US20120209405A1 - Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components - Google Patents
Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components Download PDFInfo
- Publication number
- US20120209405A1 US20120209405A1 US13/348,570 US201213348570A US2012209405A1 US 20120209405 A1 US20120209405 A1 US 20120209405A1 US 201213348570 A US201213348570 A US 201213348570A US 2012209405 A1 US2012209405 A1 US 2012209405A1
- Authority
- US
- United States
- Prior art keywords
- ankle
- foot
- artificial
- motor
- set forth
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Abandoned
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2/6607—Ankle joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0008—Balancing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/605—Hip joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5004—Prostheses not implantable in the body having damping means, e.g. shock absorbers operated by electro- or magnetorheological fluids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
- A61F2002/5006—Dampers, e.g. hydraulic damper
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5016—Prostheses not implantable in the body adjustable
- A61F2002/503—Prostheses not implantable in the body adjustable for adjusting elasticity, flexibility, spring rate or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5016—Prostheses not implantable in the body adjustable
- A61F2002/5033—Prostheses not implantable in the body adjustable for adjusting damping
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
- A61F2002/5073—Helical springs, e.g. having at least one helical spring
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
- A61F2002/5073—Helical springs, e.g. having at least one helical spring
- A61F2002/5075—Multiple spring systems including two or more helical springs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
- A61F2002/5079—Leaf springs
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5081—Additional features
- A61F2002/509—Additional features specially designed for children, e.g. having means for adjusting to their growth
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
- A61F2002/6657—Feet having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/66—Feet; Ankle joints
- A61F2002/6614—Feet
- A61F2002/6657—Feet having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
- A61F2002/6678—L-shaped
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2002/6818—Operating or control means for braking
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/701—Operating or control means electrical operated by electrically controlled means, e.g. solenoids or torque motors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7625—Measuring means for measuring angular position
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/763—Measuring means for measuring spatial position, e.g. global positioning system [GPS]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/764—Measuring means for measuring acceleration
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
Definitions
- This invention relates generally to prosthetic devices and artificial limb and joint systems, including robotic, orthotic, exoskeletal limbs, and more particularly, although in its broader aspects not exclusively, to artificial feet and ankle joints.
- an artificial ankle-foot system ideally needs to fulfill a diverse set of requirements.
- the artificial system must be a reasonable weight and have a natural morphological shape, but still have an operational time between refueling or battery recharges of at least one full day.
- the system must also be capable of varying its position, impedance, and motive power in a comparable manner to that of a normal, healthy biological limb.
- the system must be adaptive, changing its characteristics given such environmental disturbances as walking speed and terrain variation.
- the ankle behaves as a variable stiffness device during the early to midstance period, storing and releasing impact energies. Throughout terminal stance, the ankle acts as a torque source to power the body forward. In distinction, the ankle varies damping rather than stiffness during the early stance period of stair descent.
- a level-ground walking gait cycle is typically defined as beginning with the heel strike of one foot and ending at the next heel strike of the same foot ⁇ 8 ⁇ .
- the main subdivisions of the gait cycle are the stance phase (about 60% of the cycle) and the subsequent swing phase (about 40% of the cycle) as shown in FIG. 1 .
- the swing phase represents the portion of the gait cycle when the foot is off the ground.
- the stance phase begins at heel-strike when the heel touches the floor and ends at toe-off when the same foot rises from the ground surface. Additionally, we can further divide the stance phase into three sub-phases: Controlled Plantar flexion (CP), Controlled Dorsiflexion (CD), and Powered Plantar flexion (PP).
- CP Controlled Plantar flexion
- CD Controlled Dorsiflexion
- PP Powered Plantar flexion
- FIG. 1 Each phase and the corresponding ankle functions which occur when walking on level ground are illustrated in FIG. 1 .
- the subdivisions of the stance phase of walking, in order from first to last, are: the Controlled Plantar flexion (CP) phase, the Controlled Dorsiflexion (CD) phase, and the Powered Plantar flexion (PP) phase.
- CP Controlled Plantar flexion
- CD Controlled Dorsiflexion
- PP Powered Plantar flexion
- CP begins at heel-strike illustrated at 103 and ends at foot-flat at 105 .
- CP describes the process by which the heel and forefoot initially make contact with the ground.
- ⁇ 1, 12 ⁇ researchers showed that CP ankle joint behavior was consistent with a linear spring response where joint torque is proportional to joint position. The spring behavior is, however, variable; joint stiffness is continuously modulated by the body from step to step.
- the CD phase continues until the ankle reaches a state of maximum dorsiflexion and begins powered plantarflexion PP as illustrated at 107
- Ankle torque versus position during the CD period can often be described as a nonlinear spring where stiffness increases with increasing ankle position.
- the main function of the ankle during CD is to store the elastic energy necessary to propel the body upwards and forwards during the PP phase ⁇ 9 ⁇ ⁇ 3 ⁇ .
- the PP phase begins after CD and ends at the instant of toe-off illustrated at 109 .
- the ankle can be modeled as a catapult in series or in parallel with the CD spring or springs.
- the catapult component includes a motor that does work on a series spring during the latter half of the CD phase and/or during the first half of the PP phase.
- the catapult energy is then released along with the spring energy stored during the CD phase to achieve the high plantar flexion power during late stance.
- This catapult behavior is necessary because the work generated during PP is more than the negative work absorbed during the CP and CD phases for moderate to fast walking speeds ⁇ 1 ⁇ ⁇ 2 ⁇ ⁇ 3 ⁇ ⁇ 9 ⁇ .
- FIGS. 2 and 3 a separate description of the ankle-foot biomechanics is presented in FIGS. 2 and 3 .
- FIG. 2 shows the human ankle biomechanics during stair ascent.
- the first phase of stair ascent is called Controlled Dorsiflexion 1 (CD 1 ), which begins with foot strike in a dorsiflexed position seen at 201 and continues to dorsiflex until the heel contacts the step surface at 203 .
- CD 1 Controlled Dorsiflexion 1
- the ankle can be modeled as a linear spring.
- the second phase is Powered Plantar flexion 1 (PP 1 ), which begins at the instant of foot flat (when the ankle reaches its maximum dorsiflexion at 203 ) and ends when dorsiflexion begins once again at 205 .
- PP 1 Powered Plantar flexion 1
- the human ankle behaves as a torque actuator to provide extra energy to support the body weight.
- the third phase is Controlled Dorsiflexion 2 (CD 2 ), in which the ankle dorsiflexes until heel-off at 207 .
- CD 2 Controlled Dorsiflexion 2
- the ankle can be modeled as a linear spring.
- the fourth and final phase is Powered Plantar flexion 2 (PP 2 ) which begins at heel-off 207 and continues as the foot pushes off the step, acting as a torque actuator in parallel with the CD 2 spring to propel the body upwards and forwards, and ends when the toe leaves the surface at 209 to being the swing phase that ends at 213 .
- PP 2 Powered Plantar flexion 2
- FIG. 3 shows the human ankle-foot biomechanics for stair descent.
- the stance phase of stair descent is divided into three sub-phases: Controlled Dorsiflexion 1 (CD 1 ), Controlled Dorsiflexion 2 (CD 2 ), and Powered Plantar flexion (PP).
- CD 1 Controlled Dorsiflexion 1
- CD 2 Controlled Dorsiflexion 2
- PP Powered Plantar flexion
- CD 1 begins at foot strike illustrated at 303 and ends at foot-flat 305 .
- the human ankle can be modeled as a variable damper.
- CD 2 the ankle continues to dorsiflex forward until it reaches a maximum dorsiflexion posture seen at 307 .
- the ankle acts as a linear spring, storing energy throughout CD 2 .
- PP which begins at 307 , the ankle plantar flexes until the foot lifts from the step at 309 .
- the ankle releases stored CD 2 energy, propelling the body upwards and forwards.
- the foot is positioned controlled through the swing phase until the next foot strike at 313 .
- the human ankle-foot can be effectively modeled using a combination of an actuator and a variable stiffness mechanism.
- a variable damper needs also to be included for modeling the ankle-foot complex; the power absorbed by the human ankle is much greater during stair descent than the power released by 2.3 to 11.2 J/kg ⁇ 2 ⁇ .
- the preferred embodiments of the present invention take the form of an artificial ankle system capable of providing biologically-realistic dynamic behaviors.
- the key mechanical components of these embodiments, and their general functions, may be summarized as follows:
- an artificial ankle may employ an elastic member operatively connected in series with the motor between the shin member and the foot member to store energy when the relative motion of the foot and shin members is being arrested by a controllable variable damping element and to thereafter apply an additional torque to the ankle joint when the variable damping element no longer arrests the relative motion of the two members.
- An artificial ankle may include an elastic member operatively connected in series with the motor between the shin and foot members to store energy when the foot member is moved toward the shin member and to release energy and apply an additional torque to the ankle joint that assists the motor to move the foot member away from the shin member.
- a controllable damping member may be employed to arrest the motion of the motor to control the amount of energy absorbed by the motor when the foot member is moved toward the shin member.
- the Flex-Foot made by ⁇ ssur of Reykjavik, Iceland, is a passive carbon-fiber energy storage device that replicates the ankle joint for amputees.
- the Flex-Foot is described in U.S. Pat. No. 6,071,313 issued to Van L. Phillips entitled “Split foot prosthesis” and in Phillips' earlier U.S. Pat. Nos. 5,776,205, 5,514,185 and No. 5,181,933, the disclosures of which are incorporated herein by reference.
- the Flex-foot is a foot prosthesis for supporting an amputee relative to a support surface and consists of a leaf spring having multiple flexing portions configured to flex substantially independently of one another substantially completely along their length.
- the Flex-Foot has an equilibrium position of 90 degrees and a single nominal stiffness value.
- a hybrid actuator mechanism of the kind described in the above-noted application Ser. No. 11/395,448 is used to augment a flexing foot member such as the Flex-Foot by allowing the equilibrium position to be set to an arbitrary angle by a motor and locking, or arresting the relative movement of, the foot member with respect to the shin member using a clutch or variable damper.
- the embodiment of the invention to be described can also change the stiffness and damping of the prosthesis dynamically.
- Preferred embodiments of the present invention take the form of an artificial ankle and foot system in which a foot and ankle structure is mounted for rotation with respect to a shin member at an ankle joint.
- the foot and ankle structure preferably comprises a curved flexible elastic foot member that defines an arch between a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member for rotation at the ankle joint.
- a variable damper is employed to arresting the motion of said foot and ankle structure with respect to said shin member under predetermined conditions, and preferably includes a stop mechanism that prevents the foot and ankle structure from rotating with respect to the shin member beyond a predetermined limit position.
- variable damper may further include a controllable damper, such as a magnetorheological (MR) brake, which arrests the rotation of the ankle joint by controllable amount at controlled times during the walking cycle.
- a controllable damper such as a magnetorheological (MR) brake
- MR magnetorheological
- Preferred embodiments of the ankle and foot system further include an actuator motor for applying torque to the ankle joint to rotate said foot and ankle structure with respect to said shin member.
- embodiments of the invention may include a catapult mechanism comprising a series elastic member operatively connected in series with the motor between the shin member and the foot and ankle structure.
- the series elastic member stores energy from the motor during a first portion of each walking cycle and then releases the stored energy to help propel the user forward over the walking surface at a later time in each walking cycle.
- the preferred embodiments of the invention may employ a controller for operating both the motor and the controllable damper such that the motor stores energy in the series elastic member as the shin member is being arrested by the controllable damper.
- the actuator motor which applies torque to the ankle joint may be employed to adjust the position of the foot and ankle structure relative to the shin member when the foot and ankle member is not in contact with a support surface.
- Inertial sensing means are preferably employed to determine the relative elevation of the foot and angle structure and to actuate the motor in response to changes in the relative elevation, thereby automatically positioning the foot member for toe first engagement if the wearer is descending stairs.
- FIG. 1 illustrates the different phases of a walking cycle experienced by a human ankle and foot during level ground walking
- FIG. 2 depicts the phases of a walking cycle experienced by a human ankle and foot when ascending stairs
- FIG. 3 depicts the phases of a walking cycle experienced by a human ankle and foot during stair descent
- FIG. 4 shows the mechanical design of an anterior view of embodiment 1
- FIG. 5 shows a posterior view of embodiment 1
- FIG. 6 shows a side elevational view of embodiment 1
- FIG. 7 is a schematic depiction of embodiment 1
- FIG. 8 depicts a lumped parameter model of embodiment 1
- FIGS. 9-12 show the control sequence for embodiment 1 during ground level walking
- FIGS. 13-15 show the control sequence for embodiment 1 during stair ascent
- FIGS. 16-19 show the control sequence for embodiment 1 during stair descent
- FIG. 20 shows the mechanical design of an anterior view of embodiment 2
- FIG. 21 shows a posterior view of embodiment 2
- FIG. 22 shows a side elevational view of embodiment 2
- FIG. 23 is a schematic depiction of embodiment 2
- FIG. 24 depicts a lumped parameter model of embodiment 2
- FIGS. 25-28 show the control sequence for embodiment 2 during ground level walking
- FIG. 29 is a schematic block diagram of a sensing and control mechanism used to control the operation of the motors and dampers in ankle foot systems embodying the invention.
- the first embodiment (Embodiment 1) provides for elastic energy storage, variable-damping and a variable-orientation foot control.
- the second embodiment to be described includes a motor in series with a spring for providing joint spring stiffness control during the CP and CD phases, and a motive torque control during the PP phase of the walking cycle as described above.
- FIGS. 4-6 The mechanical design of embodiment 1 is seen in FIGS. 4-6 and the corresponding schematic and lumped parameter model of embodiment 1 are shown in FIGS. 7 and 8 , respectively.
- an elastic leaf spring structure 601 As seen in the side elevation view of FIG. 6 , there are four main mechanical elements in this embodiment: an elastic leaf spring structure 601 , a dorsiflexion clutch (Ribbon Stop) seen at 603 , a variable damper (MR brake) seen at 605 , and an actuator system comprising a small motor seen at 607 .
- these four main mechanical elements are shown as an elastic leaf spring structure 701 , a dorsiflexion clutch (Ribbon Stop) 703 , a variable damper 705 , and a motor actuator system 707 .
- the elastic leaf spring seen at 601 and 701 can be made from a lightweight, efficient spring material such as carbon composite, fiberglass or a material of similar properties.
- the elastic leaf spring structure includes a heel portion seen at 609 and a toe portion seen at 660 .
- a curved, flexible ankle section 680 is attached at its upper end to a brake mount member 690 which is mounts the flexible foot for rotation about the axis of the ankle joint which, in FIG. 6 , is located at the center of the MR brake 605 .
- variable-damper mechanism seen at 605 and 705 can be implemented using magnetorheological (MR), electrorheological (ER), dry magnetic particles, hydraulic, pneumatic, friction, or any similar strategy to control joint damping.
- MR magnetorheological
- ER electrorheological
- dry magnetic particles hydraulic, pneumatic, friction, or any similar strategy to control joint damping.
- MR fluid is used in the shear mode where a set of rotary plates shear thin layers of MR fluid.
- iron particles suspended in carrier fluid form chains, increasing the shear viscosity and joint damping.
- the ribbon stop seen at 603 and 703 prevents the ankle joint from dorsiflexing beyond a certain maximum dorsiflexion limit, ranging from 0 to 30 degrees depending on ankle performance requirements.
- the ribbon stop is uni-directional, preventing dorsiflexion but not impeding plantarflexion movements.
- the actuator motor seen at 607 and 707 is a small, low-power electromagnetic motor that provides foot orientation control.
- the motor can exert a torque about the ankle joint (indicated at 711 ) to re-position the foot (the elastic leaf spring 601 , 701 ) relative to the shank depicted at 713 when the foot is not in contact with the ground.
- the shank frame for the ankle-foot assembly attaches to a shin member (not shown) using a standard pyramid mount seen at 613 which may be used to attach the shank frame to the shin portion of an artificial limb or the wearer's stump.
- both of the artificial foot and ankle joint embodiments described in this specification may be used in combination with artificial limb structures such as the artificial knees and hips described in the above-noted U.S. patent application Ser. No. 11/395,448.
- a simplified 1 D lumped parameter model of embodiment 1 seen in FIG. 8 is used to explain the behavior of the ankle-foot system under different walking conditions.
- the bending angle of the elastic leaf spring 701 is independent of the ankle angle of the pin joint, therefore the lumped parameter model includes two degrees of freedom: one for the displacement of the foot, X 1 , and the other for the displacement of the shank X 2 as shown in FIG. 8 .
- the leaf spring structure, seen at 601 in FIG. 6 and at 701 in FIG. 7 is modeled as a nonlinear spring shown at 801 in FIG. 8 with a stiffness that varies with X 1 , the foot bending angle (displacement of the foot).
- the actuator motor seen at 807 , the variable-damper 805 , and the ribbon stop seen at 803 act between the mass of the shank at 820 and the mass of the foot at 830 .
- the loading force F load (t) due to body weight varies dynamically during the stance phase of each gait cycle.
- Embodiment 1 for level-ground walking is depicted in FIGS. 9-12 .
- the variable-damper is set at a high damping level to essentially lock the ankle joint during early to midstance, allowing the leaf spring structure to store and release elastic energy.
- a critical dorsiflexion angle is achieved (between 0 to 30 degrees)
- the ribbon stop becomes taught during the remainder of the CD phase.
- the spring structure releases its stored elastic energy, rotating in a plantar flexion direction and propelling the body upwards and forwards ( FIG. 11 ).
- the actuator controls the equilibrium position of the foot to achieve foot clearance during the swing phase and to maintain a proper landing of the foot for the next gait cycle ( FIG. 12 ).
