US2843853A - Control mechanism for artificial ankle - Google Patents
Control mechanism for artificial ankle Download PDFInfo
- Publication number
- US2843853A US2843853A US624303A US62430356A US2843853A US 2843853 A US2843853 A US 2843853A US 624303 A US624303 A US 624303A US 62430356 A US62430356 A US 62430356A US 2843853 A US2843853 A US 2843853A
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- United States
- Prior art keywords
- shank
- foot
- housing
- leg
- vertical
- 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.)
- Expired - Lifetime
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Classifications
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- 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
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
-
- 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
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
- A61F2/744—Vane- or curved-cylinder type actuators, e.g. actuators using rotary pistons
-
- 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
- A61F2002/501—Prostheses not implantable in the body having an inflatable pocket filled with fluid, i.e. liquid or gas
-
- 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
- A61F2002/5067—Prostheses not implantable in the body having rolling elements between articulating surfaces
- A61F2002/5069—Ball bearings
-
- 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
Definitions
- This invention relates to artificial legs, and more particularly to a control mechanism providing an improved ankle joint which connects the foot and the shank to substantially duplicate the foot control pattern as produced by the muscles of the natural leg.
- the foot In the natural leg, the foot is particularly controlled by plantar-fiexor muscles in the calf of the leg and by dorsi-exor muscles in the fore part of the shank. These two muscle groups hold the foot at substantially right angles to the shank during no-load conditions as, for instance during the swing phase of a stride. Under load, that is, during the stance phase, the plantar-flexor muscles control or limit the permissible upward motion of the sole of the foot from its normal rectangular no-load position substantially in such a way that they stop dorsi-flexion of the foot when the longitudinal axis of the shank is vertical in space or inclined forward from the vertical. This happens whether the foot rests on horizontal or uneven or inclined ground.
- walking up or down a hill using an artificial leg incorporating the prior art ankle joint structure presents difliculties due to its control limitations.
- the bumper-type dorsiflexion control element prevents the shank from moving beyond a right angular disposition to the foot. This puts a great effort on the muscles of the amputees good leg since he has to pole-vault over the artificial leg at an awkward angle of attack.
- buckling of the artificial leg is probable due to the fact that the ball pressure develops too late in the stride.
- the ankle joint of the prior art is highly inadequate as compared to the muscle control in the ankle of a natural leg which on application of load specifically provides that dorsi-flexion is stopped and the shank reaches stability at a vertical in space, independently of the angular disposition of the foot relative to the shank or in space.
- the artificial leg employing the prior art ankle joint is generally satisfactory only under the simplest of conditions, such as walking on level ground. Manual adjustment of the dorsi-fiexion stop, for instance by changing of the height of the bumpers, may be provided but this will be awkward to do while walking and will be mainly used by the amputee for more permanent changes such as adjusting the leg for shoes of different heel height or in a case where he has to walk up or down an. incline of considerable length and having a fairly constant angle of inclination.
- the present invention provides a control mechanism inthe ankle joint of an artificial leg which produces forces in that joint which closely duplicate the forces provided by the muscles in the ankle joint of the natural leg.
- the improved control mechanism of the invention will stop dorsi-flexion of the ankle joint whenever the longitudinal axis of the shank is approximately vertical in space or in instances where it is disposed inclined forward from the vertical. This will occur independently of the relative angle between the shank and the foot of the artificial leg.
- the mechanism is so designed to limit the ⁇ dorsi-flexion only on application of load to the artificial ankle and upon load removal it will tend to make the foot assume a position vapproximately rectangular with the shank.
- the invention mechanism further provides for adequate control of plantar-flexion. The foot control pattern of a natural leg is thus mechanically reproduced.
- An object of the invention is to provide an improved ankle joint for an artificial leg.
- a further object of the invention is to provide an improved control mechanism for producing forces about a joint to positively define the limit of the angular dis position of the elements providing the joint.
- a further object of the invention is to provide an improved control mechanism for the ankle joint of an artificial leg which will produce forces in that joint duplicating closely the forces produced by muscles in the ankle joint of the natural leg.
- An additional object of the invention is to provide a control mechanism for the ankle joint and foot of an artificial leg which will stop dorsi-flexion of the ankle joint whenever the longitudinal axis of the shank is approximately vertical in space or inclined forwardly from the vertical, independently of the relative angle between the shank and the foot, on application of load thereto.
- Another object of the invention is to provide a control mechanism for the ankle joint of an artificial leg which will limit dorsi-flexion of the ankle joint under load conditions at a point when the longitudinal axis of the shank is approximately vertical in space or inclined forwardly thereof and will cause the foot to assume a position approximately rectangular with the shank under no-load conditions.
- Another object of the invention is to provide an improved joint mechanism for controlling relative movement of the elements comprising the joint.
- a further object of the invention is yto provide Van improved mechanical joint for connection of the foot and shank of an artificial leg which will cause'the foot to be controlled in a manner as provided by the muscles in the natural leg.
- Another object of the Iinvention is to provide an improved joint mechanism for connecting the foot and shank of an artificial leg which will hydraulically control the relative disposition of the foot and the shank under load co-nditions at all times in a manner as provided by the dorsi-fiexor and plantar-flexor muscles of the natural leg.
- Another object of the invention is to provide a control mechanism for the ankle joint of an artificial leg possessing the advantageous structural features, the inherent meritorious characteristics, and the mode of operation herein described.
- Fig. l shows a fragmentary vertical cross-sectional view illustrating a mechanical form of the invention as applied to the ankle joint of an artificial leg between the shank and the foot;
- Fig. 2 is a cross-sectional view taken on line 2--2 of Fig. l;
- Fig. 3 is a view of an artificial leg similar to that illustrated in Fig. 1 but incorporating a hydraulic version of the invention.
- Fig. 4 is a cross-sectional view taken on line 4-4 of Fig. 3.
- a foot 1 of an artificial leg is connected to a shank 2 to pivot relative thereto about a pivot axis .3.
- the shank 2 is aihollow wooden structure covered with rawhide and its lower end is provided by a plug or wooden block 4 which is outwardly contoured to simulate the configuration of a natural ankle.
