ABSTRACT
Abstract
A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.
Description
CLAIM TO DOMESTIC PRIORITY
The present application claims the benefit of U.S. Provisional Application No. 61/819,049, filed May 3, 2013, which application is incorporated herein by reference.
FIELD OF THE INVENTION
The present invention relates in general to robotic devices and, more particularly, to active and compliant artificial joints and limbs including a system for controlled energy release.
BACKGROUND OF THE INVENTION
Human locomotion, such as walking and running, is commonly described in terms of gait. Gait is a cyclical or reoccurring pattern of leg and foot movement, rotations, and torques that creates locomotion. Due to the repetitive nature of gait, gait is typically analyzed in terms of percentages of a gait cycle. A gait cycle is defined for a single leg beginning with the initial contact of the foot with a surface such as the ground. The initial contact of the foot on the ground is referred to as a heel strike. The conclusion of a gait cycle occurs when the same foot makes a second heel strike. A gait cycle can be divided into two phases: stance phase and swing phase. Stance phase describes the part of the gait cycle where the foot is in contact with the ground. Stance phase begins with heel strike and ends when the toe of the same foot leaves the ground. Swing phase describes the part of the gait cycle where the foot is in the air and not in contact with the ground. Swing phase begins when the foot leaves contact with the ground and ends with the heel strike of the same foot. For walking gait speed, stance phase typically describes the first 60% of the gait cycle, while swing phase describes the remaining 40% of the gait cycle.
Prosthetic and orthotic devices help restore mobility to people who lack able-bodied motion or gait. Prosthetic devices are intended to replace the function or appearance of a missing limb and can return mobility to the wearer or user. Orthotic devices are intended to support or supplement an existing limb, by assisting with movement, reducing weight-bearing loads on the body, reducing pain, and controlling or restricting movement. Prosthetic and orthotic devices are available to replace or support various portions of the body. Lower limb prosthetic devices include, for example, the prosthetic foot, the foot-ankle prosthesis, the prosthetic knee joint, and the prosthetic hip joint. Lower limb orthotic devices include, for example, the foot orthoses, the ankle-foot orthoses, the knee-ankle-foot orthoses, and the knee orthoses. People who require a lower limb prosthesis or orthosis often expend more metabolic power to walk or move at the same speed as able-bodied individuals. One goal of lower limb prosthetic and orthotic devices is to help the user achieve a normal gait while reducing energy expended by the user.
The gait dynamics of a human joint can be described in terms of the position, velocity, moment, and power. During a typical walking gait cycle, the moment required from a human ankle reaches a maximum value of approximately 1.25 Newton meters per kilogram (N-m/kg) of body weight, while the typical velocity reaches a maximum of approximately 215 degrees per second, and the maximum power reaches approximately 3.5 Watts per kilogram (W/kg) of body weight. One goal of prosthetic and orthotic devices is to match the characteristics of able-bodied gait.
Prosthetic and orthotic devices can be divided into three groups, passive devices, active devices, and bionic devices. Passive lower limb prosthetics generally rely on compliant members, such as springs, to store and release energy. A spring is able to return only as much energy as is put into the spring, minus efficiency losses. Thus, the energy that is released by a spring in a passive device is limited to the energy that is put in by the user. Additionally, existing spring-based prosthetic ankles return the energy inefficiently to the user and are optimized for a single gait speed. As result, current prosthetic ankles can lack sufficient power return to produce normal gait. The user of a prosthetic must expend additional energy through recruiting other muscles and joints in a compensation strategy to maintain a functional gait. Therefore, passive prosthetic and orthotic designs are limited in capacity to reduce a user's metabolic energy expenditure while achieving a normal walking gait and performing other activities. Existing research has shown a 10-30% increase in metabolic cost for walking over able-bodied norms, depending on amputation level and gait speed.
Active devices differ from passive devices in that active devices employ a microprocessor and actuator to supply power to the device and to control the device. One type of active lower limb prosthetic device uses a microprocessor to control damping characteristics. Damping is typically performed with hydraulic valves and has the effect of converting energy into waste heat. Other active devices use a motor and drive transmission to control the orientation of the foot body relative to the shank body.
Fully active or bionic devices differ from active devices in that bionic devices employ a motor to supply power to the device and to control the device and add energy to the user. Current bionic devices face many design challenges. Some bionic device designs attempt to fully power knee or ankle gait. Bionic devices require larger motors, heavier and more robust drive-trains, larger and heavier batteries, struggle to provide enough power output for moderate gait activities.