- the maximum dorsiflexion ankle torque during level-ground walking is in the range from 1.5 Ng to 2 Nm/kg, i.e. around 150 Nm for a 100 kg person ⁇ 2 ⁇ .
- a variable-damper that can provide such high damping torque and additionally very low damping levels is difficult to build at a reasonable weight and size.
- the maximum controlled plantar flexion torque is small, typically in the range of 0.3 Nm/kg to 0.4 Ng. Because of these factors, a ribbon stop that engages at a small dorsiflexion angle such as 5 degrees would lower the peak torque requirements of the variable-damper since the peak controlled plantar flexion torque is considerably smaller than the peak dorsiflexion torque.
- the human ankle behaves like a damper from foot strike to 90° of dorsiflexion ⁇ 11 ⁇ . Beyond that, the ankle behaves like a non-linear spring, storing elastic energy during controlled dorsiflexion.
- a passive clutch for resisting dorsiflexion movements beyond 90°, thus allowing for a smaller sized variable damper.
- a ribbon stop is preferred as a unidirectional clutch because it is lightweight with considerable strength in tension.
- FIGS. 13-15 depict the control sequence of embodiment 1 for stair ascent. It is noted here that there are only three control phases/modes for stair ascent, although the gait cycle for stair ascent can be divided into 5 sub-phases, including Controlled Dorsiflexion 1 (CD 1 ), Powered Plantarflexion 1 (PP 1 ), Controlled Dorsiflexion 2 (CD 2 ), Powered Plantarflexion 1 (PP 1 ), and Swing Phase. The main reason is that in terms of control, we can combine phases PP 1 , CD 2 , and PP 2 into one single phase since all three phases may be described using the same control law. For ascending a stair, the clutch is engaged and the leaf spring is compressed throughout ground contact ( FIG.
- the variable damper may be activated to control the process of energy release from the leaf spring, but in general, the damper is turned off so that all the stored elastic energy is used to propel the body upwards and forwards (Ax, 0, & 2 0). After toe-off, the actuator controls the equilibrium position of the ankle in preparation for the next step ( FIG. 15 ).
- FIGS. 16-19 The control sequence for embodiment 1 for stair descent is depicted in FIGS. 16-19 .
- the toe leaf spring releases its energy, propelling the body upwards and forwards ( FIG. 18 ).
- Controlled Dorsiflexion 1 ( FIG. 16 )
- the ankle foot system preferably employs an inertial navigation system (INS) for the control of an active artificial ankle joint to achieve a more natural gait and improved comfort over the range of human walking and climbing activities.
- INS inertial navigation system
- an artificial ankle joint must be controlled to behave like a normal human ankle. For instance, during normal level ground walking, the heel strikes the ground first; but when descending stairs, it is the toe which first touches the ground. Walking up or down an incline, either the toe or the heel may strike the ground first, depending upon the steepness of the incline.
- a difficult aspect of the artificial ankle control problem is that the ankle joint angle must be established before the foot reaches the ground, so that the heel or toe will strike first, as appropriate to the activity. Reliable determination of which activity is underway while the foot is still in the air presents implacable difficulties for sensor systems presently employed on lower leg artificial devices.
- the present invention addresses this difficulty by attaching an inertial navigation system below the knee joint, either on the lower leg segment or on the artificial foot. This system is then used to determine the foot's change in elevation since it last left the ground. This change in elevation may be used to discriminate between level ground walking and descending stairs or steep inclines.
- the ankle joint angle may then be controlled during the foot's aerial phase to provide heel strike for level ground walking or toe strike upon detection of negative elevation, as would be encountered descending stairs or walking down a steep incline.
- Inertial navigation systems rely upon accelerometers and gyroscopes jointly attached to a rigid assembly to detect the assembly's motion and change of orientation. In accordance with the laws of mechanics, these changes may be integrated to measure changes of the system's position and orientation, relative to its initial position and orientation. In practice, however, it is found that errors of the accelerometers and gyros produce ever-increasing errors in the system's estimated position. Inertial navigation systems can address this problem in one of two ways: by the use of expensive, high precision accelerometers and gyroscopes, and by incorporating other, external sources of information about position and orientation, for instance GPS, to augment the purely inertial information. But using either of these alternatives would make the resulting system unattractive for an artificial ankle device.
- Control of an actuated artificial ankle joint may be implemented as follows:
- the foot flat phase may be detected by the absence of non-centrifugal, non-gravitational, linear acceleration along the length axis of the lower leg.
- Push off phase may be detected by the upward acceleration along the axis of the lower leg. Elevation >0 and elevation ⁇ 0 phases are recognized from the change in relative elevation computed by the INS since the end of foot flat phase.
- the foot and ankle system includes an elastic leaf spring structure that provides a heel spring as seen at 2201 and a toe spring as seen at 2206 , the elastic leaf spring structure attaches to a brake mount member 2202 that rotates with respect to an ankle joint shank frame 2203 and a tibial side bracket 2204 about a pivot axis at the center of the MR brake seen at 2205 .
- the actuator motor 2207 is mounted within the tibial side bracket 2204 and its drive shaft is coupled through a drive gear (not shown) to rotate the elastic leaf spring structure 2201 and 2206 with respect to the shank frame 2203 and side bracket 2204 about the ankle joint.
- a catapult mechanism to provide powered plantar flexion during late stance consists of a series elastic spring element seen at 2210 having an internal slider 2212 that attaches to the brake mount 2202 at the lower actuator mount 2213 , and the spring element 2210 attaches to the upper actuator mount 2216 at the top of the tibial side bracket 2204 .
- a standard pyramid mount 2230 at the top of the tibial side bracket 2294 provides a connection to the shin member (not shown).
- Embodiment 2 The corresponding schematic of Embodiment 2 is seen in FIG. 23 and is similar to that of Embodiment 1, including the heel and toe leaf spring 2301 , variable damper 2305 , and ribbon stop 2303 .
- the series elastic spring element is seen at 2310 connected in series with the actuator motor 2307 to form the catapult.
- One of the main challenges in the design of an artificial ankle is to have a relatively low-mass actuation system that can provide a large instantaneous output power upwards of 200 Watts during Powered Plantar Flexion (PP) ⁇ 2,11 ⁇ Fortunately, the duration of PP is only 15% of the entire gait cycle, and the average power output of the human ankle during the stance phase is much lower than the instantaneous output power during PP. Hence, a catapult mechanism is a compelling solution to this problem.
- the catapult mechanism is mainly composed of three components: an actuator motor, a variable damper and/or clutch and an energy storage element.
- the actuator can be any type of motor system, including electric, shape memory alloy, hydraulic or pneumatic devices, and the series energy storage element can be any elastic element capable of storing elastic energy when compressed or stretched.
- the damper can be any type of device including hydraulic, magnetorheological, pneumatic, or electrorheological.
- the series elastic spring element 2310 can be compressed or stretched by the actuator 2307 in series to the spring 2310 without the joint rotating.
- the spring 2310 will provide a large amount of instantaneous output power once the parallel damping device 2305 or clutch 2303 is deactivated, allowing the elastic element 2310 to release its energy. If the actuator 2307 has a relatively long period of time to compress or stretch the elastic element 2310 , its mass can be kept relatively low, decreasing the overall weight of the artificial ankle device.
- the catapult system comprises a magnetorheological variable damper 2305 placed in parallel to the series elastic electric motor system.
- the lumped parameter model of Embodiment 2 is shown in FIG. 24 . It is basically the same as the model of Embodiment 1 as depicted in FIG. 8 , except that we now place a spring element 2410 in series with the actuator 2407 and the foot mass structure 2430 .
- the main idea here is that if the variable MR damper seen at 2405 outputs high damping, locking the ankle joint, the foot and the shank become one single component. Once the joint is locked, the actuator 2407 compresses or stretches the spring element 2310 . Once joint damping is minimized, the spring element 2410 will then push against the shank 2420 to provide forward propulsion during powered plantar flexion.
- Embodiment 2 for level-ground walking will be discussed in the next section.
- Stair ascent/descent can be deduced from the earlier descriptions for embodiment 1, and thus, will not be described herein.
- Embodiment 2 for level-ground walking is depicted in FIGS. 25-28 .
- the actuator controls the stiffness of the ankle by controlling the displacement of the series spring ( FIG. 25 ).
- the toe carbon fiber leaf spring 2206 is compressed due to the loading of body weight, while the actuator compresses the series spring to store additional elastic energy in the system ( FIG. 26 ).
- inertia and body weight hold the joint in a dorsiflexed posture, enabling the motor to elongate the series spring.
- the MR variable damper In a second control approach, where body weight and inertia are insufficient to lock the joint, the MR variable damper would output a high damping value to essentially lock the ankle joint while the motor stores elastic energy in the series spring.
- both the leaf spring and the series catapult spring Independent of the catapult control approach, during PP as seen in FIG. 27 , as the load from body weight decreases, both the leaf spring and the series catapult spring begin releasing stored elastic energy, supplying high ankle output powers.
- the actuator controls the position of the foot while both the series spring and the leaf springs are slack as depicted in FIG. 28 .
- an inertial navigation system for the control of the active artificial ankle joint will be employed to achieve a more natural gait and improved comfort over the range of human walking and climbing activities.
- the manner in which these navigation sensors will be used is similar to that described for Embodiment 1.
- FIG. 29 depicts the general form of a typical control mechanism in which a multiple sensors are employed to determine the dynamic status of the skeletal structure and the components of the hybrid actuator and deliver data indicative of that status to a processor seen at 2900 which produces control outputs to operate the motor actuator and to control the variable dampers.
- the sensors used to enable general actuator operation and control can include:
- the processor 2900 preferably comprises a microprocessor which is carried on the ankle-foot system and typically operated from the same battery power source 2920 used to power the motor 2930 and the controllable dampers 2932 and 2934 .
- a non-volatile program memory 2941 stores the executable programs that control the processing of the data from the sensors and input controls to produce the timed control signals which govern the operation of the actuator motor and the dampers.
- An additional data memory seen at 2942 may be used to supplement the available random access memory in the microprocessor 2900 .
- the motor series spring displacement sensor can be used to measure the torque borne by the joint because joint torque can be calculated from the motor series output force.
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Transplantation (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Cardiology (AREA)
- Public Health (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Prostheses (AREA)
Abstract
Description
- This application is a continuation of U.S. patent application Ser. No. 11/495,140, filed Jul. 29, 2006, which is a non-provisional of, and also claims the benefit of the filing date of, U.S. Provisional Patent Application Ser. No. 60/704,517 filed on Aug. 1, 2005, each of which is herein incorporated by reference.
- This application is a continuation in part of, and claims the benefit of the filing date of, U.S. patent application Ser. No. 11/395,448 filed on Mar. 31, 2006. Application Ser. No. 11/395,448 was a non-provisional of, and claimed the benefit of the filing date of, U.S. Provisional Patent Application Ser. No. 60/666,876 filed on Mar. 31, 2005 and U.S. Provisional Patent Application Ser. No. 60/704,517 filed on Aug. 1, 2005, each of which is herein incorporated by reference.
- This application incorporates the disclosures of each of the foregoing applications herein by reference.
- This invention relates generally to prosthetic devices and artificial limb and joint systems, including robotic, orthotic, exoskeletal limbs, and more particularly, although in its broader aspects not exclusively, to artificial feet and ankle joints.
- In the course of the following description, reference will be made to the papers, patents and publications presented in a list of references at the conclusion of this specification. When cited, each listed reference will be identified by a numeral within curly-braces indicating its position within this list.
- As noted in {1} {2} {3}, an artificial ankle-foot system ideally needs to fulfill a diverse set of requirements. The artificial system must be a reasonable weight and have a natural morphological shape, but still have an operational time between refueling or battery recharges of at least one full day. The system must also be capable of varying its position, impedance, and motive power in a comparable manner to that of a normal, healthy biological limb. Still further, the system must be adaptive, changing its characteristics given such environmental disturbances as walking speed and terrain variation. The embodiments of the invention that are described in this specification employ novel architectures capable of achieving these many requirements.
- From recent biomechanical studies {1} {2} {3}, researchers have determined researchers have determined that early stance period ankle stiffness varies from step-to-step in wag. Furthermore, researchers have discovered that the human ankle performs more positive mechanical work than negative work, especially at moderate to fast wag speeds {1} {2} {3}. The added ankle power is important for providing adequate forward progression of the body at the end of each stance period. In distinction, for stair descent, the ankle behaves as a variable damper during the first half of stance, absorbing impact energies {2}. These biomechanical findings suggest that in order to mimic the actual behavior of the human ankle, joint stiffness, motive power, and damping must be actively controlled in the context of an efficient, high cycle-life, quiet and cosmetic ankle-foot artificial joint.
- For level ground ambulation, the ankle behaves as a variable stiffness device during the early to midstance period, storing and releasing impact energies. Throughout terminal stance, the ankle acts as a torque source to power the body forward. In distinction, the ankle varies damping rather than stiffness during the early stance period of stair descent. These biomechanical findings suggest that in order to mimic the actual behavior of a human joint or joints, stiffness, damping, and nonconservative, motive power must be actively controlled in the context of an efficient, high cycle-life, quiet and cosmetic biomimetic limb system, be it for a prosthetic or orthotic device. This is also the case for a biomimetic robotic limb since it will need to satisfy the same mechanical and physical laws as its biological counterpart, and will benefit from the same techniques for power and weight savings.
- In the discussion immediately below, the biomechanical properties of the ankle will be described in some detail to explain the insights that have guided the design and development of the specific embodiments of the invention and to define selected terms that will be used in this specification.
- Joint Biomechanics: The Human Ankle
- Understanding normal walking biomechanics provides the basis for the design and development of the artificial ankle joint and ankle-foot structures that embody the invention. Specifically, the function of human ankle under sagittal plane rotation is described below for different locomotor conditions including level-ground walking and stair/slope ascent and descent. From these biomechanical descriptions, the justifications for key mechanical components and configurations of the artificial ankle structures and functions embodying the invention may be better understood.
- Level-Ground Walking
- A level-ground walking gait cycle is typically defined as beginning with the heel strike of one foot and ending at the next heel strike of the same foot {8}. The main subdivisions of the gait cycle are the stance phase (about 60% of the cycle) and the subsequent swing phase (about 40% of the cycle) as shown in
FIG. 1 . The swing phase represents the portion of the gait cycle when the foot is off the ground. The stance phase begins at heel-strike when the heel touches the floor and ends at toe-off when the same foot rises from the ground surface. Additionally, we can further divide the stance phase into three sub-phases: Controlled Plantar flexion (CP), Controlled Dorsiflexion (CD), and Powered Plantar flexion (PP). - Each phase and the corresponding ankle functions which occur when walking on level ground are illustrated in
FIG. 1 . The subdivisions of the stance phase of walking, in order from first to last, are: the Controlled Plantar flexion (CP) phase, the Controlled Dorsiflexion (CD) phase, and the Powered Plantar flexion (PP) phase. - CP begins at heel-strike illustrated at 103 and ends at foot-flat at 105. Simply speaking, CP describes the process by which the heel and forefoot initially make contact with the ground. In {1, 12}, researchers showed that CP ankle joint behavior was consistent with a linear spring response where joint torque is proportional to joint position. The spring behavior is, however, variable; joint stiffness is continuously modulated by the body from step to step.
- After the CP period, the CD phase continues until the ankle reaches a state of maximum dorsiflexion and begins powered plantarflexion PP as illustrated at 107 Ankle torque versus position during the CD period can often be described as a nonlinear spring where stiffness increases with increasing ankle position. The main function of the ankle during CD is to store the elastic energy necessary to propel the body upwards and forwards during the PP phase {9} {3}.
- The PP phase begins after CD and ends at the instant of toe-off illustrated at 109. During PP, the ankle can be modeled as a catapult in series or in parallel with the CD spring or springs. Here the catapult component includes a motor that does work on a series spring during the latter half of the CD phase and/or during the first half of the PP phase. The catapult energy is then released along with the spring energy stored during the CD phase to achieve the high plantar flexion power during late stance. This catapult behavior is necessary because the work generated during PP is more than the negative work absorbed during the CP and CD phases for moderate to fast walking speeds {1} {2} {3} {9}.
- During the swing phase, the final 40% of the gait cycle, which extends from toe-off at 109 until the next heel strike at 113, the foot is lifted off the ground.
- Stair Ascent and Descent
- Because the kinematic and kinetic patterns at the ankle during stair ascent/descent are significantly different from that of level-ground walking {2}, a separate description of the ankle-foot biomechanics is presented in
FIGS. 2 and 3 . -
FIG. 2 shows the human ankle biomechanics during stair ascent. The first phase of stair ascent is called Controlled Dorsiflexion 1 (CD 1), which begins with foot strike in a dorsiflexed position seen at 201 and continues to dorsiflex until the heel contacts the step surface at 203. In this phase, the ankle can be modeled as a linear spring. - The second phase is Powered Plantar flexion 1 (PP 1), which begins at the instant of foot flat (when the ankle reaches its maximum dorsiflexion at 203) and ends when dorsiflexion begins once again at 205. The human ankle behaves as a torque actuator to provide extra energy to support the body weight.