- the block 4 is centrally apertured at 5.
- the foot 1, formed on wood covered with raw hide, is provided with a substantially cylindrical recess 6 transversely of its rear or heel portion 7, in the upper surface thereof.
- the forming of the wood defining the recess 6 provides parallel side surfaces 8 connected by cylindrically curved front and rear surfaces 9 which cup about the depending extremity of the ankle block 4 at the lower end of the shank.
- the lower extremity of the block 4 has its forward and rearward surfaces curved towards each other to mate in nesting relation to the front and rear cylindrically curved surfaces 9 which define the upper portion of the recess 6. This enables a pivotal relation between the foot and the shank.
- the recess 6 is defined at ⁇ its central fore and aft portion by a base surface 1@ cylindrically curved about the axis3 at a radius less than that of the surfaces 9 which nest the lower end of the shank.
- the cylindrically curving extremities of the surface 1t) are diverted in a common horizontal plane to connect to the inner limits ofthe surfaces 9 and provide spaced shoulders 11 thereby facing upwardly of the foot 1.
- a control housing 12 having the configuration of a cylindrical sector has a cylindrically curved base 13 which seats in recess 6 adjacent to the central cylindrical surface 10.
- the base 13 has forwardly and rearwardly projecting extensions 14 which lie in a common plane and respectively seat to the shoulders 11 in recess 6, fixed thereto by screws 23 engaged through the heel 7.
- the housing 12 is fixed'to foot 1 thereby to have its sector shaped side plates 15 project upwardly therefrom.
- the side plates 15 have upwardly projecting ear portions at their apex.
- a bolt 18 having an expanded head and neck portion at one end extends through the apertures 17 of the side plates 15 to have the head abut the outer surface of one plate 15 to dispose the adjacent neck portion within its aperture 17.
- a nut 19 which threadedly engages the other end of the bolt 18 outwardly of the other side plate 15 is provided with a necked portion, similar to the neck portion of bolt 18, extending within the aperture 17 of said other plate. It is noted that the dimension of each aperture 17 is greater than that of the neck portions of the bolt 18 and the nut 19 for purposes to be described.
- Two circular steel brake discs 20, separated by a spacer tube 21, mount about the bolt 18 between the housing side plates 15 to dispose the brake discs in end abutting relation to the respective neck portions of the bolt 18 and the nut 19.
- the entire unit assembly consisting of bolt 18, nut 19, brake discs 20, and spacer bushing 21 is pivotally connected to housing 12 by means of the bolt 18 and nut 19 being disposedin the apertures 17 in side walls 15.
- Therelative enlargement of apertures 217 permits relative vertical displacement of this unit assembly and housing 12 as will be described.
- a steel lever 26 is pivotally connected at its upper end in a bifurcated bracket 24 which is adjustably connected to the rear inner wall of the shank 2 by a screw 27 therethrough having counter nuts 28 threadedly engaged thereabout to abut the inner surface of the shank wall.
- the screw 27 which is accessible externally of the shank, the normal disposition ofthe upper end of the lever 26 can be adjusted for purposes to be described.
- the lever 26 depends from bracket 24 through the central aperture 5 in'block 4 in the lower end of the shank to receive bushing 25 snugly through an aperture therein adjacent to and spaced from its lower extremity.
- Screws 34 and 35 extend from within shank 2 through the block l4 at diametrically opposed positions relative the aperture 5. These screws 34 and 35 respectively thread-- edly engage in the upper surfaces of roller-like elements 3,0 and 31 to either side of the lever 26 to pull them into form fitting recesses in the under side of block 4 and thereby fix the entire assembly including bolt 18, nut 19, spacer bushing 21, brake discs 20, spacer bushing 25, roller elements 30, 31 and lever 26 to the shank 2. This effects al suspension of the housing 12 and the foot 1 by the neck portions of bolt 18 and nut 19 under no-load conditions as illustrated in Fig. 2 ofthe drawings.
- Blind holes 37 and 38 are respectively provided in the under surface of block 4in the central plane of shank 2 immediately of the forward and rear surfaces thereof.
- Coil springs 39 and 40 respectively seat at one end in the blind holes 37 and 38 and at .the other end over the upwardly projecting ends of adjacent screws 23 which fix housing 12 in the recess 6 of 'foot 1.
- the springs 39 and 40 are thus angularly disposed respectively forwardly and rearwardly of the pivot axis 3 to bias the foot to a normal no-load position approximately at right angles to the shank 2.
- brake discs 20 Under no-load conditions, the lower extremities of brake discs 20 are slightly spaced from the cylindrically curved surface of base 13 in a vertical sense and slightly spaced from the side walls 15 of housing 12 in a lateral sense. Steel balls 36 roll freely on the curved surface 13 in housing 12, respectively intermediate the inner sides of the discs and the wedge-shaped extremity 29 of lever 26 which depends centrally therebetween.
- the lower peripheries of roller-like elements 30 and 31 serve as guides for the free rolling steel balls 36.
- parallel channels are provided for the free rolling balls.
- Limit pins 42 and 43 project from the respective g-uide elements 30 and 31 in symmetrically angularly disposed fashion fore and aft of the ankle joint in each channel. These pins 42 and 43 respectively limit the forward and rear movement of the balls 36 as they seek a lowermost position on surface 13 as determined by gravity.
- Figs. l and 2 of the drawings show the mechanical version of the invention applied to provide the ankle joint of an artificial leg under a noload condition as during the swing-phase of a stride.
- the clearances between the brake discs and the base surface 13 of control housing 12 are maintained under the inuence of springs 39 and 40 during no-load conditions.
- the springs also inuence and effect the approximately rectangular position of the foot in the shank 2 under no-load.
- the mechanism as inuenced by the weight of the amputee thus becomes self-locking when the shank reaches a vertical in space.
- the angle established between the foot and shank as the shank reaches the vertical in space is maintained during further forward motion of the shank under load. This means that as the amputee moves forward, the heel of the foot rises off the ground and ⁇ the Weight of the amputee is then stably supported on the ball of the artificial foot in the same manner as provided in the natural leg.