Control systems for bionic devices are limited in capability to control the devices, because the systems require a signature gait move to occur before triggering a controller to switch gait activities, such as ascending or descending slopes or stairs. Further, bionic prostheses are limited to low or moderate power gait activities, because the power output necessary for high power gait activities such as running or jumping are not sustainable in a small portable system. One goal of bionic device designs is to increase efficiency of the active components and to build a lighter weight and more intuitively controlled system.
Another goal of prosthetic device designs is to perform more similarly to a human muscle during a variety of activities. Prosthetic devices are typically designed for a specific activity, such as walking. The majority of active compliant devices utilize a traditional rigid structure. The traditional rigid structure typically includes links powered by actuators such as electric motors or hydraulics. An activity-specific design strategy and traditional rigid structures may be suited for one specific activity, but the designs are limited in application and are not efficient beyond the intended activity. For example, devices designed for walking perform poorly for running, navigating uneven terrain, walking up and down inclines or stairs, or simply balancing while standing. Carrying heavy loads or transitioning from walking to running remains a challenge for users.
SUMMARY OF THE INVENTION
A need exists for prosthetic and orthotic devices that reduce the amount of power used to mimic the performance of a human ankle over a wide range of activities. Accordingly, in one embodiment, the present invention is a method of making a prosthetic joint device comprising the steps of providing a foot portion, providing a main body pivotally coupled to the foot portion at a first joint, providing a first compliant member coupled to the main body and foot portion, coupling a first clutch to the first compliant member, and providing an actuator coupled to the first clutch to engage and disengage the first clutch.
In another embodiment, the present invention is a method of controlling a prosthetic joint device comprising the steps of providing a foot portion, providing a main body coupled to the foot portion at a first joint, providing a first compliant member coupled to the main body and foot portion, providing an actuator coupled to the first compliant member and main body, and triggering the actuator to engage the first compliant member during a first gait phase.
In another embodiment, the present invention is a prosthetic joint device comprising a foot portion and a main body coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch
In another embodiment, the present invention is a prosthetic joint device comprising a foot portion and a main body coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. An actuator is coupled to the first compliant member.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGS. 1 a - 1 e illustrate a prosthetic ankle device including a quasi-active joint system;
FIGS. 2 a - 2 f illustrate schematic and graphical representations of quasi-active joint systems;
FIGS. 3 a - 3 f illustrate a schematic representation of the operation of a prosthetic ankle device including a quasi-active joint system;
FIGS. 4 a - 4 c illustrate graphs of moment curves for a prosthetic ankle device including a quasi-active joint system;
FIGS. 5 a - 5 d illustrate alternative clutch systems for a quasi-active ankle device;
FIGS. 6 a - 6 b illustrate an alternative quasi-active ankle device including a variable stiffness spring;
FIGS. 7 a - 7 b illustrate an alternative quasi-active ankle device including a variable length lever arm;
FIGS. 8 a - 8 d illustrate prosthetic ankle devices including alternative clutch systems;
FIGS. 9 a - 9 d illustrate a prosthetic ankle device including a passive clutch for timed power release;
FIG. 10 illustrates an alternative prosthetic ankle device;
FIG. 11 illustrates an alternative prosthetic ankle device including a passive clutch;
FIG. 12 illustrates a prosthetic ankle device including a torsional spring for toe lift; and
FIG. 13 illustrates a prosthetic ankle device including a sliding clutch.
DETAILED DESCRIPTION OF THE DRAWINGS
The present invention is described in one or more embodiments in the following description with reference to the figures, in which like numerals represent the same or similar elements. While the invention is described in terms of the best mode for achieving the invention's objectives, it will be appreciated by those skilled in the art that it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims and their equivalents as supported by the following disclosure and drawings.
An active prosthetic device is generally described as a wearable robotic device controlled by a computerized control system. A fully-active prosthetic device employs an actuator to drive power into the movement of the device to strive for able-bodied motion. By contrast, the quasi-active prosthetic devices described herein employ one or more compliant elements, such as springs, together with an actuator to engage or disengage the spring in order to position the device and to engage spring power at the proper timing to better mimic able-bodied motion. Further, quasi-active prosthetic devices described herein may also incorporate a fully-active powered system together with the quasi-active design to provide both direct power and timed power release.