- The third phase is Controlled Dorsiflexion 2 (CD 2), in which the ankle dorsiflexes until heel-off at 207. For the
CD 2 phase, the ankle can be modeled as a linear spring. - The fourth and final phase is Powered Plantar flexion 2 (PP 2) which begins at heel-off 207 and continues as the foot pushes off the step, acting as a torque actuator in parallel with the
CD 2 spring to propel the body upwards and forwards, and ends when the toe leaves the surface at 209 to being the swing phase that ends at 213. -
FIG. 3 shows the human ankle-foot biomechanics for stair descent. The stance phase of stair descent is divided into three sub-phases: Controlled Dorsiflexion 1 (CD1), Controlled Dorsiflexion 2 (CD2), and Powered Plantar flexion (PP). - CD1 begins at foot strike illustrated at 303 and ends at foot-flat 305. In this phase, the human ankle can be modeled as a variable damper. In CD2, the ankle continues to dorsiflex forward until it reaches a maximum dorsiflexion posture seen at 307. Here the ankle acts as a linear spring, storing energy throughout CD2. During PP, which begins at 307, the ankle plantar flexes until the foot lifts from the step at 309. In this final PP phase, the ankle releases stored CD2 energy, propelling the body upwards and forwards. After toe-off at 309, the foot is positioned controlled through the swing phase until the next foot strike at 313.
- For stair ascent depicted in
FIG. 2 , the human ankle-foot can be effectively modeled using a combination of an actuator and a variable stiffness mechanism. However, for stair descent, depicted inFIG. 3 , a variable damper needs also to be included for modeling the ankle-foot complex; the power absorbed by the human ankle is much greater during stair descent than the power released by 2.3 to 11.2 J/kg {2}. Hence, it is reasonable to model the ankle as a combination of a variable-damper and spring for stair descent {2}. - The preferred embodiments of the present invention take the form of an artificial ankle system capable of providing biologically-realistic dynamic behaviors. The key mechanical components of these embodiments, and their general functions, may be summarized as follows:
-
- 1. One or more passive springs—to store and release elastic energy for propulsion;
- 2. One or more series-elastic actuators (muscle-tendon)—to control the position of the ankle, provide additional elastic energy storage for propulsion, and to control joint stiffness; and
- 3. One or more variable dampers—to absorb mechanical energy during stair and slope descent.
- The above-identified U.S. patent application Ser. No. 11/395,448 filed on Mar. 31, 2006 describes related artificial limbs and joints that employ passive and series-elastic elements and variable-damping elements, and in addition employ active motor elements in arrangements called “Biomimetic Hybrid Actuators” forming biologically-inspired musculoskeletal architectures. The electric motor used in the hybrid actuators supply positive energy to and store negative energy from one or more joints which connect skeletal members, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive impedance to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.
- As described in application Ser. No. 11/395,448, an artificial ankle may employ an elastic member operatively connected in series with the motor between the shin member and the foot member to store energy when the relative motion of the foot and shin members is being arrested by a controllable variable damping element and to thereafter apply an additional torque to the ankle joint when the variable damping element no longer arrests the relative motion of the two members.
- As further described in application Ser. No. 11/395,448, An artificial ankle may include an elastic member operatively connected in series with the motor between the shin and foot members to store energy when the foot member is moved toward the shin member and to release energy and apply an additional torque to the ankle joint that assists the motor to move the foot member away from the shin member. A controllable damping member may be employed to arrest the motion of the motor to control the amount of energy absorbed by the motor when the foot member is moved toward the shin member.
- The Flex-Foot, made by Össur of Reykjavik, Iceland, is a passive carbon-fiber energy storage device that replicates the ankle joint for amputees. The Flex-Foot is described in U.S. Pat. No. 6,071,313 issued to Van L. Phillips entitled “Split foot prosthesis” and in Phillips' earlier U.S. Pat. Nos. 5,776,205, 5,514,185 and No. 5,181,933, the disclosures of which are incorporated herein by reference. The Flex-foot is a foot prosthesis for supporting an amputee relative to a support surface and consists of a leaf spring having multiple flexing portions configured to flex substantially independently of one another substantially completely along their length. The Flex-Foot has an equilibrium position of 90 degrees and a single nominal stiffness value. In the embodiments described below, a hybrid actuator mechanism of the kind described in the above-noted application Ser. No. 11/395,448 is used to augment a flexing foot member such as the Flex-Foot by allowing the equilibrium position to be set to an arbitrary angle by a motor and locking, or arresting the relative movement of, the foot member with respect to the shin member using a clutch or variable damper. Furthermore, the embodiment of the invention to be described can also change the stiffness and damping of the prosthesis dynamically.
- Preferred embodiments of the present invention take the form of an artificial ankle and foot system in which a foot and ankle structure is mounted for rotation with respect to a shin member at an ankle joint. The foot and ankle structure preferably comprises a curved flexible elastic foot member that defines an arch between a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member for rotation at the ankle joint. A variable damper is employed to arresting the motion of said foot and ankle structure with respect to said shin member under predetermined conditions, and preferably includes a stop mechanism that prevents the foot and ankle structure from rotating with respect to the shin member beyond a predetermined limit position. The variable damper may further include a controllable damper, such as a magnetorheological (MR) brake, which arrests the rotation of the ankle joint by controllable amount at controlled times during the walking cycle. Preferred embodiments of the ankle and foot system further include an actuator motor for applying torque to the ankle joint to rotate said foot and ankle structure with respect to said shin member.
- In addition, embodiments of the invention may include a catapult mechanism comprising a series elastic member operatively connected in series with the motor between the shin member and the foot and ankle structure. The series elastic member stores energy from the motor during a first portion of each walking cycle and then releases the stored energy to help propel the user forward over the walking surface at a later time in each walking cycle. The preferred embodiments of the invention may employ a controller for operating both the motor and the controllable damper such that the motor stores energy in the series elastic member as the shin member is being arrested by the controllable damper.
- The actuator motor which applies torque to the ankle joint may be employed to adjust the position of the foot and ankle structure relative to the shin member when the foot and ankle member is not in contact with a support surface. Inertial sensing means are preferably employed to determine the relative elevation of the foot and angle structure and to actuate the motor in response to changes in the relative elevation, thereby automatically positioning the foot member for toe first engagement if the wearer is descending stairs.
- These and other features and advantages of the present invention will be better understood by considering the following detailed description of two illustrative embodiments of the invention. In course of this description, frequent reference will be made to the attached drawings, which are briefly described below.
-
FIG. 1 illustrates the different phases of a walking cycle experienced by a human ankle and foot during level ground walking; -
FIG. 2 depicts the phases of a walking cycle experienced by a human ankle and foot when ascending stairs; -
FIG. 3 depicts the phases of a walking cycle experienced by a human ankle and foot during stair descent; -
FIG. 4 shows the mechanical design of an anterior view ofembodiment 1; -
FIG. 5 shows a posterior view ofembodiment 1; -
FIG. 6 shows a side elevational view ofembodiment 1; -
FIG. 7 is a schematic depiction ofembodiment 1; -
FIG. 8 depicts a lumped parameter model ofembodiment 1; -
FIGS. 9-12 show the control sequence forembodiment 1 during ground level walking; -
FIGS. 13-15 show the control sequence forembodiment 1 during stair ascent; -
FIGS. 16-19 show the control sequence forembodiment 1 during stair descent; -
FIG. 20 shows the mechanical design of an anterior view ofembodiment 2; -
FIG. 21 shows a posterior view ofembodiment 2; -
FIG. 22 shows a side elevational view ofembodiment 2; -
FIG. 23 is a schematic depiction ofembodiment 2; -
FIG. 24 depicts a lumped parameter model ofembodiment 2; -
FIGS. 25-28 show the control sequence forembodiment 2 during ground level walking; -
FIG. 29 is a schematic block diagram of a sensing and control mechanism used to control the operation of the motors and dampers in ankle foot systems embodying the invention. - Two embodiments of an ankle-foot system contemplated by the present invention are described in detail below. The first embodiment (Embodiment 1) provides for elastic energy storage, variable-damping and a variable-orientation foot control. In addition to these capabilities, the second embodiment to be described includes a motor in series with a spring for providing joint spring stiffness control during the CP and CD phases, and a motive torque control during the PP phase of the walking cycle as described above.
- Mechanical Components
- The mechanical design of
embodiment 1 is seen inFIGS. 4-6 and the corresponding schematic and lumped parameter model ofembodiment 1 are shown inFIGS. 7 and 8 , respectively. As seen in the side elevation view ofFIG. 6 , there are four main mechanical elements in this embodiment: an elasticleaf spring structure 601, a dorsiflexion clutch (Ribbon Stop) seen at 603, a variable damper (MR brake) seen at 605, and an actuator system comprising a small motor seen at 607. As seen in the schematic ofFIG. 7 , these four main mechanical elements are shown as an elasticleaf spring structure 701, a dorsiflexion clutch (Ribbon Stop) 703, avariable damper 705, and amotor actuator system 707. - The elastic leaf spring seen at 601 and 701 can be made from a lightweight, efficient spring material such as carbon composite, fiberglass or a material of similar properties. As seen in
FIG. 6 , and as described in Phillips' U.S. Pat. No. 6,071,313 issued on Jun. 6, 2000, the elastic leaf spring structure includes a heel portion seen at 609 and a toe portion seen at 660. A curved,flexible ankle section 680 is attached at its upper end to abrake mount member 690 which is mounts the flexible foot for rotation about the axis of the ankle joint which, inFIG. 6 , is located at the center of theMR brake 605. - The variable-damper mechanism seen at 605 and 705 can be implemented using magnetorheological (MR), electrorheological (ER), dry magnetic particles, hydraulic, pneumatic, friction, or any similar strategy to control joint damping. For
embodiment 1, a MR system is employed. Here MR fluid is used in the shear mode where a set of rotary plates shear thin layers of MR fluid. When a magnetic field is induced across the MR layers, iron particles suspended in carrier fluid form chains, increasing the shear viscosity and joint damping. - The ribbon stop seen at 603 and 703 prevents the ankle joint from dorsiflexing beyond a certain maximum dorsiflexion limit, ranging from 0 to 30 degrees depending on ankle performance requirements. The ribbon stop is uni-directional, preventing dorsiflexion but not impeding plantarflexion movements.
- The actuator motor seen at 607 and 707 is a small, low-power electromagnetic motor that provides foot orientation control. The motor can exert a torque about the ankle joint (indicated at 711) to re-position the foot (the
elastic leaf spring 601, 701) relative to the shank depicted at 713 when the foot is not in contact with the ground. As seen inFIGS. 4-6 , the shank frame for the ankle-foot assembly attaches to a shin member (not shown) using a standard pyramid mount seen at 613 which may be used to attach the shank frame to the shin portion of an artificial limb or the wearer's stump. As will be understood, both of the artificial foot and ankle joint embodiments described in this specification may be used in combination with artificial limb structures such as the artificial knees and hips described in the above-noted U.S. patent application Ser. No. 11/395,448. - Control System
- For a better understanding of the control sequence of the artificial ankle, a simplified 1D lumped parameter model of
embodiment 1 seen inFIG. 8 is used to explain the behavior of the ankle-foot system under different walking conditions. - From
FIG. 7 , it may be noted that the bending angle of theelastic leaf spring 701 is independent of the ankle angle of the pin joint, therefore the lumped parameter model includes two degrees of freedom: one for the displacement of the foot, X1, and the other for the displacement of the shank X2 as shown inFIG. 8 . The leaf spring structure, seen at 601 inFIG. 6 and at 701 inFIG. 7 , is modeled as a nonlinear spring shown at 801 inFIG. 8 with a stiffness that varies with X1, the foot bending angle (displacement of the foot). The actuator motor seen at 807, the variable-damper 805, and the ribbon stop seen at 803 act between the mass of the shank at 820 and the mass of the foot at 830. The loading force Fload(t) due to body weight varies dynamically during the stance phase of each gait cycle. - Level-Ground Walking
- The control sequence of
Embodiment 1 for level-ground walking is depicted inFIGS. 9-12 . During level-ground walking, the variable-damper is set at a high damping level to essentially lock the ankle joint during early to midstance, allowing the leaf spring structure to store and release elastic energy. Once a critical dorsiflexion angle is achieved (between 0 to 30 degrees), the ribbon stop becomes taught during the remainder of the CD phase. When the ribbon is engaged, the leaf spring and shank can be treated as one single component because the ribbon behaves as a clutch (FIG. 10 ). From heel strike to maximum dorisflexion, the leaf spring structure stores elastic energy (Ax, 0, &2=0). In PP, as the loading from the body weight decreases, the spring structure releases its stored elastic energy, rotating in a plantar flexion direction and propelling the body upwards and forwards (FIG. 11 ). After toe-off, the actuator controls the equilibrium position of the foot to achieve foot clearance during the swing phase and to maintain a proper landing of the foot for the next gait cycle (FIG. 12 ). - The state of each element of the ankle-foot system during the four phases of a level ground walking cycle are listed below:
- Controlled Plantar Flexion (
FIG. 9 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is OFF
- 3. Damper is ON
- 4. Leaf spring heel portion at 609 is being compressed
- Controlled Dorsiflexion (
FIG. 10 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring toe section 660 is being compressed
- Powered Plantar Flexion (
FIG. 11 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring ankle section 660 is releasing energy
- Swing Phase (
FIG. 12 ) -
- 1. Actuator motor is ON (changing foot orientation)
- 2. Ribbon clutch is OFF
- 3. Damper is OFF
- 4. Foot leaf spring is slack
- The maximum dorsiflexion ankle torque during level-ground walking is in the range from 1.5 Ng to 2 Nm/kg, i.e. around 150 Nm for a 100 kg person {2}. With current technology, a variable-damper that can provide such high damping torque and additionally very low damping levels is difficult to build at a reasonable weight and size. Fortunately, the maximum controlled plantar flexion torque is small, typically in the range of 0.3 Nm/kg to 0.4 Ng. Because of these factors, a ribbon stop that engages at a small dorsiflexion angle such as 5 degrees would lower the peak torque requirements of the variable-damper since the peak controlled plantar flexion torque is considerably smaller than the peak dorsiflexion torque.
- During stair descent/downhill walking, the human ankle behaves like a damper from foot strike to 90° of dorsiflexion {11}. Beyond that, the ankle behaves like a non-linear spring, storing elastic energy during controlled dorsiflexion. Taking advantage of the biomechanics of the human ankle, it is reasonable to add a passive clutch for resisting dorsiflexion movements beyond 90°, thus allowing for a smaller sized variable damper. A ribbon stop is preferred as a unidirectional clutch because it is lightweight with considerable strength in tension.
- Stair Ascent
-
FIGS. 13-15 depict the control sequence ofembodiment 1 for stair ascent. It is noted here that there are only three control phases/modes for stair ascent, although the gait cycle for stair ascent can be divided into 5 sub-phases, including Controlled Dorsiflexion 1 (CD1), Powered Plantarflexion 1 (PP1), Controlled Dorsiflexion 2 (CD2), Powered Plantarflexion 1 (PP1), and Swing Phase. The main reason is that in terms of control, we can combine phases PP1, CD2, and PP2 into one single phase since all three phases may be described using the same control law. For ascending a stair, the clutch is engaged and the leaf spring is compressed throughout ground contact (FIG. 13 ) because the toe strikes the ground first, engaging the ribbon stop during CD (Ax, 0, &2=0). After the heel strikes the ground and then lifts off the ground, the toe leaf spring begins releasing its energy, supplying forward propulsion to the body (FIG. 14 ). The variable damper may be activated to control the process of energy release from the leaf spring, but in general, the damper is turned off so that all the stored elastic energy is used to propel the body upwards and forwards (Ax, 0, &2 0). After toe-off, the actuator controls the equilibrium position of the ankle in preparation for the next step (FIG. 15 ). - The state of each element of the ankle-foot system during these three phases of a stair ascent are listed below:
- Controlled Dorsiflexion (
FIG. 13 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring toe section 660 is being compressed
- Powered Plantar Flexion (
FIG. 14 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring toe section 660 is releasing energy
- Swing Phase (
FIG. 15 ) -
- 1. Actuator motor is ON (changing foot orientation)
- 2. Ribbon clutch is OFF
- 3. Damper is OFF
- 4. Foot leaf spring is slack
- Stair Descent
- The control sequence for
embodiment 1 for stair descent is depicted inFIGS. 16-19 . After forefoot contact, the body has to be lowered until the heel makes contact with the stair tread {11} (FIG. 16 ). Therefore, the variable damper is activated as energy is dissipated during controlled dorsiflexion (ΔX1<=0, ΔX2<=0). As is shown inFIG. 17 , when the foot becomes flat on the ground, the ribbon stop becomes taut, compressing the toe leaf spring (ΔX1<=0, ΔX2=0). During PP, the toe leaf spring releases its energy, propelling the body upwards and forwards (FIG. 18 ). - The state of each element of the ankle-foot system during the four phases of stair descent are listed below:
- Controlled Dorsiflexion 1 (
FIG. 16 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is OFF
- 3. Damper is ON
- 4. Leaf
spring toe section 660 is being compressed
- Controlled Dorsiflexion 2 (
FIG. 17 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring toe section 660 is being compressed
- Powered Plantar Flexion (
FIG. 18 ) -
- 1. Actuator motor is OFF
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring toe section 660 is releasing energy
- Swing Phase (
FIG. 19 ) -
- 1. Actuator motor is ON (changing foot orientation)
- 2. Ribbon clutch is OFF
- 3. Damper is OFF
- 4. Foot leaf spring is slack
- Sensing for
Embodiment 1 - The ankle foot system preferably employs an inertial navigation system (INS) for the control of an active artificial ankle joint to achieve a more natural gait and improved comfort over the range of human walking and climbing activities.
- To achieve these advantages, an artificial ankle joint must be controlled to behave like a normal human ankle. For instance, during normal level ground walking, the heel strikes the ground first; but when descending stairs, it is the toe which first touches the ground. Walking up or down an incline, either the toe or the heel may strike the ground first, depending upon the steepness of the incline.