- the amputee takes his weight off the foot and his foot oi the ground which relieves the pressure transmitted to the brake discs 20 by the steel balls. Being relieved of this pressure, the discs 20 will tend to seek their normal parallel position and shape. in the process they exert pressure inwardly against the steel balls 36 to bias them to the wedged extremity 29 of lever 26 and cause them to roll to the thinnest part of the wedge. This results in a slight plantar-flexion of the foot 1.
- This motion in conjunction with the removal of the amputee weight frees the foot 1 from its frictional engagement by the discs 20 and the foot is then biased to its approximately rectangular position relative the shank 2 under the influence of the biasing springs 39 and 40. This is the condition of the artificial leg on completion of its walking cycle.
- an elastic cover may be provided about the housing 12 to permit the housing to be filled with a suitable l'luid.
- the present invention enables a continuously stabilizing yforce condition in the leg in the manner provided by the muscles in the ankle joint of the natural leg.
- This invention structure provides, as do muscles in the natural leg, that whenever the shank moves to a vertical in space under load conditions a locked relation of the shank and foot is automatically effected.
- the amputee employing the invention may walk uphill or downhill with ease.
- walking uphill the fact that the artificial shank is able to reach a vertical in space enables proper movement thereof without undue strain.
- the leg will lock dorsiflexion prior to a right angular disposition between the shank and foot to provide proper stabilization.
- the same advantages obtain in the instance of stepping into a ⁇ sudden depression withan artificial leg as improved by the invention.
- the inherent Walking di'iculties present when employing the ankle joint control mechanism of the prior art in such applications is eliminated.
- Figs. 3 and 4 of the drawings illustrate a hydraulic embodiment of the invention wherein a foot'l of an artificial leg is connected to pivot relative a shank 2 about a pivot axis 3.
- the parts are shown as related under a no-load condition, as during a swing-phase of the leg.
- the shank 2' is hollow and its lower end is provided by a wooden block 4 outwardly contoured to simulate the configuration of a natural ankle.
- the block 4 is centrally apertured at 5.
- the foot is provided with a stepped cylindrical recess 6' transversely of its heel portion 7, in the upper surface thereof.
- Parallel sides 8 defining the recess 7 to either side of the foot are connected by cylindrically curved front and rear surfaces 9 cupped about the depending extremity of the angle block 4 which nests within the foot so as to enable relative pivoting thereof.
- the stepping of the cylindrical recess 6' provides spa-ced shoulders 11, immediately adjacent the inner extremities of the surfaces 9', separated by a central recess providing a cylindrically curved surface 10.
- a housing 12 in the form of a cylindrical sector has its cylindrically curved base 13 seating to surface 10 between shoulders 11.
- the housing has front and rear walls disposed in a radial sense which respectively have projections 14 in a common plane seating to the shoulders 11. Screws 23 7 engage through the bottom of the heel 7 and projections 14 to fix the housing 12 to the foot 1 thereby.
- the side plates 15 of housing 12 are provided with aligned apertures 17 adjacent their upper limits.
- a lever 26 is pivotally and adjustably connected within the shank 2 in the same manner as the lever 26 in the first embodiment of the invention so that the details thereof need not be repeated.
- the lever 26 is moditied as it depends through the aperture in the block 4 to expand and provide an arcuately recessed surface at its extremity which is located immediately adjacent the lower end of the shank.
- a vane type hydraulic piston 6i) is fixed in the recessed surface to form a depending extension of the lever 26.
- the piston 60 has an aperture 61 transversely of the foot which accommodates a pin 62.
- the pin 62 projects at either end through apertures 17 in housing 12.
- the apertures 17 are of greater dimension than the external dimension of the pin 62 for purposes to be described.
- Balancing springs 39 and 40 are mounted between the under surface of the shank 2 and the foot 1 as in the first described embodiment of the invention to normally dispose the foot ysubstantially at right angles to the shank under no-load conditions. This is illustrated in Fig. 3 of the drawings.
- a pin 63 is mounted to project through a portion of lever 26 in shank 2.
- a coil spring 64 about the lever 26 seats at one end to the inner surface of the block 4 about aperture 5 and at the other end to a cap plate 65 about the lever 26 to bias it in ⁇ abutment to the projections of pin 63. This effects a normal upward bias of the lever 26 to the shank 2. Since the lever is fixed to the piston 6l), this bias of the lever 26 pulls the upper curved surface of the piston 60 into form-fitting recesses in the under surface of the block 4.
- the piston 60 which has a cylindrical contour at its upper end depends in housing 12 to a point slightly spaced from the surface 13 thereof.
- the adjacent front ⁇ and rear walls of the housing 12 are cylindrically curved at their upper extremities to accommodate the contour of the upper end of the piston 60.
- the normal no-load suspension of the housing 12' provides a clearance 65 between the upper ends of the front and rear walls of the housing and the surface of the piston 60 which is equal to the clearance between the lower end of the piston and the base surface 13 of the housing and equal to the clearance of pin 62 within apertures 17.
- the lower end of piston 60 has a rectangular recess 66 to the rear thereof providing a forward depending wall 69 and two side walls 70 guiding a steel ball 67 which rolls freely on the curved base surface 13 of the housing.
- the forward depending wall portion 69 defining the recess 66 has an aperture 68 in the arcuate path of the ball 67 so that the ball may close the aperture 68 when fully seated to the forward wall 69.
- a cover 71 of elastic material preferably of synthetic rubber, is cemented or bonded to the upper part of the lever 26' in aperture 5 and to the outside of the housing 12 to completely seal the control mechanism and the housing, which is lled with hydraulic fluid.
- the hydraulic embodiment of the invention is shown in Figs. 3 and 4 of the drawings in a condition where no load is applied to the ankle joint as during the swingphase of a stride. ln this situation, the springs 39 and 40' cause the foot 1 to assume a position approximately rectangular with the shank and tend to maintain the foot in this position at all times. This is possible because the hydraulic iiuid in the housing 12 can move freely through the clearances between the piston 6l) and the housing and will not obstruct the normal motions of the piston. If, in making a stride, the amputee swings the articial leg forward and places the foo-t on the ground, there is immediate load transferred to the foot.