FIGS. 1 a - 1 e show a prosthetic ankle device including a quasi-active joint system. In FIG. 1 a , a joint system 10 is implemented into a prosthetic ankle device 12 . Prosthetic ankle device 12 operates as a quasi-active prosthetic device or wearable robotic device including active and passive components. Active components include actuators or motors. Passive components include compliant elements, such as springs, and damping elements. In one embodiment, prosthetic ankle device 12 is a below-the-knee prosthesis, which is also commonly known as a foot-ankle prosthesis or ankle prosthesis. In another embodiment, prosthetic ankle device 12 includes a robotic or prosthetic joint, such as a knee joint, hip joint, or other joint. Prosthetic ankle device 12 is worn by a user to replace a missing lower limb and restore the user's mobility and gait.
Prosthetic ankle device 12 includes a main body or pylon 14 and a foot portion or foot 16 . Main body 14 includes a shank connector 18 configured to couple to a shank and socket, which fits onto a residual limb of a user. Foot 16 couples to main body 14 at an ankle joint 20 on foot mounting block 22 . Foot mounting block 22 is rigidly coupled to foot 16 . Foot mounting block 22 supports ankle joint 20 . Ankle joint 20 comp
CLAIM TO DOMESTIC PRIORITY
The present application claims the benefit of U.S. Provisional Application No. 61/819,049, filed May 3, 2013, which application is incorporated herein by reference.
FIELD OF THE INVENTION
The present invention relates in general to robotic devices and, more particularly, to active and compliant artificial joints and limbs including a system for controlled energy release.
BACKGROUND OF THE INVENTION
Human locomotion, such as walking and running, is commonly described in terms of gait. Gait is a cyclical or reoccurring pattern of leg and foot movement, rotations, and torques that creates locomotion. Due to the repetitive nature of gait, gait is typically analyzed in terms of percentages of a gait cycle. A gait cycle is defined for a single leg beginning with the initial contact of the foot with a surface such as the ground. The initial contact of the foot on the ground is referred to as a heel strike. The conclusion of a gait cycle occurs when the same foot makes a second heel strike. A gait cycle can be divided into two phases: stance phase and swing phase. Stance phase describes the part of the gait cycle where the foot is in contact with the ground. Stance phase begins with heel strike and ends when the toe of the same foot leaves the ground. Swing phase describes the part of the gait cycle where the foot is in the air and not in contact with the ground. Swing phase begins when the foot leaves contact with the ground and ends with the heel strike of the same foot. For walking gait speed, stance phase typically describes the first 60% of the gait cycle, while swing phase describes the remaining 40% of the gait cycle.
Prosthetic and orthotic devices help restore mobility to people who lack able-bodied motion or gait. Prosthetic devices are intended to replace the function or appearance of a missing limb and can return mobility to the wearer or user. Orthotic devices are intended to support or supplement an existing limb, by assisting with movement, reducing weight-bearing loads on the body, reducing pain, and controlling or restricting movement. Prosthetic and orthotic devices are available to replace or support various portions of the body. Lower limb prosthetic devices include, for example, the prosthetic foot, the foot-ankle prosthesis, the prosthetic knee joint, and the prosthetic hip joint. Lower limb orthotic devices include, for example, the foot orthoses, the ankle-foot orthoses, the knee-ankle-foot orthoses, and the knee orthoses. People who require a lower limb prosthesis or orthosis often expend more metabolic power to walk or move at the same speed as able-bodied individuals. One goal of lower limb prosthetic and orthotic devices is to help the user achieve a normal gait while reducing energy expended by the user.
The gait dynamics of a human joint can be described in terms of the position, velocity, moment, and power. During a typical walking gait cycle, the moment required from a human ankle reaches a maximum value of approximately 1.25 Newton meters per kilogram (N-m/kg) of body weight, while the typical velocity reaches a maximum of approximately 215 degrees per second, and the maximum power reaches approximately 3.5 Watts per kilogram (W/kg) of body weight. One goal of prosthetic and orthotic devices is to match the characteristics of able-bodied gait.