- A difficult aspect of the artificial ankle control problem is that the ankle joint angle must be established before the foot reaches the ground, so that the heel or toe will strike first, as appropriate to the activity. Reliable determination of which activity is underway while the foot is still in the air presents implacable difficulties for sensor systems presently employed on lower leg artificial devices.
- The present invention addresses this difficulty by attaching an inertial navigation system below the knee joint, either on the lower leg segment or on the artificial foot. This system is then used to determine the foot's change in elevation since it last left the ground. This change in elevation may be used to discriminate between level ground walking and descending stairs or steep inclines. The ankle joint angle may then be controlled during the foot's aerial phase to provide heel strike for level ground walking or toe strike upon detection of negative elevation, as would be encountered descending stairs or walking down a steep incline.
- Inertial navigation systems rely upon accelerometers and gyroscopes jointly attached to a rigid assembly to detect the assembly's motion and change of orientation. In accordance with the laws of mechanics, these changes may be integrated to measure changes of the system's position and orientation, relative to its initial position and orientation. In practice, however, it is found that errors of the accelerometers and gyros produce ever-increasing errors in the system's estimated position. Inertial navigation systems can address this problem in one of two ways: by the use of expensive, high precision accelerometers and gyroscopes, and by incorporating other, external sources of information about position and orientation, for instance GPS, to augment the purely inertial information. But using either of these alternatives would make the resulting system unattractive for an artificial ankle device.
- However, we have found that an unaugmented, purely inertial system based on available low cost accelerometers and rate gyros can provide sufficiently accurate trajectory information to support proper control of the angle of an actuated artificial ankle system.
- An Illustrative Control Algorithm
- Control of an actuated artificial ankle joint may be implemented as follows:
-
- A. During the foot flat (controlled dorsiflexion) phase of the walking cycle, reset and maintain the measured elevation to zero. When the foot is flat on the ground, its velocity and acceleration are zero. Thus, this particular foot posture serves as a reset point for the integration of angular and linear velocities in the estimation of absolute positions.
- B. During the push off phase, when powered plantarflexion begins, measure the upward and downward movements to determine the current elevation relative to the initial zero elevation during the flat foot phase;
- C. As long as the elevation remains above zero, maintain the foot orientation that will provide heelstrike; and
- D. If the elevation decreases below zero, reorient the angle ankle to provide toe-first contact.
- The foot flat phase may be detected by the absence of non-centrifugal, non-gravitational, linear acceleration along the length axis of the lower leg. Push off phase may be detected by the upward acceleration along the axis of the lower leg. Elevation >0 and elevation <0 phases are recognized from the change in relative elevation computed by the INS since the end of foot flat phase.
- Mechanical Design The mechanical design of
Embodiment 2 is shown inFIGS. 20-23 . As seen inFIG. 22 , the foot and ankle system includes an elastic leaf spring structure that provides a heel spring as seen at 2201 and a toe spring as seen at 2206, the elastic leaf spring structure attaches to abrake mount member 2202 that rotates with respect to an anklejoint shank frame 2203 and atibial side bracket 2204 about a pivot axis at the center of the MR brake seen at 2205. Theactuator motor 2207 is mounted within thetibial side bracket 2204 and its drive shaft is coupled through a drive gear (not shown) to rotate the elasticleaf spring structure shank frame 2203 andside bracket 2204 about the ankle joint. A catapult mechanism to provide powered plantar flexion during late stance is employed that consists of a series elastic spring element seen at 2210 having aninternal slider 2212 that attaches to thebrake mount 2202 at thelower actuator mount 2213, and thespring element 2210 attaches to theupper actuator mount 2216 at the top of thetibial side bracket 2204. Astandard pyramid mount 2230 at the top of the tibial side bracket 2294 provides a connection to the shin member (not shown). - The corresponding schematic of
Embodiment 2 is seen inFIG. 23 and is similar to that ofEmbodiment 1, including the heel andtoe leaf spring 2301,variable damper 2305, andribbon stop 2303. The series elastic spring element is seen at 2310 connected in series with theactuator motor 2307 to form the catapult. - One of the main challenges in the design of an artificial ankle is to have a relatively low-mass actuation system that can provide a large instantaneous output power upwards of 200 Watts during Powered Plantar Flexion (PP) {2,11} Fortunately, the duration of PP is only 15% of the entire gait cycle, and the average power output of the human ankle during the stance phase is much lower than the instantaneous output power during PP. Hence, a catapult mechanism is a compelling solution to this problem.
- The catapult mechanism is mainly composed of three components: an actuator motor, a variable damper and/or clutch and an energy storage element. The actuator can be any type of motor system, including electric, shape memory alloy, hydraulic or pneumatic devices, and the series energy storage element can be any elastic element capable of storing elastic energy when compressed or stretched. The damper can be any type of device including hydraulic, magnetorheological, pneumatic, or electrorheological.
- With the parallel damper seen at 2305 in
FIG. 23 activated to a high damping level or with the parallel clutch 2303 activated, the serieselastic spring element 2310 can be compressed or stretched by theactuator 2307 in series to thespring 2310 without the joint rotating. Thespring 2310 will provide a large amount of instantaneous output power once the parallel dampingdevice 2305 or clutch 2303 is deactivated, allowing theelastic element 2310 to release its energy. If theactuator 2307 has a relatively long period of time to compress or stretch theelastic element 2310, its mass can be kept relatively low, decreasing the overall weight of the artificial ankle device. InEmbodiment 2, the catapult system comprises a magnetorheologicalvariable damper 2305 placed in parallel to the series elastic electric motor system. - Control System
- The lumped parameter model of
Embodiment 2 is shown inFIG. 24 . It is basically the same as the model ofEmbodiment 1 as depicted inFIG. 8 , except that we now place a spring element 2410 in series with theactuator 2407 and thefoot mass structure 2430. The main idea here is that if the variable MR damper seen at 2405 outputs high damping, locking the ankle joint, the foot and the shank become one single component. Once the joint is locked, theactuator 2407 compresses or stretches thespring element 2310. Once joint damping is minimized, the spring element 2410 will then push against theshank 2420 to provide forward propulsion during powered plantar flexion. - The control sequence of
Embodiment 2 for level-ground walking will be discussed in the next section. Stair ascent/descent can be deduced from the earlier descriptions forembodiment 1, and thus, will not be described herein. - Level-Ground Walking
- The control sequence of
Embodiment 2 for level-ground walking is depicted inFIGS. 25-28 . During CP, the actuator controls the stiffness of the ankle by controlling the displacement of the series spring (FIG. 25 ). During CD, the toe carbonfiber leaf spring 2206 is compressed due to the loading of body weight, while the actuator compresses the series spring to store additional elastic energy in the system (FIG. 26 ). In this control scheme, inertia and body weight hold the joint in a dorsiflexed posture, enabling the motor to elongate the series spring. In a second control approach, where body weight and inertia are insufficient to lock the joint, the MR variable damper would output a high damping value to essentially lock the ankle joint while the motor stores elastic energy in the series spring. Independent of the catapult control approach, during PP as seen inFIG. 27 , as the load from body weight decreases, both the leaf spring and the series catapult spring begin releasing stored elastic energy, supplying high ankle output powers. After toe-off, the actuator controls the position of the foot while both the series spring and the leaf springs are slack as depicted inFIG. 28 . - The state of each element of
Embodiment 2 of the ankle foot system during the four phases of a level ground walking cycle are listed below: - Controlled Plantar Flexion (
FIG. 25 ) -
- 1. Actuator motor is ON
- 2. Ribbon clutch is OFF
- 3. Damper is OFF
- 4. Leaf spring heel portion at 2201 is being compressed
- Controlled Dorsiflexion (
FIG. 26 ) -
- 1. Actuator motor is ON
- 2. Ribbon clutch is ON
- 3. Damper is OFF
- 4. Leaf
spring toe section 2206 is being compressed
- Powered Plantar Flexion (
FIG. 27 ) -
- 1. Actuator motor is ON
- 2. Ribbon clutch is OFF
- 3. Damper is OFF
- 4. Leaf
spring toe section 2206 is releasing energy
- Swing Phase (
FIG. 28 ) -
- 1. Actuator motor is ON (changing foot orientation)
- 2. Ribbon clutch is OFF
- 3. Damper is OFF
- 4. Foot leaf spring structure is slack
- Sensing for
Embodiment 2 - As with
Embodiment 1, an inertial navigation system for the control of the active artificial ankle joint will be employed to achieve a more natural gait and improved comfort over the range of human walking and climbing activities. The manner in which these navigation sensors will be used is similar to that described forEmbodiment 1. - Sensing and Control
- As described above, investigations of the biomechanics of human limbs have revealed the functions performed by the ankle during normal walking over level ground, and when ascending or descending a slope or stairs. As discussed above, these functions may be performed in an artificial ankle joint using motors to act as torque actuators and to position the foot relative to the shin member during a specific times of walking cycle, using springs in combination with controllable dampers to act as linear springs and provide controllable damping at other times in the walking cycle. The timing of these different functions occurs during the walking cycle at times described in detail above. The specific mechanical structures, that is the combinations of motors, springs and controllable dampers used in these embodiments are specifically adapted to perform the functions needed, a variety of techniques may be employed to automatically control the motor and controllable dampers at the times needed to perform the functions illustrated, and any suitable control mechanism may be employed.
FIG. 29 depicts the general form of a typical control mechanism in which a multiple sensors are employed to determine the dynamic status of the skeletal structure and the components of the hybrid actuator and deliver data indicative of that status to a processor seen at 2900 which produces control outputs to operate the motor actuator and to control the variable dampers. - The sensors used to enable general actuator operation and control can include:
-
- (1) Position sensors seen at 2902 in
FIG. 29 located at the ankle joint axis to measure joint angle (a rotary potentiometer), and at the motor rotor to measure total displacement of the motor's drive shaft (as indicated at 2904) and additionally the motor's velocity (as indicated at 2906). A single shaft encoder may be employed to sense instantaneous position, from which motor displacement and velocity may be calculated by theprocessor 2900. - (2) A force sensor (strain gauges) to measure the actual torque borne by the joint as indicated at 2908.
- (3) Velocity sensors on each of the dampers (rotary encoders) as indicated at 2910 in order to get a true reading of damper velocity.
- (4) A displacement sensor on each spring (motor series spring and global damper spring) as indicated at 2912 in order to measure the amount of energy stored.
- (5) One or more Inertial Measurement Units (IMUs) seen at 2914 which can take the form of accelerometers positioned on skeletal members from which the
processor 2900 can compute absolute orientations and displacements of the artificial joint system. For example, the IMU may sense the relative vertical movement of the foot member relative to its foot flat position during the walking cycle to control foot orientation as discussed above. - (6) One or more control inputs manipulatable by a person, such a wearer of a prosthetic joint or the operator of a robotic system, to control such things as walking speed, terrain changes, etc.
- (1) Position sensors seen at 2902 in
- The
processor 2900 preferably comprises a microprocessor which is carried on the ankle-foot system and typically operated from the samebattery power source 2920 used to power themotor 2930 and thecontrollable dampers non-volatile program memory 2941 stores the executable programs that control the processing of the data from the sensors and input controls to produce the timed control signals which govern the operation of the actuator motor and the dampers. An additional data memory seen at 2942 may be used to supplement the available random access memory in themicroprocessor 2900. - Instead of directly measuring the deflection of the motor series springs as noted at (4) above, sensory information from the position sensors (1) can be employed. By subtracting the ankle joint angle from the motor output shaft angle, it is possible to calculate the amount of energy stored in the motor series spring. Also, the motor series spring displacement sensor can be used to measure the torque borne by the joint because joint torque can be calculated from the motor series output force.
- Many variations exist in the particular sensing methodologies employed in the measurement of the listed parameters. Although this specification describes preferred sensing methods, each has the goal of determining the energy state of the spring elements, the velocities of interior points, and the absolute movement pattern of the ankle joint itself.
- The following published materials provide background information relating to the invention. Individual items are cited above by using the reference numerals which appear below and in the citations in curley brackets.
- {1} Palmer, Michael. Sagittal Plane Characterization of Normal Human Ankle Function across a Range of Walking Gait Speeds. Massachusetts Institute of Technology Master's Thesis, 2002.
- {2} Gates Deanna H., Characterizing ankle function during stair ascent, descent, and level walking for ankle prosthesis and orthosis design. Master's thesis, Boston University, 2004.
- {3} Hansen, A., Childress, D. Miff, S. Gard, S. and Mesplay, K., The human ankle during walking: implication for the design of biomimetric ankle prosthesis, Journal of Biomechanics (In Press).
- {4} Koganezawa, K. and Kato, I., Control aspects of artificial leg, IFAC Control Aspects of Biomedical Engineering, 1987, pp. 71-85.
- {5} Herr H, Wilkenfeld A. User-Adaptive Control of a Magnetorheological Prosthetic Knee. Industrial Robot: An International Journal 2003; 30: 42-55.
- {6} Seymour Ron, Prosthetics and Orthotics: Lower limb and Spinal, Lippincott Williams & Wilkins, 2002.
- {7} G. A. Pratt and M. M. Williamson, “Series Elastic Actuators,” presented at 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems, Pittsburgh, Pa.,
- {8} Inman V T, Ralston H J, Todd F. Human walking Baltimore: Williams and Wilkins; 1981.
- {9} Hof. A. L. Geelen B. A., and Berg, Jw. Van den, “Calf muscle moment, work and efficiency in level walking; role of series elasticity,” Journal of Biomechanics, Vol 16, No. 7, pp. 523-537, 1983.
- {10} Gregoire, L., and et al, Role of mono- and bi-articular muscles in explosive movements, International Journal of Sports Medicine 5, 614-630.
- {11} Koganezawa, K. and Kato, I., Control aspects of artificial leg, IFAC Control Aspects of Biomedical Engineering, 1987, pp. 71-85.
- {12} U.S. Pat. No. 6,517,503 issued Feb. 11, 203.
- It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.