- a verticalldisplacement occurs between the pin 62 and the housing 12, as enabled by the apertures 17', resulting in a closing of the clearances between the piston 60 and the housing 12 at the upper and lower ends of the piston 60.
- the shank 2' and connected lever 26 are inclined back from a vertical in space.
- the steel ball 6'7 on the cylindrically curved base surface 13 of the housing rolls to a position perpendicularly below the pivot axis 3 no matter what the angle may be between the shank and the foot or no matter what the position of the foot in space happens to be at that time. This rolling motion of the steel ball is dampened by the hydraulic fluid in the housing.
- the hydraulic system locks and on further forward rnotion of the shank the angle established between the foot and the shank when the shank reachedthe vertical in space is maintained.
- the amputee takes his weight off the artificial leg and all clearances between the piston vane and the housing 12 are re-established, permitting hydraulic fluid flow about the vane.
- the foot 1 is freed from the locking position and will return. to its normal rectangular position relative the shank under the influence of the springs-39 and 40.
- a walking cycle of the artificial leg is provided.
- the Iadjustment of the position of the lever 26 within the shank is effected as previously described with respect to the mechanical embodiment presented herein.
- the invention provides a control mechanism for the angle joint of an artificial leg to produce forces in that joint which closely duplicate the forces provided by the'muscles in the ankle joint of a natural leg.
- the improved mechanism is such that it will stop dorsi-flexion of the ankle joint whenever the longitudinal axis of the shank is approximately vertical in space or inclined forward from the vertical, independently of the relative angle between the shank and foot at the time.
- the invention as applied to an artificial leg further provides that the foot under no-load conditions will tend to assume, in an elastic manner, a position approximately rectangular with the shank.
- a shank a foot
- means suspending the foot in pivotal relation to said shank including a housing having a cylindrically curved base, a gravity controlled ball element freely rolling on said base seeking its lowest point at -all times, and means in said housing operatively connected to said shank and operative on dorsi-exion of said foot to be locked by said ball element to said housing on said shank reaching a vertical in space under load.
- a foot a shank having means pivotally suspending said foot for relative vertical movement, brake means associated with said shank and sald foot, said shank and said foot being responsive to load for relative vertical movement to operatively assoc1ate said brake means in said foot, said brake means being responsive to movement of said shank under load to a vertical position in space to lock said foot to said shank at the angle therebetween at that instant, irrespective of the angle of the foot in space.
- an artificial leg a shank, a foot connected thereto for movement about a pivot axis therebetween, means for normally maintaining a rectangular disposition of said shank to said foot, gravity controlled means continuously seeking a vertical with said pivot axis and means connected to said shank responsive to weight application to said leg to operatively connect with said gravity controlled means in said foot to lock said foot to an angle to said shank as effected on said shank being established at a vertical in space or beyond under load conditions.
- a foot In an artificial leg, a foot, a shank, pivot means connected to said shank suspending said foot in pivotal relation thereto, brake means mounted on said pivot means and depending in said foot, and means in said foot operative to engage said brake means on application of load to said shank to limit dorsi-fiexion of said foot on said shank reaching a vertical in space.
- a first member a second member, means connecting said members for pivoting of one of said members relative the other, means for normally maintaining said members substantially at right angles under no-load conditions, gravity operated control means mounted to one of said members and means operatively mounted to said connecting means and operative with said control means on application of load to said members to limit the pivoting of said members at a point where one of said members reaches a vertical in space, irrespective of the angular disposition of the other of said members thereto.
- a foot a shank, a recess in said foot nesting the lower end of said shank for pivoting of said foot relative thereto, a housing means seated in said recess and fixed to said foot, means suspending said housing in pivotal relation to said shank including a pivot means extending through enlarged apertures in said housing for suspension of said housing under no-load conditions, a lever pivotally mounted about said pivot means having its upper end connected to the shank and its lower end depending in said housing, said housing having a concave base, brake means on said pivot means depending in said housing spaced laterally of said lever and vertically of said base, spherical means rolling freely on said concave base intermediate said lever and said brake means whereby on application of load to said foot through said shank, said brake means will engage said base and on said shank reaching a vertical in space during dorsifiexion of said foot, said lever will wedge said spherical means and said brake means to said housing to prevent further dorsi-exion
- a shank a foot, means providing a joint therebetween, brake means operatively connected with said joint means and gravity controlled means mounted to said foot for operating with said brake means to limit dorsi-exion of the foot at the instant.
- the connected shank reaches a vertical in space or forwardly thereof.
- a foot In an artificial leg, a foot, a shank nesting in said foot to provide for relative pivotal movement thereof, means for suspending said foot from said shank, means normally maintaining a rectangular disposition of said foot to said shank under no-load conditions, said suspension means including a housing in said foot containing hydraulic fluid, a vane-type piston pivotally connected to said suspension means and said shank depending in said housing to normally permit movement of Huid thereby, gravity controlled means in said housing operatively associated with said piston, and an aperture in said piston to normally permit relative pivoting of said foot and said shank, whereby, on application of load to said shank said piston will seat to said housing and said gravity operated means will seal the aperture in said piston to prevent relative displacement of fluid and to lock said shank to said foot at the angle established therebetween on said shank reaching a vertical in space.
- a first member a second member pivotally related to said first member, means operatively connecting said rst and second members including hydraulically controlled means and gravity operated means, said hydraulic control means and gravity operated means being responsive to load on said members to lock said members in the relative position effected therebetween on one of said members reaching a vertical in space, irrespective of the angular disposition of said members at that time.
- a foot member a shank member, means pivotally suspending said foot relative said shank, a lever means pivotally connected to said shank and depending to said foot in connected relation to said suspension means, said lever pivoting with said shank on application of load thereto and means in said foot for wedging said lever and said shank in a locked position to said foot on said shank reaching a vertical in space under load conditions.
