/60 - Jambes ou pieds artificiels ou leurs parties
A61F 2/74 - Moyens d'actionnement ou de commande à fluide
45.
Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step by using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61F 2/50 - Prothèses non implantables dans le corps
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61F 2/70 - Moyens d'actionnement ou de commande électriques
A61F 5/052 - Dispositifs pour étirer ou réduire les membres fracturés; Dispositifs pour traction; Eclisses pour l'immobilisation spécialement adaptés pour faciliter la marche, p.ex. attelles ambulatoires
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61F 2/70 - Moyens d'actionnement ou de commande électriques
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
49.
Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis
Knee orthoses or prostheses can be used to automatically, when appropriate, initiate a stand-up sequence based on the position of a person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to a position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain.
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 1/02 - Appareils d'exercice extenseurs ou de ployage
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61F 2/76 - Moyens pour assembler, ajuster ou tester les prothèses, p.ex. pour mesurer ou équilibrer
A61F 2/50 - Prothèses non implantables dans le corps
A61F 5/01 - Dispositifs orthopédiques, p.ex. dispositifs pour immobiliser ou pour exercer des pressions de façon durable pour le traitement des os fracturés ou déformés, tels que éclisses, plâtres orthopédiques ou attelles
A61H 3/00 - Appareils pour aider des personnes handicapées à marcher
H02K 7/116 - Association structurelle avec des embrayages, des freins, des engrenages, des poulies ou des démarreurs mécaniques avec des engrenages
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
A61F 2/60 - Jambes ou pieds artificiels ou leurs parties
B25J 19/00 - Accessoires adaptés aux manipulateurs, p.ex. pour contrôler, pour observer; Dispositifs de sécurité combinés avec les manipulateurs ou spécialement conçus pour être utilisés en association avec ces manipulateurs
B62D 57/032 - Véhicules caractérisés par des moyens de propulsion ou de prise avec le sol autres que les roues ou les chenilles, seuls ou en complément aux roues ou aux chenilles avec moyens de propulsion en prise avec le sol, p.ex. par jambes mécaniques avec des pieds ou des patins soulevés alternativement ou dans un ordre déterminé
A connector for fluidly connecting the sealed interior of an artificial limb socket with a pressure source when the connector is mounted to the socket at a hole and an artificial limb including same. The connector includes a flexible elongated tubular section having a lumen, a flange coupled to one end of the elongated tubular section, the flange having a seal surface for sealingly abutting one of the socket wall surfaces around the hole, and a tubular portion adjacent to the flange and extending the lumen from the seal surface of the flange. Tubular portion has at least one section oversized relative to hole which provides a reasonable air-tight seal between the at least one section and an inner surface of the hole or the other of said socket wall surfaces around the hole and distant from the flange, when the tubular portion is received within the hole.
A vacuum pump having shock absorption and controlled rotation for use in an artificial limb. The pump includes a housing having a first chamber, and a shaft configured to be received by and to reciprocate within the first chamber, the housing and shaft forming a pump chamber. A piston may be coupled to the shaft and positioned within the pump chamber, and intake and exhaust ports are fluidly coupled to the pump chamber. Rotational structure is mounted with respect to the pump to provide controlled rotation of the shaft relative to the housing, and shock absorption structure is included within the pump to provide shock absorption for the shaft. Both a pneumatic spring and a mechanical spring element may be provided for the shock absorption structure. An optional adapter couples the shaft to the pylon of an integral pylon prosthetic foot.
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