Claims (39)
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/348,570 US20120209405A1 (en) | 2005-03-31 | 2012-01-11 | Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components |
US13/723,743 US8734528B2 (en) | 2005-03-31 | 2012-12-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US14/283,323 US9339397B2 (en) | 2005-03-31 | 2014-05-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US15/091,895 US10342681B2 (en) | 2005-03-31 | 2016-04-06 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US16/458,421 US11273060B2 (en) | 2005-03-31 | 2019-07-01 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US66687605P | 2005-03-31 | 2005-03-31 | |
US70451705P | 2005-08-01 | 2005-08-01 | |
US11/395,448 US20060249315A1 (en) | 2005-03-31 | 2006-03-31 | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US11/495,140 US20070043449A1 (en) | 2005-03-31 | 2006-07-29 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US13/348,570 US20120209405A1 (en) | 2005-03-31 | 2012-01-11 | Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components |
Related Parent Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/395,448 Continuation-In-Part US20060249315A1 (en) | 2005-03-31 | 2006-03-31 | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US11/495,140 Continuation US20070043449A1 (en) | 2005-03-31 | 2006-07-29 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/723,743 Continuation US8734528B2 (en) | 2005-03-31 | 2012-12-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
Publications (1)
Publication Number | Publication Date |
---|---|
US20120209405A1 true US20120209405A1 (en) | 2012-08-16 |
Family
ID=46325804
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/495,140 Abandoned US20070043449A1 (en) | 2005-03-31 | 2006-07-29 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US13/348,570 Abandoned US20120209405A1 (en) | 2005-03-31 | 2012-01-11 | Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components |
US13/723,743 Active US8734528B2 (en) | 2005-03-31 | 2012-12-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US14/283,323 Active US9339397B2 (en) | 2005-03-31 | 2014-05-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US15/091,895 Active 2026-08-09 US10342681B2 (en) | 2005-03-31 | 2016-04-06 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US16/458,421 Active 2026-12-31 US11273060B2 (en) | 2005-03-31 | 2019-07-01 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US11/495,140 Abandoned US20070043449A1 (en) | 2005-03-31 | 2006-07-29 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
Family Applications After (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/723,743 Active US8734528B2 (en) | 2005-03-31 | 2012-12-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US14/283,323 Active US9339397B2 (en) | 2005-03-31 | 2014-05-21 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US15/091,895 Active 2026-08-09 US10342681B2 (en) | 2005-03-31 | 2016-04-06 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US16/458,421 Active 2026-12-31 US11273060B2 (en) | 2005-03-31 | 2019-07-01 | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
Country Status (1)
Country | Link |
---|---|
US (6) | US20070043449A1 (en) |
Cited By (40)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20100312363A1 (en) * | 2005-03-31 | 2010-12-09 | Massachusetts Institute Of Technology | Powered Artificial Knee with Agonist-Antagonist Actuation |
US8551184B1 (en) | 2002-07-15 | 2013-10-08 | Iwalk, Inc. | Variable mechanical-impedance artificial legs |
CN104015825A (en) * | 2014-05-31 | 2014-09-03 | 华南理工大学 | Robot walking device |
WO2014133975A1 (en) * | 2013-02-26 | 2014-09-04 | össur hf | Prosthetic foot with enhanced stability and elastic energy return |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US8870967B2 (en) | 2005-03-31 | 2014-10-28 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US8900325B2 (en) | 2008-09-04 | 2014-12-02 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US9078774B2 (en) | 2004-12-22 | 2015-07-14 | össur hf | Systems and methods for processing limb motion |
US9221177B2 (en) | 2012-04-18 | 2015-12-29 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US9271851B2 (en) | 2004-02-12 | 2016-03-01 | össur hf. | Systems and methods for actuating a prosthetic ankle |
US9333097B2 (en) | 2005-03-31 | 2016-05-10 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US9339397B2 (en) | 2005-03-31 | 2016-05-17 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US9358137B2 (en) | 2002-08-22 | 2016-06-07 | Victhom Laboratory Inc. | Actuated prosthesis for amputees |
US9526635B2 (en) | 2007-01-05 | 2016-12-27 | Victhom Laboratory Inc. | Actuated leg orthotics or prosthetics for amputees |
US9526636B2 (en) | 2003-11-18 | 2016-12-27 | Victhom Laboratory Inc. | Instrumented prosthetic foot |
US9649206B2 (en) | 2002-08-22 | 2017-05-16 | Victhom Laboratory Inc. | Control device and system for controlling an actuated prosthesis |
JP2017515525A (en) * | 2014-05-07 | 2017-06-15 | オットー・ボック・ヘルスケア・ゲーエムベーハーOtto Bock HealthCare GmbH | Artificial leg |
US9693883B2 (en) | 2010-04-05 | 2017-07-04 | Bionx Medical Technologies, Inc. | Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same |
US9707104B2 (en) | 2013-03-14 | 2017-07-18 | össur hf | Prosthetic ankle and method of controlling same based on adaptation to speed |
US9737419B2 (en) | 2011-11-02 | 2017-08-22 | Bionx Medical Technologies, Inc. | Biomimetic transfemoral prosthesis |
US9808357B2 (en) | 2007-01-19 | 2017-11-07 | Victhom Laboratory Inc. | Reactive layer control system for prosthetic and orthotic devices |
US9895240B2 (en) | 2012-03-29 | 2018-02-20 | Ösur hf | Powered prosthetic hip joint |
US9949850B2 (en) | 2015-09-18 | 2018-04-24 | Össur Iceland Ehf | Magnetic locking mechanism for prosthetic or orthotic joints |
US10034782B2 (en) | 2014-09-19 | 2018-07-31 | össur hf | Variable stiffness prosthetic foot |
US10118696B1 (en) | 2016-03-31 | 2018-11-06 | Steven M. Hoffberg | Steerable rotating projectile |
US10137011B2 (en) | 2005-03-31 | 2018-11-27 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US10195057B2 (en) | 2004-02-12 | 2019-02-05 | össur hf. | Transfemoral prosthetic systems and methods for operating the same |
US10251762B2 (en) | 2011-05-03 | 2019-04-09 | Victhom Laboratory Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US10285828B2 (en) | 2008-09-04 | 2019-05-14 | Bionx Medical Technologies, Inc. | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US10390974B2 (en) | 2014-04-11 | 2019-08-27 | össur hf. | Prosthetic foot with removable flexible members |
CN110320940A (en) * | 2019-07-03 | 2019-10-11 | 西北工业大学 | A kind of flexible underactuated system method based on energy spectrometer |
US10485681B2 (en) | 2005-03-31 | 2019-11-26 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US10531965B2 (en) | 2012-06-12 | 2020-01-14 | Bionx Medical Technologies, Inc. | Prosthetic, orthotic or exoskeleton device |
US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
US10575970B2 (en) | 2011-11-11 | 2020-03-03 | Össur Iceland Ehf | Robotic device and method of using a parallel mechanism |
EP3539514A4 (en) * | 2016-11-10 | 2020-05-06 | The University Of Tokyo | Knee joint |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
WO2023078893A1 (en) | 2021-11-02 | 2023-05-11 | Edera Safety Gmbh & Co. Kg | Dynamically dependent movement blocking system |
US11712637B1 (en) | 2018-03-23 | 2023-08-01 | Steven M. Hoffberg | Steerable disk or ball |
Families Citing this family (111)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8075633B2 (en) | 2003-09-25 | 2011-12-13 | Massachusetts Institute Of Technology | Active ankle foot orthosis |
US20050107889A1 (en) * | 2003-11-18 | 2005-05-19 | Stephane Bedard | Instrumented prosthetic foot |
US7431737B2 (en) * | 2004-02-12 | 2008-10-07 | össur hf. | System and method for motion-controlled foot unit |
WO2005087144A2 (en) | 2004-03-10 | 2005-09-22 | össur hf | Control system and method for a prosthetic knee |
JP4744092B2 (en) * | 2004-03-23 | 2011-08-10 | 本田技研工業株式会社 | Legged mobile robot and its control device |
US8048007B2 (en) * | 2005-02-02 | 2011-11-01 | össur hf | Prosthetic and orthotic systems usable for rehabilitation |
CN101155557B (en) | 2005-02-02 | 2012-11-28 | 奥瑟Hf公司 | Sensing systems and methods for monitoring gait dynamics |
US8801802B2 (en) * | 2005-02-16 | 2014-08-12 | össur hf | System and method for data communication with a mechatronic device |
US10080672B2 (en) * | 2005-03-31 | 2018-09-25 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
CN101175456B (en) * | 2005-04-13 | 2013-03-27 | 加利福尼亚大学董事会 | Semi-powered lower extremity exoskeleton |
SE528516C2 (en) * | 2005-04-19 | 2006-12-05 | Lisa Gramnaes | Combined active and passive leg prosthesis system and a method for performing a movement cycle with such a system |
US20100076346A1 (en) * | 2005-06-30 | 2010-03-25 | University Of Virginia Patent Foundation | Method and System for Energy Returning Ankle Foot Orthosis (ERAFO) |
US8299634B2 (en) | 2005-08-10 | 2012-10-30 | Bionic Power Inc. | Methods and apparatus for harvesting biomechanical energy |
US8048172B2 (en) | 2005-09-01 | 2011-11-01 | össur hf | Actuator assembly for prosthetic or orthotic joint |
EP1942843B1 (en) | 2005-09-01 | 2017-03-01 | Össur hf | System and method for determining terrain transitions |
US7531006B2 (en) * | 2005-09-01 | 2009-05-12 | össur hf | Sensing system and method for motion-controlled foot unit |
CA2645319C (en) * | 2006-03-09 | 2015-09-15 | The Regents Of The University Of California | Power generating leg |
WO2008048658A2 (en) * | 2006-10-17 | 2008-04-24 | Northwestern University | Equilibrium-point prosthetic and orthotic ankle-foot systems |
US7985265B2 (en) | 2006-12-14 | 2011-07-26 | Chas. A. Blatchford & Sons Limited | Prosthetic ankle and foot combination |
GB0701662D0 (en) | 2006-12-14 | 2007-03-07 | Blatchford & Sons Ltd | A lower limb prosthesis |
EP2104476B1 (en) | 2007-01-05 | 2016-01-06 | Victhom Human Bionics Inc. | High torque active mechanism for orthotic devices |
WO2009062198A2 (en) | 2007-11-08 | 2009-05-14 | Advensys, Llc | Neuromorphic controlled powered orthotic and prosthetic system |
US8628585B2 (en) | 2007-12-14 | 2014-01-14 | Blatchford Products Limited | Lower limb prosthesis |
KR20150065943A (en) | 2007-12-26 | 2015-06-15 | 렉스 바이오닉스 리미티드 | Mobility aid |
DE102008008282B4 (en) * | 2008-02-07 | 2014-04-03 | Otto Bock Healthcare Gmbh | Orthopedic foot and method for controlling an artificial foot |
US9180025B2 (en) | 2008-04-21 | 2015-11-10 | Vanderbilt University | Powered leg prosthesis and control methodologies for obtaining near normal gait |
US8652218B2 (en) | 2008-04-21 | 2014-02-18 | Vanderbilt University | Powered leg prosthesis and control methodologies for obtaining near normal gait |
AU2009249191B2 (en) * | 2008-05-20 | 2014-07-24 | Ekso Bionics, Inc. | Device and method for decreasing energy consumption of a person by use of a lower extremity exoskeleton |
US8894592B2 (en) * | 2008-05-20 | 2014-11-25 | University of California at Berkekey | Device and method for decreasing oxygen consumption of a person during steady walking by use of a load-carrying exoskeleton |
ES2707273T3 (en) * | 2008-06-16 | 2019-04-03 | Univ California | Semi-annotated transfemoral prosthetic knee |
US9351855B2 (en) | 2008-06-16 | 2016-05-31 | Ekso Bionics, Inc. | Powered lower extremity orthotic and method of operation |
DE102008058604B4 (en) * | 2008-11-20 | 2024-06-27 | Friedrich-Schiller-Universität Jena | Device for simulating the movement behaviour of a natural muscle |
US9549827B2 (en) | 2009-04-13 | 2017-01-24 | U.S. Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
US8480760B2 (en) | 2010-04-12 | 2013-07-09 | Northwestern University | Passive ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfaces and method of use |
US8696764B2 (en) | 2011-01-20 | 2014-04-15 | Northwestern University | Further improvements to ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfaces |
US8598815B2 (en) * | 2009-06-22 | 2013-12-03 | University Of Washington Through Its Center For Commercialization | Controllable transverse rotation adaptor |
DE102009052895A1 (en) * | 2009-11-13 | 2011-05-19 | Otto Bock Healthcare Products Gmbh | Method and device for controlling an artificial orthotic or prosthetic knee joint |
CA2812955C (en) | 2010-09-29 | 2018-09-04 | Ossur Hf | Prosthetic and orthotic devices and methods and systems for controlling the same |
EP3549558B1 (en) | 2011-01-10 | 2022-03-02 | Otto Bock HealthCare LP | Powered joint orthosis |
EP2663904A2 (en) | 2011-01-12 | 2013-11-20 | Iwalk, Inc. | Controlling powered human augmentation devices |
WO2012100250A1 (en) | 2011-01-21 | 2012-07-26 | Iwalk, Inc. | Terrain adaptive powered joint orthosis |
WO2012125562A1 (en) | 2011-03-11 | 2012-09-20 | Iwalk, Inc. | Biomimetic joint actuators |
US9492302B2 (en) * | 2011-08-15 | 2016-11-15 | North Carolina State University | Apparatus and clutch for using controlled storage and release of mechanical energy to aid locomotion |
US8736087B2 (en) | 2011-09-01 | 2014-05-27 | Bionic Power Inc. | Methods and apparatus for control of biomechanical energy harvesting |
EP2753270B1 (en) | 2011-09-06 | 2018-10-24 | Össur HF | Prosthetic and orthotic devices having magnetorheological elastomer spring with controllable stiffness |
EP2760379B1 (en) | 2011-09-26 | 2017-10-25 | Össur HF | Frictionless vertical suspension mechanism for prosthetic feet |
US9604368B2 (en) | 2011-11-11 | 2017-03-28 | Springactive, Inc. | Active compliant parallel mechanism |
US9032635B2 (en) | 2011-12-15 | 2015-05-19 | Massachusetts Institute Of Technology | Physiological measurement device or wearable device interface simulator and method of use |
US10307271B2 (en) | 2012-02-17 | 2019-06-04 | Össur Iceland Ehf | Control system and method for non-gait ankle and foot motion in human assistance device |
US9622884B2 (en) | 2012-02-17 | 2017-04-18 | Springactive, Inc. | Control systems and methods for gait devices |
US9682005B2 (en) * | 2012-02-24 | 2017-06-20 | Massachusetts Institute Of Technology | Elastic element exoskeleton and method of using same |
US9017419B1 (en) | 2012-03-09 | 2015-04-28 | össur hf | Linear actuator |
CN102700648B (en) * | 2012-06-14 | 2013-11-27 | 西北工业大学 | Adaptive deformation foot of kangaroo-simulated hopping robot |
CN102745274B (en) * | 2012-06-28 | 2013-10-30 | 东南大学 | Bouncing device of robot and bouncing method thereof |
EP2879623B1 (en) * | 2012-08-01 | 2019-11-27 | Ossur Hf | Prosthetic ankle module |
CN103587606B (en) * | 2012-08-14 | 2016-04-06 | 中国科学院合肥物质科学研究院 | The foot oscillation damping method of biped running robot |
WO2014043681A2 (en) | 2012-09-17 | 2014-03-20 | Vanderbilt University | Walking controller for powered ankle prostheses |
CN103029126B (en) * | 2012-12-21 | 2014-08-20 | 北京大学 | Flexibly controllable joint driver |
US9289316B2 (en) | 2013-05-03 | 2016-03-22 | Springactive, Inc. | Quasi-active prosthetic joint system |
ITTO20130551A1 (en) * | 2013-07-02 | 2015-01-03 | Fond Istituto Italiano Di Tecnologia | PERFECTED JOINT WITH AGONIST ACTUATION - ANTAGONIST |
WO2015021886A1 (en) | 2013-08-10 | 2015-02-19 | Huang Chen-Ming | Portable human exoskeleton system |
JP6344032B2 (en) * | 2013-09-26 | 2018-06-20 | 富士通株式会社 | Gesture input device, gesture input method, and gesture input program |
US9568075B2 (en) * | 2013-10-28 | 2017-02-14 | Seiko Epson Corporation | Robot, robot control device, and robot system |
WO2015095211A2 (en) | 2013-12-16 | 2015-06-25 | Massachusetts Institute Of Technology | Optimal design of a lower limb exoskeleton or orthosis |
DE102014006228A1 (en) * | 2014-04-30 | 2015-11-05 | Otto Bock Healthcare Gmbh | prosthesis |
US9517561B2 (en) * | 2014-08-25 | 2016-12-13 | Google Inc. | Natural pitch and roll |
WO2016141364A1 (en) | 2015-03-04 | 2016-09-09 | Freedom Innovations, Llc | Lower limb prosthesis |