- Mechanism comprising, a rst member, a second member, means connected to said first member pivotally suspendingsaid second member under no-load conditions, brake means on said suspending means, gravity controlled means mounted to said second member and operatively related to said brake means, and means connected to said first member and operative with said gravity controlled means and brake means in response to movement of said first member to a vertical in space under load to lock to said members and maintain the angle between said members as provided at that time during continuing movement of said first member in the same direction.
- a shank, a foot means providing a joint therebetween having a uid-lilled housing and a piston operating in said housing connected therewith, said piston being displaced in said housing in response to relative pivoting of said shank and said foot about said joint, means defining bypasses for flow of tluid from one side to the other of said piston, said piston being operable on application of weight to said leg for effecting a closing of a portion of said bypass means and gravity control means for automatically closing the remainder of said bypass means whenever the shank goes to or through a vertical in space.
- a foot a shank, means providing a joint therebetween having a hydraulic system operatively connected therewith including a hydraulic uidlled housing and a piston displaceable therein in response to relative movement of said foot and said shank, and means successively responsive to simultaneous application of weight on the legs and movement of the shank through a vertical in space to prevent displacement of fluid by said piston and to limit dorsi-exion of the foot at that instant.
- a hydraulic system operatively connected therewith including a hydraulic uidlled housing and a piston displaceable therein in response to relative movement of said foot and said shank, and means successively responsive to simultaneous application of weight on the legs and movement of the shank through a vertical in space to prevent displacement of fluid by said piston and to limit dorsi-exion of the foot at that instant.
- bypass dening means for permitting normal free displacement of said piston in said housing, a portion of said bypass defining means being partially closed in response to application of weight to the leg and gravity controlled means automatically responsive to movement of the shank through a vertical in space to close the remainder of said bypass means to tix the shank to the foot at the angle established therebetween at that instant.
- a foot member a shank member pivotally related to said foot member, a hydraulic system for controlling relative pivoting of said members, operatively connecting said members, including a fluid-lled housing and a piston and bypass means for normally establishing free movement of said piston in said housing and means under the influence of gravity for providing partial closing of said bypass means in response to application of weight to said leg and effecting complete closing thereof on movement of said shank through a vertical in space to lock the foot to the shank irrespective of the angle therebetween at that instant.
- a hydraulic system including a housing containing hydraulic fluid and a piston operatively connected with said joint so that said piston displaces hydraulic fluid whenever rotation occurs at said joint, and means defining two bypasses for the ow of said hydraulic uid from one side to the other of Isaid piston, said piston being operable to close one of the bypasses on application of weight to the leg, and a gravity controlled member operative to close the other bypass whenever the shank goes through the vertical in space to lock the foot to the shank at the angle provided therebetween at that time.
Landscapes
- Health & Medical Sciences (AREA)
- Transplantation (AREA)
- Heart & Thoracic Surgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Cardiology (AREA)
- Vascular Medicine (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DENDAT1069827D DE1069827B (fr) | 1956-11-26 | ||
US624303A US2843853A (en) | 1956-11-26 | 1956-11-26 | Control mechanism for artificial ankle |
GB34521/57A GB852362A (en) | 1956-11-26 | 1957-11-05 | Control mechanism for artificial ankle |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US624303A US2843853A (en) | 1956-11-26 | 1956-11-26 | Control mechanism for artificial ankle |
Publications (1)
Publication Number | Publication Date |
---|---|
US2843853A true US2843853A (en) | 1958-07-22 |
Family
ID=24501467
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US624303A Expired - Lifetime US2843853A (en) | 1956-11-26 | 1956-11-26 | Control mechanism for artificial ankle |
Country Status (3)
Country | Link |
---|---|
US (1) | US2843853A (fr) |
DE (1) | DE1069827B (fr) |
GB (1) | GB852362A (fr) |
Cited By (47)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2993088A (en) * | 1959-03-05 | 1961-07-18 | Mac Bonnell | Sink mounting means |
WO1996010376A1 (fr) * | 1994-09-30 | 1996-04-11 | Rincoe Richard G | Cheville artificielle et prothese incorporant cette cheville |
WO1997012567A1 (fr) * | 1995-10-03 | 1997-04-10 | Rincoe Richard G | Articulation de cheville artificielle avec des elements amortissants et prothese realisee avec cette articulation |
US6120547A (en) * | 1998-11-06 | 2000-09-19 | Roland J. Christensen | Enhanced prosthetic foot structure with ankle reinforcement |
US6663673B2 (en) | 2000-06-30 | 2003-12-16 | Roland J. Christensen | Prosthetic foot with energy transfer medium including variable viscosity fluid |
US20040068327A1 (en) * | 2002-10-08 | 2004-04-08 | Christensen Roland J. | Prosthetic foot with a resilient ankle |