Prosthetic and orthotic devices can be divided into three groups, passive devices, active devices, and bionic devices. Passive lower limb prosthetics generally rely on compliant members, such as springs, to store and release energy. A spring is able to return only as much energy as is put into the spring, minus efficiency losses. Thus, the energy that is released by a spring in a passive device is limited to the energy that is put in by the user. Additionally, existing spring-based prosthetic ankles return the energy inefficiently to the user and are optimized for a single gait speed. As result, current prosthetic ankles can lack sufficient power return to produce normal gait. The user of a prosthetic must expend additional energy through recruiting other muscles and joints in a compensation strategy to maintain a functional gait. Therefore, passive prosthetic and orthotic designs are limited in capacity to reduce a user's metabolic energy expenditure while achieving a normal walking gait and performing other activities. Existing research has shown a 10-30% increase in metabolic cost for walking over able-bodied norms, depending on amputation level and gait speed.
Active devices differ from passive devices in that active devices employ a microprocessor and actuator to supply power to the device and to control the device. One type of active lower limb prosthetic device uses a microprocessor to control damping characteristics. Damping is typically performed with hydraulic valves and has the effect of converting energy into waste heat. Other active devices use a motor and drive transmission to control the orientation of the foot body relative to the shank body.
Fully active or bionic devices differ from active devices in that bionic devices employ a motor to supply power to the device and to control the device and add energy to the user. Current bionic devices face many design challenges. Some bionic device designs attempt to fully power knee or ankle gait. Bionic devices require larger motors, heavier and more robust drive-trains, larger and heavier batteries, struggle to provide enough power output for moderate gait activities.
Control systems for bionic devices are limited in capability to control the devices, because the systems require a signature gait move to occur before triggering a controller to switch gait activities, such as ascending or descending slopes or stairs. Further, bionic prostheses are limited to low or moderate power gait activities, because the power output necessary for high power gait activities such as running or jumping are not sustainable in a small portable system. One goal of bionic device designs is to increase efficiency of the active components and to build a lighter weight and more intuitively controlled system.
Another goal of prosthetic device designs is to perform more similarly to a human muscle during a variety of activities. Prosthetic devices are typically designed for a specific activity, such as walking. The majority of active compliant devices utilize a traditional rigid structure. The traditional rigid structure typically includes links powered by actuators such as electric motors or hydraulics. An activity-specific design strategy and traditional rigid structures may be suited for one specific activity, but the designs are limited in application and are not efficient beyond the intended activity. For example, devices designed for walking perform poorly for running, navigating uneven terrain, walking up and down inclines or stairs, or simply balancing while standing. Carrying heavy loads or transitioning from walking to running remains a challenge for users.
SUMMARY OF THE INVENTION
A need exists for prosthetic and orthotic devices that reduce the amount of power used to mimic the performance of a human ankle over a wide range of activities. Accordingly, in one embodiment, the present invention is a method of making a prosthetic joint device comprising the steps of providing a foot portion, providing a main body pivotally coupled to the foot portion at a first joint, providing a first compliant member coupled to the main body and foot portion, coupling a first clutch to the first compliant member, and providing an actuator coupled to the first clutch to engage and disengage the first clutch.
In another embodiment, the present invention is a method of controlling a prosthetic joint device comprising the steps of providing a foot portion, providing a main body coupled to the foot portion at a first joint, providing a first compliant member coupled to the main body and foot portion, providing an actuator coupled to the first compliant member and main body, and triggering the actuator to engage the first compliant member during a first gait phase.
In another embodiment, the present invention is a prosthetic joint device comprising a foot portion and a main body coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch
In another embodiment, the present invention is a prosthetic joint device comprising a foot portion and a main body coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. An actuator is coupled to the first compliant member.
BRIEF DESCRIPTION OF THE DRAWINGS
FIGS. 1 a - 1 e illustrate a prosthetic ankle device including a quasi-active joint system;
FIGS. 2 a - 2 f illustrate schematic and graphical representations of quasi-active joint systems;
FIGS. 3 a - 3 f illustrate a schematic representation of the operation of a prosthetic ankle device including a quasi-active joint system;
FIGS. 4 a - 4 c illustrate graphs of moment curves for a prosthetic ankle device including a quasi-active joint system;
FIGS. 5 a - 5 d illustrate alternative clutch systems for a quasi-active ankle device;
FIGS. 6 a - 6 b illustrate an alternative quasi-active ankle device including a variable stiffness spring;
FIGS. 7 a - 7 b illustrate an alternative quasi-active ankle device including a variable length lever arm;
FIGS. 8 a - 8 d illustrate prosthetic ankle devices including alternative clutch systems;
FIGS. 9 a - 9 d illustrate a prosthetic ankle device including a passive clutch for timed power release;
FIG. 10 illustrates an alternative prosthetic ankle device;
FIG. 11 illustrates an alternative prosthetic ankle device including a passive clutch;
FIG. 12 illustrates a prosthetic ankle device including a torsional spring for toe lift; and
FIG. 13 illustrates a prosthetic ankle device including a sliding clutch.