US9789920B2 (en) * | 2015-04-01 | 2017-10-17 | Oregon State University | Apparatus and method for energy regulation and leg control for spring-mass walking machine |
US10765536B2 (en) * | 2015-10-14 | 2020-09-08 | Rehabilitation Institute Of Chicago | Catapult ankle and related methods |
US9994269B1 (en) * | 2015-11-12 | 2018-06-12 | Schaft Inc. | Rotatable extension for robot foot |
FR3046099B1 (en) * | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | EXOSKELET STRUCTURE FOR ASSISTANCE TO THE EFFORT OF A USER |
FR3046053B1 (en) | 2015-12-24 | 2017-12-22 | Sagem Defense Securite | FOOT MODULE FOR AN EXOSQUELET STRUCTURE |
US10195099B2 (en) | 2016-01-11 | 2019-02-05 | Bionic Power Inc. | Method and system for intermittently assisting body motion |
CN106777794B (en) * | 2017-01-12 | 2019-09-10 | 山东理工大学 | The calculation method of the main spring amount of deflection of high-intensitive two-stage progressive rate leaf spring |
CN106777797B (en) * | 2017-01-12 | 2019-09-10 | 山东理工大学 | The design method of the offset frequencys type progressive rate leaf spring auxiliary spring cutting length such as non- |
CN106777803B (en) * | 2017-01-12 | 2019-09-10 | 山东理工大学 | The emulated computation method of the contact load of high-intensitive two-stage progressive rate leaf spring |
CN106777806B (en) * | 2017-01-12 | 2019-09-10 | 山东理工大学 | The Method for Checking of the offset frequencys three-level progressive rate leaf spring contact load such as high intensity |
CN107089275B (en) * | 2017-03-27 | 2019-03-26 | 西北工业大学 | It is a kind of aerial posture adjustment and the sufficient roll-type interval hopping robot of energy regenerating to be landed |
CN108721009B (en) | 2017-04-14 | 2019-08-16 | 香港中文大学 | Magnetorheological series elastic driver |
CN107323564B (en) * | 2017-07-04 | 2019-03-29 | 西北工业大学 | The leg mechanism of hydraulic-driven hopping robot |
CN107595555B (en) * | 2017-08-29 | 2023-07-28 | 中国科学院深圳先进技术研究院 | Exoskeleton robot and foot supporting part thereof |
CN107933735B (en) * | 2017-11-27 | 2019-07-09 | 华中科技大学 | A kind of biped robot's foot mechanism with main passive compliance function |
RU2712576C2 (en) * | 2018-06-28 | 2020-01-29 | Федеральное государственное бюджетное образовательное учреждение высшего образования "Калмыцкий государственный университет имени Б.Б. Городовикова" | Device for facilitating walking using frame from high-carbon plastic |
CN108583726B (en) * | 2018-07-18 | 2020-06-16 | 吉林大学 | Bionic tendon-bone cooperative rigid-flexible coupling sand-crossing mechanical foot |
CN110786975B (en) * | 2018-08-03 | 2022-07-05 | 先健科技(深圳)有限公司 | Handle assembly of conveyor, conveyor and conveying system |
CN109199653B (en) * | 2018-10-09 | 2020-07-21 | 广东兰湾智能科技有限公司 | Artificial limb foot |
WO2020086721A2 (en) | 2018-10-23 | 2020-04-30 | Massachusetts Institute Of Technology | Neural efferent and afferent control of spring equilibrium, damping, and power in backdrivable and non-backdrivable series-elastic actuators comprising variable series stiffness mechanisms |
CN109292022B (en) * | 2018-11-07 | 2020-11-06 | 西北工业大学 | Bionic mechanism for continuous jumping |
US20220017165A1 (en) * | 2018-12-03 | 2022-01-20 | Sony Group Corporation | Robot leg structure |
DE102018131852A1 (en) * | 2018-12-12 | 2020-06-18 | Ottobock Se & Co. Kgaa | Orthosis and method for controlling an orthosis |
CN109625119B (en) * | 2019-02-21 | 2023-12-19 | 北京钢铁侠科技有限公司 | Convertible low limbs structure of some foot and flat foot |
CN110329390B (en) * | 2019-07-18 | 2021-04-06 | 哈尔滨首捷智能科技有限公司 | Humanoid mechanical foot |
CN111437082B (en) * | 2020-05-12 | 2023-09-08 | 吉林大学 | Active and passive hybrid hydraulic driving ankle joint prosthesis and driving method |
US11298287B2 (en) | 2020-06-02 | 2022-04-12 | Dephy, Inc. | Systems and methods for a compressed controller for an active exoskeleton |
US11148279B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Customized configuration for an exoskeleton controller |
US11147733B1 (en) | 2020-06-04 | 2021-10-19 | Dephy, Inc. | Systems and methods for bilateral wireless communication |
US11389367B2 (en) | 2020-06-05 | 2022-07-19 | Dephy, Inc. | Real-time feedback-based optimization of an exoskeleton |
CN111891254B (en) * | 2020-09-02 | 2023-12-15 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Four-legged robot and foot structure of foot robot |
US11173093B1 (en) | 2020-09-16 | 2021-11-16 | Dephy, Inc. | Systems and methods for an active exoskeleton with local battery |
CN112407095B (en) * | 2020-10-30 | 2022-02-22 | 深圳市优必选科技股份有限公司 | Joint energy storage power assisting mechanism, robot joint structure and robot |
WO2022109608A1 (en) * | 2020-11-23 | 2022-05-27 | Massachusetts Institute Of Technology | Computer-controlled ankle-foot prosthesis with series j-spring actuation |
CN113146605B (en) * | 2021-05-06 | 2022-08-26 | 吉林大学 | Compact artificial muscle module with mechanical flexibility |
WO2023204982A2 (en) * | 2022-04-07 | 2023-10-26 | University Of Utah Research Foundation | Semi-active ankle and foot prosthesis powered by a lockable series-elastic actuator |
CN114506401B (en) * | 2022-04-20 | 2022-09-09 | 之江实验室 | Humanoid robot with variable length and vibration reduction foot thereof |
CN114948357B (en) * | 2022-05-24 | 2023-08-04 | 哈尔滨工业大学 | Bionic knee joint with variable rigidity |
PL245150B1 (en) * | 2022-06-10 | 2024-05-20 | Cichowicz Michal | Biomechanical prosthesis of the human lower limb |
PL245153B1 (en) * | 2022-06-10 | 2024-05-20 | Cichowicz Michal | Biomechanical prosthesis of the human lower limb |
PL245152B1 (en) * | 2022-06-10 | 2024-05-20 | Cichowicz Michal | Biomechanical prosthesis of the human lower limb |
PL245151B1 (en) * | 2022-06-10 | 2024-05-20 | Cichowicz Michal | Biomechanical prosthesis of the human lower limb |
CN115214818B (en) * | 2022-07-29 | 2023-07-11 | 哈尔滨工业大学 | Double-foot robot integral structure humanoid foot plate system |
CN115339543B (en) * | 2022-09-21 | 2023-06-20 | 吉林大学 | Bionic mechanical leg applicable to slope ground and having buffering, energy saving and stabilizing functions |
Family Cites Families (293)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2529968A (en) | 1948-06-15 | 1950-11-14 | Sartin Hansel | Mechanism for artificial legs |
US2489291A (en) | 1948-07-09 | 1949-11-29 | Ulrich K Henschke | Leg prosthesis |
US2921480A (en) | 1956-01-30 | 1960-01-19 | Pacific Scientific Co | Control line regulator |
US3098645A (en) | 1961-01-11 | 1963-07-23 | Walter J Owens | Laminated torsion bar suspension |
US3207497A (en) | 1963-07-02 | 1965-09-21 | Dura Corp | Torsion spring assembly |
US3449769A (en) | 1966-06-27 | 1969-06-17 | Cornell Aeronautical Labor Inc | Powered exoskeletal apparatus for amplifying human strength in response to normal body movements |
US3844279A (en) | 1973-05-14 | 1974-10-29 | R Konvalin | Adjustable leg brace |
AT334521B (en) | 1974-03-08 | 1976-01-25 | Forsch Orthopadie Technik | ANKLE |
US3916450A (en) | 1975-03-06 | 1975-11-04 | Orval L Minor | Simplified artificial leg structure with articulated knee joint |
US4463291A (en) | 1979-12-31 | 1984-07-31 | Andale Company | Automatic control system and valve actuator |
US4921293A (en) | 1982-04-02 | 1990-05-01 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Multi-fingered robotic hand |
US4442390A (en) | 1982-07-06 | 1984-04-10 | Davis Kenneth W | Feedback system for a linear actuator |
US4518307A (en) | 1982-09-29 | 1985-05-21 | The Boeing Company | Compliant robot arm adapter assembly |
IN160902B (en) | 1983-05-12 | 1987-08-15 | Westinghouse Brake & Signal | |
IN161426B (en) | 1983-05-12 | 1987-11-28 | Westinghouse Brake & Signal | |
US4546296A (en) | 1983-05-12 | 1985-10-08 | Westinghouse Brake & Signal | Electric actuators |
US4546298A (en) | 1983-05-12 | 1985-10-08 | Westinghouse Brake & Signal Co. | Electric actuators |
IN161427B (en) | 1983-05-12 | 1987-11-28 | Westinghouse Brake & Signal | |
US4569352A (en) | 1983-05-13 | 1986-02-11 | Wright State University | Feedback control system for walking |
CA1276710C (en) | 1983-11-30 | 1990-11-20 | Kazuo Asakawa | Robot force controlling system |
US4600357A (en) | 1984-02-21 | 1986-07-15 | Heath Company | Gripper force sensor/controller for robotic arm |
US4657470A (en) | 1984-11-15 | 1987-04-14 | Westinghouse Electric Corp. | Robotic end effector |
FR2589360B1 (en) | 1985-10-30 | 1987-12-24 | Chareire Jean Louis | APPARATUS FOR MECHANICAL ASSISTANCE OF LEG PROPULSION |
US4672955A (en) | 1986-06-02 | 1987-06-16 | United Technologies Corporation | Orthosis, method of making and kit therefor |
SE454943B (en) | 1986-06-26 | 1988-06-13 | Ossur Hf | ACCESSORIES, SPECIAL FOR AMPUTATION STUMP |
JP2645004B2 (en) | 1987-02-27 | 1997-08-25 | 株式会社東芝 | Control device for multi-degree-of-freedom manipulator |
JPS6471686A (en) | 1987-09-09 | 1989-03-16 | Komatsu Mfg Co Ltd | Flexible arm robot |
US4936295A (en) | 1987-09-22 | 1990-06-26 | Crane Larry A | Lateral support for ankle |
US4865376A (en) | 1987-09-25 | 1989-09-12 | Leaver Scott O | Mechanical fingers for dexterity and grasping |
WO1989000512A1 (en) | 1988-01-20 | 1989-01-26 | Moog Inc. | Vehicle suspension system, and method of operating same |
US4921393A (en) | 1988-03-09 | 1990-05-01 | Sri International | Articulatable structure with adjustable end-point compliance |
US4843921A (en) | 1988-04-18 | 1989-07-04 | Kremer Stephen R | Twisted cord actuator |
USRE34661E (en) | 1988-05-10 | 1994-07-12 | Royce Medical Company | Gel and air cushion ankle brace |
US5088478A (en) | 1988-05-10 | 1992-02-18 | Royce Medical Company | Gel and air cushion ankle brace |
US4964402A (en) | 1988-08-17 | 1990-10-23 | Royce Medical Company | Orthopedic device having gel pad with phase change material |
US5062673A (en) | 1988-12-28 | 1991-11-05 | Kabushiki Kaisha Toyota Chuo Kenkyusho | Articulated hand |
US5252102A (en) | 1989-01-24 | 1993-10-12 | Electrobionics Corporation | Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine |
US4923475A (en) | 1989-02-21 | 1990-05-08 | Gosthnian Barry M | Inflatable limb prosthesis with preformed inner surface |
US5049797A (en) | 1990-07-02 | 1991-09-17 | Utah State University Foundation | Device and method for control of flexible link robot manipulators |
US5092902A (en) | 1990-08-16 | 1992-03-03 | Mauch Laboratories, Inc. | Hydraulic control unit for prosthetic leg |
US6071313A (en) | 1991-02-28 | 2000-06-06 | Phillips; Van L. | Split foot prosthesis |
US5181933A (en) | 1991-02-28 | 1993-01-26 | Phillips L Van | Split foot prosthesis |
US5112296A (en) | 1991-04-30 | 1992-05-12 | The Board Of Supervisors Of Louisiana State University | Biofeedback activated orthosis for foot-drop rehabilitation |
US5367790A (en) | 1991-07-08 | 1994-11-29 | Gamow; Rustem I. | Shoe and foot prosthesis with a coupled spring system |
US5701686A (en) | 1991-07-08 | 1997-12-30 | Herr; Hugh M. | Shoe and foot prosthesis with bending beam spring structures |
US5383939A (en) | 1991-12-05 | 1995-01-24 | James; Kelvin B. | System for controlling artificial knee joint action in an above knee prosthesis |
JPH05216504A (en) | 1992-02-06 | 1993-08-27 | Fanuc Ltd | Adaptive sliding mode control system for control object including spring system |
US5327790A (en) | 1992-06-19 | 1994-07-12 | Massachusetts Institute Of Technology | Reaction sensing torque actuator |
US5294873A (en) | 1992-10-27 | 1994-03-15 | The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration | Kinematic functions for redundancy resolution using configuration control |
US5358513A (en) | 1992-12-09 | 1994-10-25 | Medtronic, Inc. | Parameter selection and electrode placement of neuromuscular electrical stimulation apparatus |
US5443521A (en) | 1992-12-21 | 1995-08-22 | Mauch Laboratories, Inc. | Hydraulic control unit for prosthetic leg |
US5405409A (en) | 1992-12-21 | 1995-04-11 | Knoth; Donald E. | Hydraulic control unit for prosthetic leg |
US5329705A (en) | 1993-02-16 | 1994-07-19 | Royce Medical Company | Footgear with pressure relief zones |
US5456341A (en) | 1993-04-23 | 1995-10-10 | Moog Inc. | Method and apparatus for actively adjusting and controlling a resonant mass-spring system |
AU688348B2 (en) | 1993-07-09 | 1998-03-12 | Kinetecs, Inc. | Exercise apparatus and technique |
US5476441A (en) | 1993-09-30 | 1995-12-19 | Massachusetts Institute Of Technology | Controlled-brake orthosis |
US5502363A (en) | 1994-01-04 | 1996-03-26 | University Of Maryland-Baltimore County | Apparatus for controlling angular positioning and stiffness modulations of joint of robotic manipulator |
US5458143A (en) | 1994-06-09 | 1995-10-17 | Herr; Hugh M. | Crutch with elbow and shank springs |
US6206934B1 (en) | 1998-04-10 | 2001-03-27 | Flex-Foot, Inc. | Ankle block with spring inserts |
US6144385A (en) | 1994-08-25 | 2000-11-07 | Michael J. Girard | Step-driven character animation derived from animation data without footstep information |
US5662693A (en) | 1995-06-05 | 1997-09-02 | The United States Of America As Represented By The Secretary Of The Air Force | Mobility assist for the paralyzed, amputeed and spastic person |
US5650704A (en) | 1995-06-29 | 1997-07-22 | Massachusetts Institute Of Technology | Elastic actuator for precise force control |
US5748845A (en) | 1995-07-31 | 1998-05-05 | Motorola, Inc. | FES method and system for controlling the movement of a limb |
US5643332A (en) | 1995-09-20 | 1997-07-01 | Neuromotion Inc. | Assembly for functional electrical stimulation during movement |
US6056712A (en) | 1995-10-31 | 2000-05-02 | Grim; Tracy E. | Multi-functional orthosis for the foot, heel, ankle and lower leg |
US5718925A (en) | 1995-11-15 | 1998-02-17 | Ossur Hf. | Apparatus for making a prosthesis socket |
US5865770A (en) | 1995-12-06 | 1999-02-02 | Schectman; Leonard A. | Device to counteract paralysis |
US7311686B1 (en) | 1995-12-28 | 2007-12-25 | Ossur Hf | Molded orthopaedic devices |
DE59711628D1 (en) | 1996-02-09 | 2004-06-24 | Degussa | Process for the preparation of (S) -cyanohydrins |
US5888212A (en) | 1997-06-26 | 1999-03-30 | Mauch, Inc. | Computer controlled hydraulic resistance device for a prosthesis and other apparatus |
US6113642A (en) | 1996-06-27 | 2000-09-05 | Mauch, Inc. | Computer controlled hydraulic resistance device for a prosthesis and other apparatus |
US7288076B2 (en) | 1996-08-29 | 2007-10-30 | Ossur Hf | Self-equalizing resilient orthopaedic support |
US5898948A (en) | 1996-10-31 | 1999-05-04 | Graham M. Kelly | Support/sport sock |
US6064912A (en) | 1997-03-28 | 2000-05-16 | Kenney; John P. | Orthotic/electrotherapy for treating contractures due to immobility |
US6136039A (en) | 1997-05-06 | 2000-10-24 | Ossur Hf | Dual durometer silicone liner for prosthesis |
US5932230A (en) | 1997-05-20 | 1999-08-03 | Degrate; Frenchell | Topical analgesic formulation containing fruits, oils and aspirin |
US5888213A (en) | 1997-06-06 | 1999-03-30 | Motion Control, Inc. | Method and apparatus for controlling an externally powered prosthesis |
US5944760A (en) | 1997-08-04 | 1999-08-31 | Roland J. Christensen Family Limited Partnership | Prosthetic foot with reinforcing member |
US6202806B1 (en) | 1997-10-29 | 2001-03-20 | Lord Corporation | Controllable device having a matrix medium retaining structure |
BR9909656A (en) | 1998-03-17 | 2001-10-16 | Gary S Kochamba | Method and apparatus for stabilizing tissue |
US6067892A (en) | 1998-03-18 | 2000-05-30 | Erickson; Joel R. | Artificial muscle actuator assembly |
EP1067889B1 (en) | 1998-04-10 | 2004-02-11 | PHILLIPS, Van L. | Coil spring shock module prosthesis |
US6511512B2 (en) | 1998-04-10 | 2003-01-28 | Ossur Hf | Active shock module prosthesis |
US6517503B1 (en) | 1998-09-18 | 2003-02-11 | Becker Orthopedic Appliance Company | Orthosis knee joint |
US6267742B1 (en) | 1998-09-29 | 2001-07-31 | Brown Medical Industries | Biplanar foot dorsiflexion collapsible posterior splint |
JP2000145914A (en) | 1998-11-17 | 2000-05-26 | Tsubakimoto Chain Co | Bearing linear actuator with backstop mechanism |