US20040068326A1 (en) * | 2002-10-08 | 2004-04-08 | Christensen Roland J. | Prosthetic foot with oblique attachment |
US20040068325A1 (en) * | 1998-04-10 | 2004-04-08 | Phillips Van L. | Shock module prosthesis |
US20040186591A1 (en) * | 2003-03-20 | 2004-09-23 | Chas. A. Blatchford & Sons Limited | Prosthetic knee joint mechanism |
US6805717B2 (en) | 2002-10-08 | 2004-10-19 | Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Manager Of The Roland J. Christensen Family Limited Partnership | Energy-storing prosthetic foot with elongated forefoot |
US20050033450A1 (en) * | 2002-10-08 | 2005-02-10 | Christensen Roland J. | Prosthetic foot with a resilient ankle |
US20050071017A1 (en) * | 2003-09-30 | 2005-03-31 | Lecomte Christophe Guy | Low profile active shock module prosthesis |
US6875241B2 (en) | 2000-06-30 | 2005-04-05 | Roland J. Christensen, As Operating Manager Of Rjc Development Lc, General Partner Of The Roland J. Christensen Family Limited Partnership | Variable resistance cell |
US20050085926A1 (en) * | 2003-10-21 | 2005-04-21 | General Partner Of The Roland J. Christensen Family Limited Partnership | Prosthetic foot with an adjustable ankle and method |
US20050171618A1 (en) * | 2000-06-30 | 2005-08-04 | Christensen Roland J. | Prosthetic foot with energy transfer including variable orifice |
US20050187640A1 (en) * | 2004-02-20 | 2005-08-25 | Roland J. Christensen | Prosthetic foot with cam |
US20050203640A1 (en) * | 2002-10-08 | 2005-09-15 | Christensen Roland J. | Prosthetic foot with a resilient ankle |
US20050209707A1 (en) * | 1998-04-10 | 2005-09-22 | Phillips Van L | Active shock module prosthesis |
US20050216098A1 (en) * | 2000-06-30 | 2005-09-29 | Roland J. Christensen | Variable resistance cell |
US20060041321A1 (en) * | 2003-10-21 | 2006-02-23 | Christensen Roland J | Prosthetic foot with an adjustable ankle and method |
US20060229736A1 (en) * | 2000-06-30 | 2006-10-12 | Christensen Roland J | Prosthetic foot with energy transfer |
US20060241783A1 (en) * | 2000-06-30 | 2006-10-26 | Christensen Roland J | Variable resistance cell |
US20080033578A1 (en) * | 2006-08-03 | 2008-02-07 | Christensen Roland J | Prosthetic foot with variable medial/lateral stiffness |
US20080167731A1 (en) * | 2006-12-06 | 2008-07-10 | Christensen Roland J | Prosthetic foot with longer upper forefoot and shorter lower forefoot |
US20080183301A1 (en) * | 2000-06-30 | 2008-07-31 | Christensen Roland J | Prosthetic foot with energy transfer |
US20080188951A1 (en) * | 2007-01-30 | 2008-08-07 | Christensen Roland J | Prosthetic foot with variable medial/lateral stiffness |
US7462201B2 (en) | 2003-10-21 | 2008-12-09 | Freedom Innovations, Llc | Prosthetic foot with an adjustable ankle and method |
US7794506B2 (en) | 2007-09-18 | 2010-09-14 | Freedom Innovations, Llc | Multi-axial prosthetic ankle |
US20110130847A1 (en) * | 2003-11-18 | 2011-06-02 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
US8034121B2 (en) | 2008-04-18 | 2011-10-11 | Freedom Innovations, Llc | Prosthetic foot with two leaf-springs joined at heel and toe |
WO2012095115A1 (fr) | 2011-01-11 | 2012-07-19 | Falz & Kannenberg Gmbh & Co.Kg | Cheville artificielle, pied artificiel et jambe artificielle |
US8500825B2 (en) | 2010-06-29 | 2013-08-06 | Freedom Innovations, Llc | Prosthetic foot with floating forefoot keel |
US8657886B2 (en) | 2004-02-12 | 2014-02-25 | össur hf | Systems and methods for actuating a prosthetic ankle |
US8801802B2 (en) | 2005-02-16 | 2014-08-12 | össur hf | System and method for data communication with a mechatronic device |
US8852292B2 (en) | 2005-09-01 | 2014-10-07 | Ossur Hf | System and method for determining terrain transitions |
EP2842522A2 (fr) | 2013-08-27 | 2015-03-04 | Freedom Innovations, LLC | Système de prothèse de cheville commandée par un microprocesseur pour adaptation au pied et au terrain |
US8986398B2 (en) | 2013-02-05 | 2015-03-24 | Freedom Innovations, Llc | Hydraulic prosthetic ankle |
US8986397B2 (en) | 2003-11-18 | 2015-03-24 | Victhom Human Bionics, Inc. | Instrumented prosthetic foot |
US9358137B2 (en) | 2002-08-22 | 2016-06-07 | Victhom Laboratory Inc. | Actuated prosthesis for amputees |
US9433513B2 (en) | 2006-12-14 | 2016-09-06 | Blatchford Products Limited | Prosthetic ankle joint mechanism |
US9549827B2 (en) | 2009-04-13 | 2017-01-24 | U.S. Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
US9561118B2 (en) | 2013-02-26 | 2017-02-07 | össur hf | Prosthetic foot with enhanced stability and elastic energy return |
US9763809B2 (en) | 2013-08-27 | 2017-09-19 | Freedom Innovations, Llc | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
US10130495B2 (en) | 2006-12-14 | 2018-11-20 | Blatchford Products Limited | Prosthetic ankle and foot combination |
US10195057B2 (en) | 2004-02-12 | 2019-02-05 | össur hf. | Transfemoral prosthetic systems and methods for operating the same |
WO2019028388A1 (fr) | 2017-08-03 | 2019-02-07 | Massachusetts Institute Of Technology | Prothèse de cheville et de pied adaptable en pente et passive |
US10758378B2 (en) | 2013-03-14 | 2020-09-01 | Freedom Innovations, Llc | Prosthetic with voice coil valve |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
GB2216423B (en) * | 1988-03-04 | 1992-10-28 | Blatchford & Sons Ltd | Lower limb prosthesis |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2470480A (en) * | 1946-04-23 | 1949-05-17 | Stanley R Fogg | Artificial foot |
US2561370A (en) * | 1948-07-09 | 1951-07-24 | Ulrich K Henschke | Artificial leg with controlled knee locking means |
-
0
- DE DENDAT1069827D patent/DE1069827B/de active Pending
-
1956
- 1956-11-26 US US624303A patent/US2843853A/en not_active Expired - Lifetime