DETAILED DESCRIPTION OF THE DRAWINGS
The present invention is described in one or more embodiments in the following description with reference to the figures, in which like numerals represent the same or similar elements. While the invention is described in terms of the best mode for achieving the invention's objectives, it will be appreciated by those skilled in the art that it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims and their equivalents as supported by the following disclosure and drawings.
An active prosthetic device is generally described as a wearable robotic device controlled by a computerized control system. A fully-active prosthetic device employs an actuator to drive power into the movement of the device to strive for able-bodied motion. By contrast, the quasi-active prosthetic devices described herein employ one or more compliant elements, such as springs, together with an actuator to engage or disengage the spring in order to position the device and to engage spring power at the proper timing to better mimic able-bodied motion. Further, quasi-active prosthetic devices described herein may also incorporate a fully-active powered system together with the quasi-active design to provide both direct power and timed power release.
FIGS. 1 a - 1 e show a prosthetic ankle device including a quasi-active joint system. In FIG. 1 a , a joint system 10 is implemented into a prosthetic ankle device 12 . Prosthetic ankle device 12 operates as a quasi-active prosthetic device or wearable robotic device including active and passive components. Active components include actuators or motors. Passive components include compliant elements, such as springs, and damping elements. In one embodiment, prosthetic ankle device 12 is a below-the-knee prosthesis, which is also commonly known as a foot-ankle prosthesis or ankle prosthesis. In another embodiment, prosthetic ankle device 12 includes a robotic or prosthetic joint, such as a knee joint, hip joint, or other joint. Prosthetic ankle device 12 is worn by a user to replace a missing lower limb and restore the user's mobility and gait.
Prosthetic ankle device 12 includes a main body or pylon 14 and a foot portion or foot 16 . Main body 14 includes a shank connector 18 configured to couple to a shank and socket, which fits onto a residual limb of a user. Foot 16 couples to main body 14 at an ankle joint 20 on foot mounting block 22 . Foot mounting block 22 is rigidly coupled to foot 16 . Foot mounting block 22 supports ankle joint 20 . Ankle joint 20 comprises the primary joint for quasi-active joint system 10 and mimics a human ankle joint. Foot 16 rotates or pivots with respect to main body 14 at ankle joint 20 . In one embodiment, ankle joint 20 includes a revolute or cylindrical joint and provides one degree of freedom by allowing rotation in the sagittal plane. In another embodiment, ankle joint 20 includes one or more joint types, or combination of joint types, such as revolute, prismatic, screw, spherical, planar, cylindrical, rigid, or other joint types, to provide one or more degrees of freedom at ankle joint 20 .
Joint system 10 includes one or more compliant elements coupled to main body 14 . In one embodiment, joint system 10 includes two or more compression springs, such as primary spring 30 and secondary spring 32 . A primary spring 30 is coupled between main body 14 and foot 16 in a front or anterior position with respect to main body 14 . A secondary spring 32 is coupled between main body 14 and foot 16 in a back or posterior position with respect to main body 14 . Primary spring 30 and secondary spring 32 are disposed in parallel between main body 14 and foot 16 on opposing sides of main body 14 and ankle joint 20 . Primary spring 30 and secondary spring 32 span ankle joint 20 . Primary spring 30 is selected with a stiffness that is greater than a stiffness of secondary spring 32 . Primary spring 30 is configured to absorb a substantial portion of the force of a gait step during stance phase and return the energy stored in primary spring 30 to the user during push off. Secondary spring 32 is configured to control the position of foot 16 during swing phase.