CA2362622C (en) | 1999-03-01 | 2008-09-23 | Ossur Hf | Orthotic or prosthetic sleeve formed of elasticized fabric sections having different elastic stiffness |
US20050038525A1 (en) | 1999-05-24 | 2005-02-17 | The Ohio Willow Wood Company | Shock absorbing prosthetic foot for use with prosthetic ankle |
US6666796B1 (en) | 1999-09-16 | 2003-12-23 | Aerovironment, Inc. | Walking assisting apparatus |
FI110159B (en) | 1999-12-17 | 2002-12-13 | Respecta Oy | Lower extremity prosthesis |
US6764520B2 (en) | 2000-01-20 | 2004-07-20 | Massachusetts Institute Of Technology | Electronically controlled prosthetic knee |
ATE433310T1 (en) | 2000-03-14 | 2009-06-15 | Ossur Hf | ELASTIC COMPOSITE MATERIAL |
KR20030011074A (en) | 2000-03-15 | 2003-02-06 | 오서 에이치에프 | Apparatus and process for making prosthetic suction sleeve |
US6532400B1 (en) | 2000-03-24 | 2003-03-11 | Intelligent Inference Systems Corporation | Biologically-inspired multi-segmented robot |
KR100810543B1 (en) | 2000-03-29 | 2008-03-18 | 메사추세츠 인스티튜트 오브 테크놀로지 | Speed-adaptive and patient-adaptive prosthetic knee |
US6585774B2 (en) | 2000-04-25 | 2003-07-01 | Simbex, Llc | Dynamic variable geometry fitting system for use with a body appliance |
US6811571B1 (en) | 2000-05-02 | 2004-11-02 | Van L. Phillips | Universal prosthesis with cushioned ankle |
US20030195439A1 (en) | 2000-05-30 | 2003-10-16 | Caselnova Ronald J. | Thermal pad and boot designed for applying hot or cold treatment |
GB2368017B (en) | 2000-06-20 | 2004-05-12 | Bournemouth University Higher | Apparatus for electrical stimulation of the leg |
FR2811220B1 (en) | 2000-07-04 | 2003-01-31 | Francis Artigue | MODULAR ACTIVE PROSTHESIS FOR ARMS AND FOREARM |
EP1330217B1 (en) | 2000-10-04 | 2014-04-30 | Ossur HF | Prosthetic socket and socket component assembly |
US6923834B2 (en) | 2000-10-04 | 2005-08-02 | Ossur Hf | Artificial limb socket containing volume control pad |
KR20030070019A (en) | 2000-10-26 | 2003-08-27 | 플렉스-푸트, 인크. | Foot prosthesis having cushioned ankle |
US6702076B2 (en) | 2001-01-16 | 2004-03-09 | Michael T. Koleda | Shaft vibration damping system |
US6660042B1 (en) | 2001-02-02 | 2003-12-09 | Rutgers, The State University Of New Jersey | Methods of biomimetic finger control by filtering of distributed forelimib pressures |
US6443993B1 (en) * | 2001-03-23 | 2002-09-03 | Wayne Koniuk | Self-adjusting prosthetic ankle apparatus |
US7153242B2 (en) | 2001-05-24 | 2006-12-26 | Amit Goffer | Gait-locomotor apparatus |
JP3760186B2 (en) | 2001-06-07 | 2006-03-29 | 独立行政法人科学技術振興機構 | Biped walking type moving device, walking control device thereof, and walking control method |
US6752774B2 (en) | 2001-06-08 | 2004-06-22 | Townsend Design | Tension assisted ankle joint and orthotic limb braces incorporating same |
US7650204B2 (en) | 2001-06-29 | 2010-01-19 | Honda Motor Co., Ltd. | Active control of an ankle-foot orthosis |
EP1404259A4 (en) | 2001-07-10 | 2008-12-03 | California Inst Of Techn | Cognitive state machine for prosthetic systems |
JP4252448B2 (en) | 2001-07-26 | 2009-04-08 | エル. フィリップス、バン | Socket insert with bladder system |
DE10142492A1 (en) | 2001-08-30 | 2003-04-03 | Carstens Orthopaedie Und Mediz | Prosthetic socket with seal |
DE10142491B4 (en) | 2001-08-30 | 2004-10-07 | össur h.f. | Sealing arrangement with lips for a prosthetic socket |
US7260436B2 (en) | 2001-10-16 | 2007-08-21 | Case Western Reserve University | Implantable networked neural system |
US6921376B2 (en) | 2001-10-23 | 2005-07-26 | The Jerome Group, Inc. | Cervical brace |
DE10164892B4 (en) | 2001-11-05 | 2009-08-27 | össur h.f. | Stocking liner for use with a cup-shaped prosthesis stem |
JP3790816B2 (en) | 2002-02-12 | 2006-06-28 | 国立大学法人 東京大学 | Motion generation method for humanoid link system |
JP2003236783A (en) | 2002-02-18 | 2003-08-26 | Japan Science & Technology Corp | Bipedal walking transfer device |
JP4182726B2 (en) | 2002-02-20 | 2008-11-19 | 日本精工株式会社 | Linear actuator |
JP3976129B2 (en) | 2002-02-28 | 2007-09-12 | 本田技研工業株式会社 | Parallel link mechanism and artificial joint device using the same |
US20090030530A1 (en) | 2002-04-12 | 2009-01-29 | Martin James J | Electronically controlled prosthetic system |
WO2003086245A2 (en) * | 2002-04-12 | 2003-10-23 | James Jay Martin | Electronically controlled prosthetic system |
US7337040B2 (en) | 2002-04-26 | 2008-02-26 | Honda Giken Kogyo Kabushiki Kaisha | Self-position estimating device for leg type movable robots |
DE60221717T2 (en) | 2002-05-06 | 2008-06-05 | Somas Orthopaedie B.V. | DEVICE FOR BELATED FOOT |
US7377944B2 (en) | 2002-07-08 | 2008-05-27 | Ossur Hf | Socket liner incorporating sensors to monitor amputee progress |
US20040064195A1 (en) * | 2002-07-15 | 2004-04-01 | Hugh Herr | Variable-mechanical-impedance artificial legs |
US7303538B2 (en) | 2002-07-23 | 2007-12-04 | Ossur Hf | Versatile orthopaedic leg mounted walkers |
US7597674B2 (en) | 2002-07-23 | 2009-10-06 | össur hf | Versatile orthopaedic leg mounted walker |
US7094058B2 (en) | 2002-08-16 | 2006-08-22 | Ossur Hf | Educational prosthesis device and method for using the same |
US20050004472A1 (en) | 2002-08-17 | 2005-01-06 | Greg Pratt | Medical socket contour scanning system |
US7736394B2 (en) | 2002-08-22 | 2010-06-15 | Victhom Human Bionics Inc. | Actuated prosthesis for amputees |
AU2003236750B2 (en) | 2002-08-22 | 2006-08-10 | Victhom Human Bionics Inc. | Actuated leg prosthesis for above-knee amputees |
JP4129862B2 (en) | 2002-08-30 | 2008-08-06 | 本田技研工業株式会社 | Prosthetic joint device |
AU2002951193A0 (en) | 2002-09-04 | 2002-09-19 | Northern Sydney Area Health Service | Movement faciliatation device |
US6968246B2 (en) | 2002-10-04 | 2005-11-22 | Fourroux Orthotics & Prosthetics, Inc. | Method for automated design of orthotic and prosthetic devices |
US7105122B2 (en) | 2002-10-08 | 2006-09-12 | Ossur Hf | Prosthesis socket direct casting device having multiple compression chambers |
US7094212B2 (en) | 2002-10-11 | 2006-08-22 | Ossur Hf | Rigid dressing |
US7037283B2 (en) | 2002-10-18 | 2006-05-02 | Ossur Hf | Casting product and method for forming the same |
EP1558333B1 (en) | 2002-10-24 | 2007-05-23 | Lockheed Martin Corporation | System for treating movement disorders |
AU2003290526A1 (en) | 2002-11-07 | 2004-06-03 | Ossur Hf | Ankle-foot orthosis |
US6966882B2 (en) | 2002-11-25 | 2005-11-22 | Tibion Corporation | Active muscle assistance device and method |
US7025793B2 (en) | 2002-12-20 | 2006-04-11 | Ossur Hf | Suspension liner with seal |
US8034120B2 (en) | 2002-12-20 | 2011-10-11 | Ossur Hf | Suspension liner system with seal |
US7909884B2 (en) | 2002-12-20 | 2011-03-22 | Ossur Hf | Suspension liner system with seal |
US7230154B2 (en) | 2002-12-31 | 2007-06-12 | Ossur Hf | Wound dressing |
US7295892B2 (en) | 2002-12-31 | 2007-11-13 | Massachusetts Institute Of Technology | Speed-adaptive control scheme for legged running robots |
US7465281B2 (en) | 2003-04-18 | 2008-12-16 | Ossur, Hf | Versatile hardenable cast or support |
WO2004096083A2 (en) | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents Acting On Behalf Of Arizona State University | Spring-over-muscle actuator |
WO2004096905A2 (en) | 2003-04-24 | 2004-11-11 | Arizona Board Of Regents, Acting For And On Behalf Of Arizona State University | Adjustable compliant mechanism |
US7101487B2 (en) | 2003-05-02 | 2006-09-05 | Ossur Engineering, Inc. | Magnetorheological fluid compositions and prosthetic knees utilizing same |
US7198071B2 (en) | 2003-05-02 | 2007-04-03 | Össur Engineering, Inc. | Systems and methods of loading fluid in a prosthetic knee |
JP4315766B2 (en) | 2003-05-21 | 2009-08-19 | 本田技研工業株式会社 | Walking assist device |
EP1653893A4 (en) | 2003-06-20 | 2009-11-11 | Ossur Hf | Prosthetic socket with self-contained vacuum reservoir |
JP4290494B2 (en) | 2003-07-08 | 2009-07-08 | 株式会社ルネサステクノロジ | Semiconductor memory device |
US8007544B2 (en) | 2003-08-15 | 2011-08-30 | Ossur Hf | Low profile prosthetic foot |
CA2535942A1 (en) | 2003-08-21 | 2005-03-10 | Ischem Corporation | Automated methods and systems for vascular plaque detection and analysis |
US20050049652A1 (en) | 2003-08-25 | 2005-03-03 | Kai-Yu Tong | Functional electrical stimulation system |
WO2005025446A2 (en) | 2003-09-05 | 2005-03-24 | Ossur Hf | Orthotic footplate |
WO2005025464A2 (en) | 2003-09-11 | 2005-03-24 | The Cleveland Clinic Foundation | Apparatus for assisting body movement |
US7531711B2 (en) | 2003-09-17 | 2009-05-12 | Ossur Hf | Wound dressing and method for manufacturing the same |
CN1852691B (en) | 2003-09-17 | 2012-01-11 | Bsn医疗有限责任公司 | Wound dressing and method for manufacturing the same |
US8075633B2 (en) | 2003-09-25 | 2011-12-13 | Massachusetts Institute Of Technology | Active ankle foot orthosis |
US7534220B2 (en) | 2003-09-29 | 2009-05-19 | Ossur Hf | Adjustable ergonomic brace |
US6969408B2 (en) | 2003-09-30 | 2005-11-29 | Ossur Engineering, Inc. | Low profile active shock module prosthesis |
US6942629B2 (en) | 2003-10-02 | 2005-09-13 | Dynasplint Systems, Inc. | Adjustable splint device for relieving contractures |
SE526430C2 (en) | 2003-10-17 | 2005-09-13 | Oessur Hf | Artificial multi-axis knee joint |
US20070282480A1 (en) | 2003-11-10 | 2007-12-06 | Pannese Patrick D | Methods and systems for controlling a semiconductor fabrication process |
US7107180B2 (en) | 2003-11-14 | 2006-09-12 | Ossur Hf | Method and system for determining an activity level in an individual |
US20050107889A1 (en) | 2003-11-18 | 2005-05-19 | Stephane Bedard | Instrumented prosthetic foot |
US7162322B2 (en) | 2003-11-28 | 2007-01-09 | The Ohio Willow Wood Company | Custom prosthetic liner manufacturing system and method |
US7431737B2 (en) | 2004-02-12 | 2008-10-07 | össur hf. | System and method for motion-controlled foot unit |
US7637959B2 (en) | 2004-02-12 | 2009-12-29 | össur hf | Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle |
US7826894B2 (en) | 2004-03-22 | 2010-11-02 | California Institute Of Technology | Cognitive control signals for neural prosthetics |
USD503480S1 (en) | 2004-04-22 | 2005-03-29 | Ossur Hf | Ankle-foot orthosis |
US7217060B2 (en) | 2004-04-30 | 2007-05-15 | Ossur Hf | Prosthesis locking assembly |
US20060136072A1 (en) | 2004-05-07 | 2006-06-22 | Bisbee Charles R Iii | Magnetorheologically actuated prosthetic knee |
US7581454B2 (en) | 2004-05-28 | 2009-09-01 | össur hf | Method of measuring the performance of a prosthetic foot |
USD503802S1 (en) | 2004-05-28 | 2005-04-05 | Ossur Hf | Prosthesis liner |
US7347877B2 (en) | 2004-05-28 | 2008-03-25 | össur hf | Foot prosthesis with resilient multi-axial ankle |
CN101292916B (en) | 2004-05-28 | 2013-04-24 | 奥苏尔公司 | Prosthetic or orthotic sleeve having external surface peripheral profiles |
US7770842B2 (en) | 2004-08-24 | 2010-08-10 | Honeywell International Inc. | Aircraft flight control surface actuation system communication architecture |
WO2006034210A2 (en) | 2004-09-21 | 2006-03-30 | Thomas Sugar | Adjustable stiffness jack spring actuator |
US7429253B2 (en) | 2004-09-21 | 2008-09-30 | Honda Motor Co., Ltd. | Walking assistance system |
US7762973B2 (en) | 2004-12-22 | 2010-07-27 | Ossur Hf | Spacer element for prosthetic and orthotic devices |
US7896827B2 (en) | 2004-12-22 | 2011-03-01 | Ossur Hf | Knee brace and method for securing the same |
WO2006069264A1 (en) | 2004-12-22 | 2006-06-29 | össur hf | Systems and methods for processing limb motion |
US7597675B2 (en) | 2004-12-22 | 2009-10-06 | össur hf | Knee brace and method for securing the same |
US7794418B2 (en) | 2004-12-22 | 2010-09-14 | Ossur Hf | Knee brace and method for securing the same |
US7713225B2 (en) | 2004-12-22 | 2010-05-11 | Ossur Hf | Knee brace and method for securing the same |
US7198610B2 (en) | 2004-12-22 | 2007-04-03 | Ossur Hf | Knee brace and method for securing the same |
US7465283B2 (en) | 2005-01-12 | 2008-12-16 | Ossur, Hf | Cast assembly with breathable double knit type padding |
US7513881B1 (en) | 2005-01-12 | 2009-04-07 | Ossur Hf | Knee immobilizer |
JP4178187B2 (en) | 2005-01-26 | 2008-11-12 | 国立大学法人 筑波大学 | Wearable motion assist device and control program |
US7161056B2 (en) | 2005-01-28 | 2007-01-09 | Ossur Hf | Wound dressing and method for manufacturing the same |
US8048007B2 (en) | 2005-02-02 | 2011-11-01 | össur hf | Prosthetic and orthotic systems usable for rehabilitation |
CN101155557B (en) | 2005-02-02 | 2012-11-28 | 奥瑟Hf公司 | Sensing systems and methods for monitoring gait dynamics |
US8512415B2 (en) | 2005-03-31 | 2013-08-20 | Massachusetts Institute Of Technology | Powered ankle-foot prothesis |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US20070043449A1 (en) | 2005-03-31 | 2007-02-22 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US20060249315A1 (en) | 2005-03-31 | 2006-11-09 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US7313463B2 (en) | 2005-03-31 | 2007-12-25 | Massachusetts Institute Of Technology | Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics |
US20070162152A1 (en) | 2005-03-31 | 2007-07-12 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US20070123997A1 (en) | 2005-03-31 | 2007-05-31 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
WO2006113391A2 (en) | 2005-04-19 | 2006-10-26 | Jaymart Sensors, Llc | Miniaturized inertial measurement unit and associated methods |
US7240876B2 (en) | 2005-04-21 | 2007-07-10 | Ossur, Hf | Dispenser box |
NL1029086C2 (en) | 2005-05-20 | 2006-11-27 | Somas Groep B V | Hip portese, method for preventing hip dislocation and use of a hip portese. |
USD523149S1 (en) | 2005-05-24 | 2006-06-13 | Ossur Hf | Prosthetic or orthotic sleeve |
JP4332136B2 (en) | 2005-06-03 | 2009-09-16 | 本田技研工業株式会社 | Limb body assist device and limb body assist program |
US7527253B2 (en) | 2005-06-09 | 2009-05-05 | Arizona Board Of Regents | Adjustable stiffness leaf spring actuators |
US7618463B2 (en) | 2005-07-11 | 2009-11-17 | össur hf | Energy returning prosthetic joint |
WO2007023625A1 (en) | 2005-08-23 | 2007-03-01 | Matsushita Electric Industrial Co., Ltd. | Polymer actuator |
US7485152B2 (en) | 2005-08-26 | 2009-02-03 | The Ohio Willow Wood Company | Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature |
US7531006B2 (en) | 2005-09-01 | 2009-05-12 | össur hf | Sensing system and method for motion-controlled foot unit |
US8048172B2 (en) | 2005-09-01 | 2011-11-01 | össur hf | Actuator assembly for prosthetic or orthotic joint |
US7959589B2 (en) | 2005-09-19 | 2011-06-14 | Ossur Hf | Adjustable orthotic device |
US7431708B2 (en) | 2005-09-19 | 2008-10-07 | Ossur Hf | Knee brace having lateral/medial width adjustment |
CN101282698A (en) | 2005-10-12 | 2008-10-08 | 奥苏尔公司 | Knee brace |
US7449005B2 (en) | 2005-11-07 | 2008-11-11 | Ossur Hf. | Traction collar and method of use |
USD527825S1 (en) | 2005-12-21 | 2006-09-05 | Ossur Hf | Knee brace |
JP4818716B2 (en) | 2005-12-27 | 2011-11-16 | 富士通株式会社 | Robot controller |
USD529180S1 (en) | 2006-03-01 | 2006-09-26 | Ossur Hf | Knee brace |
USD533280S1 (en) | 2006-03-22 | 2006-12-05 | Ossur Hf | Wrist brace |
US7914475B2 (en) | 2006-03-22 | 2011-03-29 | Ossur Hf | Orthopedic brace |
US7488349B2 (en) | 2006-03-24 | 2009-02-10 | Ossur Hf | Ventilated prosthesis system |
CN101061984B (en) | 2006-04-29 | 2012-02-08 | 香港理工大学 | Recovery robot system for providing mechanical assistant by using myoelectric signal |
US7662191B2 (en) | 2006-06-30 | 2010-02-16 | össur hf | Liner donning and doffing device |
US7578799B2 (en) | 2006-06-30 | 2009-08-25 | Ossur Hf | Intelligent orthosis |
US7438843B2 (en) | 2006-06-30 | 2008-10-21 | Ossur Hf | Method and kit for making prosthetic socket |
US7503937B2 (en) | 2006-07-03 | 2009-03-17 | Ossur Hf | Prosthetic foot |
JP2008087143A (en) | 2006-10-05 | 2008-04-17 | Sony Corp | Actuator control device |
US7632315B2 (en) | 2006-10-10 | 2009-12-15 | össur hf | Vacuum chamber socket system |
WO2008048658A2 (en) | 2006-10-17 | 2008-04-24 | Northwestern University | Equilibrium-point prosthetic and orthotic ankle-foot systems |