-
1957
- 1957-11-05 GB GB34521/57A patent/GB852362A/en not_active Expired
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2470480A (en) * | 1946-04-23 | 1949-05-17 | Stanley R Fogg | Artificial foot |
US2561370A (en) * | 1948-07-09 | 1951-07-24 | Ulrich K Henschke | Artificial leg with controlled knee locking means |
Cited By (84)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2993088A (en) * | 1959-03-05 | 1961-07-18 | Mac Bonnell | Sink mounting means |
WO1996010376A1 (fr) * | 1994-09-30 | 1996-04-11 | Rincoe Richard G | Cheville artificielle et prothese incorporant cette cheville |
AU710101B2 (en) * | 1994-09-30 | 1999-09-16 | Richard G. Rincoe | Artificial ankle joint and prosthetic devices formed therewith |
WO1997012567A1 (fr) * | 1995-10-03 | 1997-04-10 | Rincoe Richard G | Articulation de cheville artificielle avec des elements amortissants et prothese realisee avec cette articulation |
US5728175A (en) * | 1995-10-03 | 1998-03-17 | Rincoe; Richard G. | Artificial ankle joint with cushion structures and prosthetic devices formed therewith |
US20040068325A1 (en) * | 1998-04-10 | 2004-04-08 | Phillips Van L. | Shock module prosthesis |
US7169190B2 (en) | 1998-04-10 | 2007-01-30 | Van L. Phillips | Active shock module prosthesis |
US20050209707A1 (en) * | 1998-04-10 | 2005-09-22 | Phillips Van L | Active shock module prosthesis |
US6120547A (en) * | 1998-11-06 | 2000-09-19 | Roland J. Christensen | Enhanced prosthetic foot structure with ankle reinforcement |
US20050216098A1 (en) * | 2000-06-30 | 2005-09-29 | Roland J. Christensen | Variable resistance cell |
US20040133284A1 (en) * | 2000-06-30 | 2004-07-08 | Christensen Roland J. | Prosthetic foot with energy transfer medium including variable viscosity fluid |
US7341603B2 (en) | 2000-06-30 | 2008-03-11 | Applied Composite Technology, Inc. | Prosthetic foot with energy transfer including variable orifice |
US20080183301A1 (en) * | 2000-06-30 | 2008-07-31 | Christensen Roland J | Prosthetic foot with energy transfer |
US6663673B2 (en) | 2000-06-30 | 2003-12-16 | Roland J. Christensen | Prosthetic foot with energy transfer medium including variable viscosity fluid |
US20060241783A1 (en) * | 2000-06-30 | 2006-10-26 | Christensen Roland J | Variable resistance cell |
US6875241B2 (en) | 2000-06-30 | 2005-04-05 | Roland J. Christensen, As Operating Manager Of Rjc Development Lc, General Partner Of The Roland J. Christensen Family Limited Partnership | Variable resistance cell |
US6875242B2 (en) | 2000-06-30 | 2005-04-05 | Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Partner Of The Roland J. Christensen Family Limited Partnership | Prosthetic foot with energy transfer medium including variable viscosity fluid |
US20060229736A1 (en) * | 2000-06-30 | 2006-10-12 | Christensen Roland J | Prosthetic foot with energy transfer |
US20050171618A1 (en) * | 2000-06-30 | 2005-08-04 | Christensen Roland J. | Prosthetic foot with energy transfer including variable orifice |
US7572299B2 (en) | 2000-06-30 | 2009-08-11 | Freedom Innovations, Llc | Prosthetic foot with energy transfer |
US7686848B2 (en) | 2000-06-30 | 2010-03-30 | Freedom Innovations, Llc | Prosthetic foot with energy transfer |
US9358137B2 (en) | 2002-08-22 | 2016-06-07 | Victhom Laboratory Inc. | Actuated prosthesis for amputees |
US20050203640A1 (en) * | 2002-10-08 | 2005-09-15 | Christensen Roland J. | Prosthetic foot with a resilient ankle |
US20040068326A1 (en) * | 2002-10-08 | 2004-04-08 | Christensen Roland J. | Prosthetic foot with oblique attachment |
US6929665B2 (en) | 2002-10-08 | 2005-08-16 | Roland J. Christensen | Prosthetic foot with a resilient ankle |
US20040068327A1 (en) * | 2002-10-08 | 2004-04-08 | Christensen Roland J. | Prosthetic foot with a resilient ankle |
US6911052B2 (en) | 2002-10-08 | 2005-06-28 | Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Partner Of The Roland J. Christensen Family Limited Partnership | Prosthetic foot with oblique attachment |
US20050033450A1 (en) * | 2002-10-08 | 2005-02-10 | Christensen Roland J. | Prosthetic foot with a resilient ankle |
US7419509B2 (en) | 2002-10-08 | 2008-09-02 | Freedom Innovations, Llc | Prosthetic foot with a resilient ankle |
US6805717B2 (en) | 2002-10-08 | 2004-10-19 | Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Manager Of The Roland J. Christensen Family Limited Partnership | Energy-storing prosthetic foot with elongated forefoot |
US20040186591A1 (en) * | 2003-03-20 | 2004-09-23 | Chas. A. Blatchford & Sons Limited | Prosthetic knee joint mechanism |
US7371262B2 (en) | 2003-09-30 | 2008-05-13 | össur hf | Low profile active shock module prosthesis |
US6969408B2 (en) | 2003-09-30 | 2005-11-29 | Ossur Engineering, Inc. | Low profile active shock module prosthesis |
US20060004467A1 (en) * | 2003-09-30 | 2006-01-05 | Lecomte Christophe G | Low profile active shock module prosthesis |
US20050071017A1 (en) * | 2003-09-30 | 2005-03-31 | Lecomte Christophe Guy | Low profile active shock module prosthesis |
US7520904B2 (en) | 2003-10-21 | 2009-04-21 | Freedom Innovations, Llc | Prosthetic foot with an adjustable ankle and method |
US7462201B2 (en) | 2003-10-21 | 2008-12-09 | Freedom Innovations, Llc | Prosthetic foot with an adjustable ankle and method |
US20050085926A1 (en) * | 2003-10-21 | 2005-04-21 | General Partner Of The Roland J. Christensen Family Limited Partnership | Prosthetic foot with an adjustable ankle and method |
US6966933B2 (en) | 2003-10-21 | 2005-11-22 | Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Partner Of The Roland J. Christensen Family Limited Partnership | Prosthetic foot with an adjustable ankle and method |