Primary spring 30 is coupled to main body 14 by spring mount 34 at a first end of primary spring 30 . Spring mount 34 couples primary spring 30 to main body 14 at joint 36 . Primary spring 30 is coupled to ankle joint 20 by spring mount 38 at a second end of primary spring 30 opposite the first end. Spring mount 38 couples primary spring 30 to ankle joint 20 at joint 40 . In one embodiment, joints 36 and 40 include rigid joints. In another embodiment, joints 36 and 40 include revolute or cylindrical joints and permit primary spring 30 to pivot or rotate in the sagittal plane. Spring mount 38 is further coupled to ankle joint 20 by a clutch 50 . Clutch 50 is pivotally coupled to ankle joint 20 such that clutch 50 rotates around ankle joint 20 in the sagittal plane. Thus, primary spring 30 is coupled to ankle joint 20 by clutch 50 .
Secondary spring 32 is coupled to main body 14 by spring mount 52 at a first end of secondary spring 32 . Spring mount 52 couples secondary spring 32 to main body 14 at joint 54 . Secondary spring 32 is coupled to foot 16 by spring mount 56 at a second end of secondary spring 32 opposite the first end. Spring mount 56 couples secondary spring 32 to foot 16 at joint 58 . Joint 58 is disposed on foot mounting block 22 . In one embodiment, joints 54 and 58 include rigid joints. In another embodiment, joints 54 and 58 include revolute or cylindrical joints and permit secondary spring 32 to pivot or rotate in the sagittal plane. Therefore, joint system 10 is coupled between main body 14 and foot 16 with primary spring 30 and secondary spring 32 disposed on opposing sides of main body 14 .
FIG. 1 b shows the components of prosthetic ankle device 12 including joint system 10 . Main body 14 comprises the primary shaft of joint system 10 . Main body 14 is a rigid member that acts on primary spring 30 and secondary spring 32 to deflect the springs. Main body 14 includes metal, metal alloy, polymer, fiberglass, carbon fiber, a composite material, or a natural material. Main body 14 may include additional compliant or damping members. For example, main body 14 may comprise a pylon and spring or a pylon with a spring and damper. Shank connector 18 is mounted to main body 14 at joint 68 . Shank connector 18 is coupled to or integrated with main body 14 . In one embodiment, joint 68 is a rigid joint. Shank connector 18 is configured to couple to a user through additional links and fittings.
Foot 16 is a passive member and may include compliant features, such as a leaf spring. Foot 16 includes metal, metal alloy, polymer, fiberglass, carbon fiber, composite, or a natural material. Foot mounting block 22 is coupled to or integrated with foot 16 . In one embodiment, foot mounting block 22 is coupled to foot 16 by a rigid joint 70 . Foot mounting block 22 couples to main body 14 at ankle joint 20 . Foot mounting block 22 couples to primary spring 30 at ankle joint 20 and to secondary spring 32 at joint 58 .
Main body 14 interfaces with foot mounting block 22 through one or more bearings 72 . Bearings 72 include radial bearings, ball bearings, thrust bearings, spherical or cylindrical ball bearings, or other bearing type. In one embodiment, bearings 72 include ball bearings. Main body 14 , bearings 72 , and foot mounting block 22 rotate about axis 74 of ankle joint 20 . Axis 74 of ankle joint 20 is normal to the sagittal plane.
Primary spring 30 is disposed between main body 14 and foot 16 to compress and absorb energy as main body 14 rotates anteriorly over foot 16 . Primary spring 30 is selected with a stiffness that supports the force generated during stance phase of gait. In one embodiment, primary spring 30 includes a helical or coil spring having a stiffness of 200,000 N/m. Primary spring 30 also bends with respect to the axis of the coil thereby operating as a torsional spring as well as a compression and tension spring. In another embodiment, primary spring 30 includes one or more helical or coil springs, torsional springs, leaf springs, or other compliant members. Additional linking members, such as a damping element, may be disposed in parallel or in series with primary spring 30 . The operation of primary spring 30 is controlled by clutch 50 .
Clutch 50 is a linking member that couples primary spring 30 to main body 14 . Clutch 50 couples to joint 20 at a first end of clutch 50 and to joint 40 at a second end of clutch 50 opposite the first end. In one embodiment, clutch 50 fits within an opening 76 in main body 14 in order to align ankle joint 20 of clutch 50 with axis 74 . Clutch 50 is rotationally coupled to foot mounting block 22 at ankle joint 20 . Clutch 50 is further configured to alternately lock and unlock the rotation of clutch 50 with respect to foot mounting block 22 . When clutch 50 is locked, clutch 50 is rigidly coupled to foot mounting block 22 causing primary spring 30 to engage. When clutch 50 is unlocked, clutch 50 is pivotally or rotationally coupled to foot mounting block 22 causing primary spring 30 to disengage.