US7842848B2 (en) | 2006-11-13 | 2010-11-30 | Ossur Hf | Absorbent structure in an absorbent article |
DE102006059206B4 (en) | 2006-12-13 | 2010-12-30 | Otto Bock Healthcare Gmbh | Orthopedic device |
EP2114323A4 (en) | 2007-02-12 | 2013-11-27 | Oessur Hf | Orthopedic brace including a protector assembly |
USD558884S1 (en) | 2007-02-12 | 2008-01-01 | Ossur Hf | Knee brace |
USD567072S1 (en) | 2007-02-12 | 2008-04-22 | Ossur Hf | Strap retainer |
EP2136665A4 (en) | 2007-04-26 | 2011-11-23 | Ossur Hf | Orthopedic shoe providing access to wound site |
WO2008141214A1 (en) | 2007-05-09 | 2008-11-20 | Motor Excellence, Llc. | Electrical output generating devices and driven electrical devices with reduced flux leakage using permanent magnet components, and methods of making and using the same |
US7868511B2 (en) | 2007-05-09 | 2011-01-11 | Motor Excellence, Llc | Electrical devices using disk and non-disk shaped rotors |
WO2008153675A1 (en) | 2007-05-21 | 2008-12-18 | Ossur Hf | Orthopedic device |
USD576781S1 (en) | 2007-07-03 | 2008-09-16 | Ossur Hf | Orthotic device |
EP2180920A1 (en) | 2007-07-20 | 2010-05-05 | Össur HF | Prosthetic or orthopedic device having feedback |
CN101790357B (en) | 2007-08-23 | 2013-05-15 | 奥索集团公司 | Orthopedic or prosthetic support device |
CN101801317B (en) | 2007-09-13 | 2012-02-22 | 奥苏尔公司 | Wearable device |
US8043245B2 (en) | 2007-10-15 | 2011-10-25 | Ossur Hf | Orthopedic device having a patient compliance system |
USD583956S1 (en) | 2007-12-11 | 2008-12-30 | Ossur, Hf | Orthotic device |
DE102008008282B4 (en) | 2008-02-07 | 2014-04-03 | Otto Bock Healthcare Gmbh | Orthopedic foot and method for controlling an artificial foot |
USD588753S1 (en) | 2008-02-12 | 2009-03-17 | Ossur Hf | Patella protector assembly |
EP2257247B1 (en) | 2008-03-24 | 2018-04-25 | Ossur HF | Transfemoral prosthetic systems and methods for operating the same |
US8652218B2 (en) | 2008-04-21 | 2014-02-18 | Vanderbilt University | Powered leg prosthesis and control methodologies for obtaining near normal gait |
USD596301S1 (en) | 2008-04-25 | 2009-07-14 | Ossur Hf | Orthopedic device |
EP2326293B1 (en) | 2008-05-15 | 2015-12-16 | Ossur HF | Circumferential walker |
WO2010027968A2 (en) | 2008-09-04 | 2010-03-11 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
USD611322S1 (en) | 2008-09-09 | 2010-03-09 | össur hf | Handle |
USD627079S1 (en) | 2008-09-09 | 2010-11-09 | Ossur Hf | Container |
JP5095581B2 (en) | 2008-11-05 | 2012-12-12 | 本田技研工業株式会社 | Walking assist device |
CN102227196B (en) | 2008-12-03 | 2013-09-11 | 欧苏尔公司 | Cervical collar having height and circumferential adjustment |
GB0822590D0 (en) | 2008-12-11 | 2009-01-21 | Materialise Nv | Orthotic prosthetic cushioned device and method of making the same |
JP2012516717A (en) | 2009-01-30 | 2012-07-26 | マサチューセッツ インスティテュート オブ テクノロジー | Actuator-powered knee prosthesis with antagonistic muscle action |
EP2238894B1 (en) | 2009-04-07 | 2011-11-02 | Syco Di Hedvig Haberl & C. S.A.S. | System for controlling an exoskeleton haptic device for rehabilitation purposes, and corresponding exoskeleton haptic device |
TWM378398U (en) | 2009-07-07 | 2010-04-11 | Xiu-Wen Qiu | Secondary lens apparatus |
USD629115S1 (en) | 2009-08-28 | 2010-12-14 | Ossur Hf | Back brace |
USD628696S1 (en) | 2009-08-28 | 2010-12-07 | Ossur Hf | Handle |
USD616996S1 (en) | 2009-09-14 | 2010-06-01 | Ossur Hf | Orthopedic device |
USD620124S1 (en) | 2009-09-14 | 2010-07-20 | Ossur Hf | Orthopedic device |
USD616997S1 (en) | 2009-09-14 | 2010-06-01 | Ossur Hf | Orthopedic device |
USD618359S1 (en) | 2009-09-14 | 2010-06-22 | Ossur Hf | Expansion part for orthopedic device |
USD616555S1 (en) | 2009-09-14 | 2010-05-25 | Ossur Hf | Orthopedic device |
USD643537S1 (en) | 2009-09-22 | 2011-08-16 | Ossur Hf | Pump for an orthopedic device |
USD616556S1 (en) | 2009-09-22 | 2010-05-25 | Ossur Hf | Orthopedic device |
USD634852S1 (en) | 2009-09-22 | 2011-03-22 | Ossur Hf | Sole for orthopedic device |
USD646394S1 (en) | 2009-11-13 | 2011-10-04 | Ossur Hf | Rehabilitative vest component |
USD640381S1 (en) | 2009-11-13 | 2011-06-21 | Ossur Hf | Rehabilitative vest component |
USD640380S1 (en) | 2009-11-13 | 2011-06-21 | Ossur Hf | Rehabilitative vest component |
DE112011101422T5 (en) | 2010-04-21 | 2013-02-07 | Research In Motion Limited | A method of interacting with a scrollable area on a portable electronic device |
US8716877B2 (en) | 2010-05-14 | 2014-05-06 | Thomas Sugar | Method and apparatus for harvesting energy from ankle motion |
USD641483S1 (en) | 2010-05-25 | 2011-07-12 | Ossur Hf | Orthosis component |
USD641482S1 (en) | 2010-05-25 | 2011-07-12 | Ossur Hf | Orthosis component |
USD634438S1 (en) | 2010-06-14 | 2011-03-15 | Ossur Hf | Orthopedic walker |
USD647623S1 (en) | 2010-08-06 | 2011-10-25 | Ossur Hf | Height adjustment mechanism for cervical collar |
USD647624S1 (en) | 2010-08-06 | 2011-10-25 | Ossur Hf | Cervical collar |
USD637942S1 (en) | 2010-08-20 | 2011-05-17 | Ossur Hf | Strap retainer |
USD647622S1 (en) | 2010-08-20 | 2011-10-25 | Ossur Hf | Orthopedic device |
US8876743B2 (en) | 2011-04-20 | 2014-11-04 | Vivonics, Inc. | Conformable material for an orthotic device and method of making same |
US9032635B2 (en) | 2011-12-15 | 2015-05-19 | Massachusetts Institute Of Technology | Physiological measurement device or wearable device interface simulator and method of use |
US9498401B2 (en) | 2011-12-20 | 2016-11-22 | Massachusetts Institute Of Technology | Robotic system for simulating a wearable device and method of use |
US9221177B2 (en) | 2012-04-18 | 2015-12-29 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US9339097B2 (en) | 2013-12-20 | 2016-05-17 | Tessy Plastics Corporation | Deodorant package with expanding platform |
-
2006
- 2006-07-29 US US11/495,140 patent/US20070043449A1/en not_active Abandoned
-
2012
- 2012-01-11 US US13/348,570 patent/US20120209405A1/en not_active Abandoned
- 2012-12-21 US US13/723,743 patent/US8734528B2/en active Active
-
2014
- 2014-05-21 US US14/283,323 patent/US9339397B2/en active Active
-
2016
- 2016-04-06 US US15/091,895 patent/US10342681B2/en active Active
-
2019
- 2019-07-01 US US16/458,421 patent/US11273060B2/en active Active
Cited By (72)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8551184B1 (en) | 2002-07-15 | 2013-10-08 | Iwalk, Inc. | Variable mechanical-impedance artificial legs |
US9649206B2 (en) | 2002-08-22 | 2017-05-16 | Victhom Laboratory Inc. | Control device and system for controlling an actuated prosthesis |
US9358137B2 (en) | 2002-08-22 | 2016-06-07 | Victhom Laboratory Inc. | Actuated prosthesis for amputees |
US9526636B2 (en) | 2003-11-18 | 2016-12-27 | Victhom Laboratory Inc. | Instrumented prosthetic foot |
US10195057B2 (en) | 2004-02-12 | 2019-02-05 | össur hf. | Transfemoral prosthetic systems and methods for operating the same |
US9271851B2 (en) | 2004-02-12 | 2016-03-01 | össur hf. | Systems and methods for actuating a prosthetic ankle |
US9078774B2 (en) | 2004-12-22 | 2015-07-14 | össur hf | Systems and methods for processing limb motion |
US9339397B2 (en) | 2005-03-31 | 2016-05-17 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US11491032B2 (en) | 2005-03-31 | 2022-11-08 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US9149370B2 (en) | 2005-03-31 | 2015-10-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US11273060B2 (en) | 2005-03-31 | 2022-03-15 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US8500823B2 (en) | 2005-03-31 | 2013-08-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US8870967B2 (en) | 2005-03-31 | 2014-10-28 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US9333097B2 (en) | 2005-03-31 | 2016-05-10 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US10137011B2 (en) | 2005-03-31 | 2018-11-27 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US10588759B2 (en) | 2005-03-31 | 2020-03-17 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs and variable-damper elements |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US20100312363A1 (en) * | 2005-03-31 | 2010-12-09 | Massachusetts Institute Of Technology | Powered Artificial Knee with Agonist-Antagonist Actuation |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US9539117B2 (en) | 2005-03-31 | 2017-01-10 | Massachusetts Institute Of Technology | Method for controlling a robotic limb joint |
US10485681B2 (en) | 2005-03-31 | 2019-11-26 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US10342681B2 (en) | 2005-03-31 | 2019-07-09 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US9526635B2 (en) | 2007-01-05 | 2016-12-27 | Victhom Laboratory Inc. | Actuated leg orthotics or prosthetics for amputees |
US11007072B2 (en) | 2007-01-05 | 2021-05-18 | Victhom Laboratory Inc. | Leg orthotic device |
US11607326B2 (en) | 2007-01-19 | 2023-03-21 | Victhom Laboratory Inc. | Reactive layer control system for prosthetic devices |
US10405996B2 (en) | 2007-01-19 | 2019-09-10 | Victhom Laboratory Inc. | Reactive layer control system for prosthetic and orthotic devices |
US9808357B2 (en) | 2007-01-19 | 2017-11-07 | Victhom Laboratory Inc. | Reactive layer control system for prosthetic and orthotic devices |
US10299943B2 (en) | 2008-03-24 | 2019-05-28 | össur hf | Transfemoral prosthetic systems and methods for operating the same |
US10285828B2 (en) | 2008-09-04 | 2019-05-14 | Bionx Medical Technologies, Inc. | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis |
US9211201B2 (en) | 2008-09-04 | 2015-12-15 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US8900325B2 (en) | 2008-09-04 | 2014-12-02 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US10105244B2 (en) | 2008-09-04 | 2018-10-23 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US9351856B2 (en) | 2008-09-04 | 2016-05-31 | Iwalk, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US9554922B2 (en) | 2008-09-04 | 2017-01-31 | Bionx Medical Technologies, Inc. | Hybrid terrain-adaptive lower-extremity systems |
US9693883B2 (en) | 2010-04-05 | 2017-07-04 | Bionx Medical Technologies, Inc. | Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same |
US10406002B2 (en) | 2010-04-05 | 2019-09-10 | Bionx Medical Technologies, Inc. | Controlling torque in a prosthesis or orthosis based on a deflection of series elastic element |
US10251762B2 (en) | 2011-05-03 | 2019-04-09 | Victhom Laboratory Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US11185429B2 (en) | 2011-05-03 | 2021-11-30 | Victhom Laboratory Inc. | Impedance simulating motion controller for orthotic and prosthetic applications |
US9737419B2 (en) | 2011-11-02 | 2017-08-22 | Bionx Medical Technologies, Inc. | Biomimetic transfemoral prosthesis |
US10575970B2 (en) | 2011-11-11 | 2020-03-03 | Össur Iceland Ehf | Robotic device and method of using a parallel mechanism |
US10543109B2 (en) | 2011-11-11 | 2020-01-28 | Össur Iceland Ehf | Prosthetic device and method with compliant linking member and actuating linking member |
US9895240B2 (en) | 2012-03-29 | 2018-02-20 | Ösur hf | Powered prosthetic hip joint |
US10940027B2 (en) | 2012-03-29 | 2021-03-09 | Össur Iceland Ehf | Powered prosthetic hip joint |
US9975249B2 (en) | 2012-04-18 | 2018-05-22 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US9221177B2 (en) | 2012-04-18 | 2015-12-29 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US10531965B2 (en) | 2012-06-12 | 2020-01-14 | Bionx Medical Technologies, Inc. | Prosthetic, orthotic or exoskeleton device |
US11285024B2 (en) | 2013-02-26 | 2022-03-29 | Össur Iceland Ehf | Prosthetic foot with enhanced stability and elastic energy return |
US9561118B2 (en) | 2013-02-26 | 2017-02-07 | össur hf | Prosthetic foot with enhanced stability and elastic energy return |
WO2014133975A1 (en) * | 2013-02-26 | 2014-09-04 | össur hf | Prosthetic foot with enhanced stability and elastic energy return |
US10369019B2 (en) | 2013-02-26 | 2019-08-06 | Ossur Hf | Prosthetic foot with enhanced stability and elastic energy return |
US11576795B2 (en) | 2013-03-14 | 2023-02-14 | össur hf | Prosthetic ankle and method of controlling same based on decreased loads |
US9707104B2 (en) | 2013-03-14 | 2017-07-18 | össur hf | Prosthetic ankle and method of controlling same based on adaptation to speed |
US10695197B2 (en) | 2013-03-14 | 2020-06-30 | Össur Iceland Ehf | Prosthetic ankle and method of controlling same based on weight-shifting |
US11446166B2 (en) | 2014-04-11 | 2022-09-20 | Össur Iceland Ehf | Prosthetic foot with removable flexible members |
US10390974B2 (en) | 2014-04-11 | 2019-08-27 | össur hf. | Prosthetic foot with removable flexible members |
JP2017515525A (en) * | 2014-05-07 | 2017-06-15 | オットー・ボック・ヘルスケア・ゲーエムベーハーOtto Bock HealthCare GmbH | Artificial leg |
US10881533B2 (en) | 2014-05-07 | 2021-01-05 | Ottobock Se & Co. Kgaa | Prosthetic foot including a heel cap and interchangeable heel-side spring-damper |
CN104015825A (en) * | 2014-05-31 | 2014-09-03 | 华南理工大学 | Robot walking device |
US11399966B2 (en) | 2014-09-19 | 2022-08-02 | Össur Iceland Ehf | Variable stiffness prosthetic foot |
US10624765B2 (en) | 2014-09-19 | 2020-04-21 | Össur Iceland Ehf | Variable stiffness prosthetic foot |
US10034782B2 (en) | 2014-09-19 | 2018-07-31 | össur hf | Variable stiffness prosthetic foot |
US9949850B2 (en) | 2015-09-18 | 2018-04-24 | Össur Iceland Ehf | Magnetic locking mechanism for prosthetic or orthotic joints |
US10722386B2 (en) | 2015-09-18 | 2020-07-28 | Össur Iceland Ehf | Magnetic locking mechanism for prosthetic or orthotic joints |
US11707365B2 (en) | 2015-09-18 | 2023-07-25 | Össur Iceland Ehf | Magnetic locking mechanism for prosthetic or orthotic joints |
US11230375B1 (en) | 2016-03-31 | 2022-01-25 | Steven M. Hoffberg | Steerable rotating projectile |
US10118696B1 (en) | 2016-03-31 | 2018-11-06 | Steven M. Hoffberg | Steerable rotating projectile |
EP3539514A4 (en) * | 2016-11-10 | 2020-05-06 | The University Of Tokyo | Knee joint |
US11696840B2 (en) | 2016-11-10 | 2023-07-11 | The University Of Tokyo | Knee joint |
US11712637B1 (en) | 2018-03-23 | 2023-08-01 | Steven M. Hoffberg | Steerable disk or ball |
CN110320940A (en) * | 2019-07-03 | 2019-10-11 | 西北工业大学 | A kind of flexible underactuated system method based on energy spectrometer |
WO2023078893A1 (en) | 2021-11-02 | 2023-05-11 | Edera Safety Gmbh & Co. Kg | Dynamically dependent movement blocking system |
Also Published As
Publication number | Publication date |
---|---|
US11273060B2 (en) | 2022-03-15 |
US20130110256A1 (en) | 2013-05-02 |
US20070043449A1 (en) | 2007-02-22 |
US8734528B2 (en) | 2014-05-27 |
US9339397B2 (en) | 2016-05-17 |
US20160338857A1 (en) | 2016-11-24 |
US20140257519A1 (en) | 2014-09-11 |
US20190321201A1 (en) | 2019-10-24 |
US10342681B2 (en) | 2019-07-09 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11273060B2 (en) | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components | |
US10588759B2 (en) | Artificial human limbs and joints employing actuators, springs and variable-damper elements | |
US10792169B2 (en) | Hybrid terrain-adaptive lower-extremity systems | |
US11529247B2 (en) | Hybrid terrain—adaptive lower-extremity systems | |
US8870967B2 (en) | Artificial joints using agonist-antagonist actuators | |
US10285828B2 (en) | Implementing a stand-up sequence using a lower-extremity prosthesis or orthosis | |
LeMoyne et al. | Transtibial powered prostheses: Single and dual actuator configurations |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: MASSACHUSETTS INSTITUTE OF TECHNOLOGY, MASSACHUSET Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HERR, HUGH M;AU, SAMUEL K;PALUSKA, DANIEL JOSEPH;AND OTHERS;SIGNING DATES FROM 20060907 TO 20061030;REEL/FRAME:028124/0190 Owner name: MASSACHUSETTS INSTITUTE OF TECHNOLOGY, MASSACHUSET Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HERR, HUGH M;PALUSKA, DANIEL JOSEPH;DILWORTH, PETER;SIGNING DATES FROM 20060330 TO 20060331;REEL/FRAME:028124/0202 |
|
STCB | Information on status: application discontinuation |
Free format text: EXPRESSLY ABANDONED -- DURING EXAMINATION |