US20060041321A1 (en) * | 2003-10-21 | 2006-02-23 | Christensen Roland J | Prosthetic foot with an adjustable ankle and method |
US20110130847A1 (en) * | 2003-11-18 | 2011-06-02 | Victhom Human Bionics Inc. | Instrumented prosthetic foot |
US9526636B2 (en) | 2003-11-18 | 2016-12-27 | Victhom Laboratory Inc. | Instrumented prosthetic foot |
US8986397B2 (en) | 2003-11-18 | 2015-03-24 | Victhom Human Bionics, Inc. | Instrumented prosthetic foot |
US10195057B2 (en) | 2004-02-12 | 2019-02-05 | össur hf. | Transfemoral prosthetic systems and methods for operating the same |
US8657886B2 (en) | 2004-02-12 | 2014-02-25 | össur hf | Systems and methods for actuating a prosthetic ankle |
US9271851B2 (en) | 2004-02-12 | 2016-03-01 | össur hf. | Systems and methods for actuating a prosthetic ankle |
US20050187640A1 (en) * | 2004-02-20 | 2005-08-25 | Roland J. Christensen | Prosthetic foot with cam |
US7172630B2 (en) | 2004-02-20 | 2007-02-06 | Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Partner Of The Roland J. Christensen Family Limited Partnership | Prosthetic foot with cam |
US8801802B2 (en) | 2005-02-16 | 2014-08-12 | össur hf | System and method for data communication with a mechatronic device |
US8852292B2 (en) | 2005-09-01 | 2014-10-07 | Ossur Hf | System and method for determining terrain transitions |
US7618464B2 (en) | 2006-08-03 | 2009-11-17 | Freedom Innovations, Llc | Prosthetic foot with variable medial/lateral stiffness |
US20080033578A1 (en) * | 2006-08-03 | 2008-02-07 | Christensen Roland J | Prosthetic foot with variable medial/lateral stiffness |
US7824446B2 (en) | 2006-12-06 | 2010-11-02 | Freedom Innovations, Llc | Prosthetic foot with longer upper forefoot and shorter lower forefoot |
US20080167731A1 (en) * | 2006-12-06 | 2008-07-10 | Christensen Roland J | Prosthetic foot with longer upper forefoot and shorter lower forefoot |
US11679008B2 (en) | 2006-12-14 | 2023-06-20 | Blatchford Products Limited | Prosthetic ankle joint mechanism |
US11529246B2 (en) | 2006-12-14 | 2022-12-20 | Blatchford Products Limited | Prosthetic ankle and foot combination |
US9999526B2 (en) | 2006-12-14 | 2018-06-19 | Blatchford Products Limited | Prosthetic ankle joint mechanism |
US9433513B2 (en) | 2006-12-14 | 2016-09-06 | Blatchford Products Limited | Prosthetic ankle joint mechanism |
US10130495B2 (en) | 2006-12-14 | 2018-11-20 | Blatchford Products Limited | Prosthetic ankle and foot combination |
US20080188951A1 (en) * | 2007-01-30 | 2008-08-07 | Christensen Roland J | Prosthetic foot with variable medial/lateral stiffness |
US7727285B2 (en) | 2007-01-30 | 2010-06-01 | Freedom Innovations, Llc | Prosthetic foot with variable medial/lateral stiffness |
US7794506B2 (en) | 2007-09-18 | 2010-09-14 | Freedom Innovations, Llc | Multi-axial prosthetic ankle |
US10299943B2 (en) | 2008-03-24 | 2019-05-28 | össur hf | Transfemoral prosthetic systems and methods for operating the same |
US8034121B2 (en) | 2008-04-18 | 2011-10-11 | Freedom Innovations, Llc | Prosthetic foot with two leaf-springs joined at heel and toe |
US10376388B2 (en) | 2009-04-13 | 2019-08-13 | The United States Government As Represented By The Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
US10105243B2 (en) | 2009-04-13 | 2018-10-23 | U.S. Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
US9549827B2 (en) | 2009-04-13 | 2017-01-24 | U.S. Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
US8500825B2 (en) | 2010-06-29 | 2013-08-06 | Freedom Innovations, Llc | Prosthetic foot with floating forefoot keel |
US9204979B2 (en) | 2011-01-11 | 2015-12-08 | Falz & Kannenberg Gmbh & Co. Kg | Artificial ankle, artificial foot and artificial leg |
WO2012095115A1 (fr) | 2011-01-11 | 2012-07-19 | Falz & Kannenberg Gmbh & Co.Kg | Cheville artificielle, pied artificiel et jambe artificielle |
US11129734B2 (en) | 2012-09-21 | 2021-09-28 | U.S. Department Of Veterans Affairs | Ankle-foot prosthesis for automatic adaptation to sloped walking surfaces |
US8986398B2 (en) | 2013-02-05 | 2015-03-24 | Freedom Innovations, Llc | Hydraulic prosthetic ankle |
US11285024B2 (en) | 2013-02-26 | 2022-03-29 | Össur Iceland Ehf | 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 |
US9561118B2 (en) | 2013-02-26 | 2017-02-07 | össur hf | Prosthetic foot with enhanced stability and elastic energy return |
US10758378B2 (en) | 2013-03-14 | 2020-09-01 | Freedom Innovations, Llc | Prosthetic with voice coil valve |
EP3811907A2 (fr) | 2013-08-27 | 2021-04-28 | Proteor USA, LLC | Système de prothèse de cheville commandée par un microprocesseur pour chaussure et adaptation au terrain |
US10687965B2 (en) | 2013-08-27 | 2020-06-23 | Freedom Innovations, Llc | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
EP3248576A2 (fr) | 2013-08-27 | 2017-11-29 | Freedom Innovations, LLC | Système de prothèse de cheville commandée par un microprocesseur pour chaussure et adaptation au terrain |
US9763809B2 (en) | 2013-08-27 | 2017-09-19 | Freedom Innovations, Llc | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
US9849002B2 (en) | 2013-08-27 | 2017-12-26 | Freedom Innovations, Llc | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
EP2842522A2 (fr) | 2013-08-27 | 2015-03-04 | Freedom Innovations, LLC | Système de prothèse de cheville commandée par un microprocesseur pour adaptation au pied et au terrain |
US11826269B2 (en) | 2013-08-27 | 2023-11-28 | Proteor USA, LLC | Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation |
WO2019028388A1 (fr) | 2017-08-03 | 2019-02-07 | Massachusetts Institute Of Technology | Prothèse de cheville et de pied adaptable en pente et passive |
Also Published As
Publication number | Publication date |
---|---|
DE1069827B (fr) | |
GB852362A (en) | 1960-10-26 |
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