Secondary spring 32 is oriented between main body 14 and foot 16 to control the plantarflexion and dorsiflexion of foot 16 . Secondary spring 32 is configured to be engaged during the entire gait cycle and does not require a clutch. Secondary spring 32 is selected with a stiffness that is less than the stiffness of primary spring 30 , but with a stiffness great enough to control foot 16 . In one embodiment, secondary spring 32 includes a helical or coil spring having a stiffness of 45,000 N/m. Secondary spring 32 also bends with respect to the axis of the coil thereby operating as a torsional spring as well as a compression and tension spring. In another embodiment, secondary spring 32 includes one or more helical or coil springs, torsional springs, leaf springs, or other compliant members. Additional linking members, such as a damping element, may be disposed in parallel or in series with secondary spring 32 .
FIG. 1 c shows prosthetic ankle device 12 including joint system 10 worn by a user 90 . User 90 wears prosthetic ankle device 12 , which is coupled to a shank 92 and a socket 94 . Shank connector 18 couples main body 14 of prosthetic ankle device 12 to shank 92 . Shank 92 couples to socket 94 , which fits onto a residual limb of user 90 .
Joint system 10 includes one or more active components, such as an actuator or motor, controlled by a computerized control system, such as a microprocessor with a motor controller. Joint system 10 implements a controller and an actuator to control the use of primary spring 30 and other components. The control system and actuator are incorporated into the structure of prosthetic ankle device 12 . Alternatively, the control system is coupled to prosthetic ankle device 12 or coupled to user 90 .
A sensor, plurality of sensors, or sensor system 96 is worn by user 90 and is coupled to the control system wirelessly or by wired connection. Sensor 96 is disposed on prosthetic ankle device 12 , shank 92 , foot 16 , ankle joint 20 , or other part of user 90 . In one embodiment, sensor 96 is disposed on shank 92 . In another embodiment, sensor 96 is worn on thigh 98 of user 90 . A plurality of sensors 96 may be disposed on user 90 . Sensor 96 includes an accelerometer, vibrometer, rate gyro, potentiometer, pressure transducer, force transducer or load cell, inclinometer, or other sensor. In one embodiment, a rate gyro is disposed on shank 92 and a potentiometer or ankle encoder is disposed on ankle joint 20 . In another embodiment, sensor 96 includes a potentiometer is disposed on primary spring 30 or in proximity to primary spring 30 to measure force deflection. In another embodiment, sensor 96 includes a load cell disposed on main body 14 , spring mounts for primary spring 30 or secondary spring 32 , or any part of prosthetic ankle device 12 . In yet another embodiment, sensor 96 includes a force-sensing resistor disposed on foot 16 of prosthetic ankle device 12 . Sensor 96 detects a physical state of user 90 or prosthetic ankle device 12 , such as a kinematic state, a loading state, or a kinematic state and a loading state. Measurements from sensor 96 are used by the control system to control joint system 10 of prosthetic ankle device 12 .
FIG. 1 d shows a side view of <figure-callout id="12" label="prosthetic ankle device" filenames="US09289316-20160322-D00001.p
CLAIMS
Claims ( 5 )
What is claimed:
1. A method of making a prosthetic joint device, comprising:
providing a foot portion;
providing a main body pivotally coupled to the foot portion at a first joint;
providing a first compliant member coupled to the main body and foot portion;
coupling a first clutch to the first compliant member;
providing an actuator coupled to the first clutch to engage and disengage the first clutch; and
disposing a second clutch on the first joint to lock and unlock the first joint.
2. The method of claim 1 , further including locking the first clutch to engage the first compliant member.
3. The method of claim 1 , further including providing a control system coupled to the actuator to control the actuator based on a gait activity.
4. The method of claim 1 , further including coupling a second compliant member to the main body and foot portion.
5. The method of claim 4 , further including:
disposing the first compliant member on a first side of the first joint; and
disposing the second compliant member on a second side of the first joint opposite the first side.
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Quasi-active prosthetic joint system
US15/019,770
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US20160158032A1
( en )
2013-05-03
2016-02-09
Quasi-Active Prosthetic Joint System
US15/019,668
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