Google Patentsopen access

Transfemoral prosthetic systems and methods for operating the same — össur hf (US10299943B2)

ABSTRACT

Abstract

Certain embodiments of the invention relate to increasing the functionality of a transfemoral prosthetic device. In one embodiment, the transfemoral prosthetic device is configured such that the prosthetic knee maintains a load consistent with a healthy knee walking on level ground, while the prosthetic ankle adjusts for the incline or decline. In certain embodiments, adjustments, such as a toe lift function, are automatically performed after about three strides of the transfemoral prosthetic device user and/or when each of the strides has a stride speed of at least about 0.55 meters/second.

Description

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 13/244,010, which is a divisional of U.S. patent application Ser. No. 12/409,336, filed Mar. 23, 2009, now U.S. Pat. No. 8,057,550 B2, issued Nov. 15, 2011, which claims priority to U.S. Provisional Application No. 61/039,055, filed Mar. 24, 2008. Each of the above mentioned applications is incorporated herein by reference in its entirety and should be considered part of this specification.

BACKGROUND

Field of the Invention

The present invention relates to prosthetic and orthotic limbs in general and, in addition, to systems and methods for configuring, synchronizing, and optimizing the adaptive control systems of prosthetic and orthotic devices on a patient.

Description of the Related Art

Millions of individuals worldwide rely on prosthetic and/or orthotic devices to compensate for disabilities, such as amputation or debilitation, and to assist in the rehabilitation of injured limbs. Orthotic devices include external apparatuses used to support, align, prevent, protect, correct deformities of, or improve the function of movable parts of the body. Prosthetic devices include apparatuses used as artificial substitutes for a missing body part, such as an arm or leg.

The number of disabled persons and amputees is increasing each year as the average age of individuals increases, as does the prevalence of debilitating diseases such as diabetes. As a result, the need for prosthetic and orthotic devices is also increasing. Conventional orthoses are often used to support a joint, such as an ankle or a knee, of an individual, and movement of the orthosis is generally based solely on the energy expenditure of the user. Some conventional prostheses are equipped with basic controllers that artificially mobilize the joints without any interaction from the amputee and are capable of generating only basic motions. Such basic controllers do not take into consideration the dynamic conditions of the working environment. The passive nature of these conventional prosthetic and orthotic devices typically leads to movement instability, high energy expenditure on the part of the disabled person or amputee, gait deviations and other short- and long-term negative effects. This is especially true for leg orthoses and prostheses.

Prosthetic and orthotic devices, such as are attached to a human limb, have benefited from advances in electronics. Electronically controlled prosthetic or orthotic devices, which may be generally referred to as “mechatronic” devices, for example, prosthetic ankles or knees, can provide safer and more natural movement to patients who are equipped with such systems. However, advances in electronics appear to have outpaced the advances in control systems. Thus, control systems for prosthetic systems can benefit from intelligent architectures.

Further, the proliferation of electronic control systems for prosthetic and orthotic systems has created a need for systems and methods of synchronizing multiple devices which are worn by a single patient, e.g., a prosthetic knee and a prosthetic ankle. Operating in isolation from each other, multiple control systems may fail to provide the patient with stable, coordinated movement. In addition, independent configuration of multiple prosthetic devices can be inconvenient. Thus, it is desirable to have systems and methods of configuration, communication, and synchronization between such control systems. Further, it is desirable to have systems and methods of adding, replacing, or augmenting portions of the software in such control systems.

SUMMARY OF CERTAIN EMBODIMENTS

Accordingly, one embodiment of the invention includes a prosthetic or orthotic system that is self-powered and that mimics the natural movement of a healthy limb, and in particular, the movement of a healthy ankle. Another embodiment of the invention includes a sensor system and a control system that manage the motion of the prosthetic or orthotic system so as to facilitate movement by the disabled person or amputee.

One embodiment of the invention includes a system associated with the movement of a limb. In one embodiment, the system comprises a foot unit; an attachment member having an upper end and a lower end, wherein the lower end is pivotably attached to a first location on the foot unit; and an actuator operatively coupled to the foot unit and to the attachment member, wherein the actuator is configured to actively adjust an angle between the attachment member and the foot unit. For example, the foot unit may be a prosthetic or orthotic device.

Another embodiment of the invention includes a prosthetic system for mimicking the natural movement of an ankle. In one embodiment, the prosthetic system comprises a prosthetic foot; a pivot assembly attached to a first position on the prosthetic foot, wherein the first position is near a natural ankle location of the prosthetic foot; a lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, wherein the lower end of the lower limb member is operatively coupled to the pivot assembly; and an actuator operatively coupled to the prosthetic foot and to the lower limb member, wherein the actuator is configured to actively adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly.

One embodiment of the invention includes a method for controlling a device associated with the movement of a limb. In one embodiment, the method comprises monitoring with at least one sensor the movement of an actuatable device associated with a limb; generating data indicative of said movement; processing the data with a processing module to determine a current state of locomotion of the actuatable device; and adjusting the actuatable device based on the determined state of locomotion, wherein said adjusting comprises substantially mimicking the movement of a healthy ankle. For example, the actuatable device may be a prosthesis or an orthosis.

Another embodiment of the invention includes a method for controlling a prosthetic ankle device. In one embodiment, the method comprises monitoring with at least one sensor the movement of an actuatable prosthetic ankle device, wherein the at least one sensor generates data indicative of the movement of the prosthetic ankle device; receiving and processing the data with a control module to determine a current state of locomotion of the actuatable prosthetic ankle device; outputting with the control module at least one control signal based on the determined state of locomotion; and adjusting the actuatable prosthetic ankle device based at least upon the control signal, wherein said adjusting comprises substantially mimicking the movement of a healthy ankle.

In one embodiment, a prosthetic or orthotic system is provided having an ankle-motion-controlled foot. The prosthetic or orthotic system comprises, among other things, a lower limb member, an actuator, and a foot unit. The actuator is configured to mimic the motion of an ankle by adjusting the angle between the lower limb member and the foot unit. The prosthetic or orthotic system also comprises an attachment portion that facilitates coupling of the lower limb member to another prosthetic or orthotic member, to the stump of an amputee, or to another component. The prosthetic or orthotic system may also comprise a rechargeable battery to provide power to the actuator or other components of the system. Embodiments of the invention include systems for both transtibial and transfemoral amputees.

In another embodiment of the invention, the prosthetic or orthotic system comprises a sensor system that is used to capture information regarding the position and movement of the prosthetic or orthotic device. This information may be processed in real-time so as to predict appropriate movements for the prosthetic or orthotic device and to adjust the prosthetic or orthotic device accordingly.

In one embodiment of the invention, a system architecture is provided having a sensor module, a central processing unit, a memory, an external interface, a control drive module, an actuator, and an ankle device. The system architecture may receive instructions and/or data from external sources, such as a user or an electronic device, through the external interface.

In one embodiment, a control system may also be provided that manages the movement of the orthosis or the prosthesis. In one embodiment, the control system manages the movement of an actuator, such as a screw motor. Such motion control provides for movement by the user up inclined surfaces, down declines, or on stairs. In one embodiment, the control system may be configured to monitor through sensors the movements of a healthy limb and use the measurements to control the movement of the prosthesis or orthosis. The control system may also manage the damping of the actuator or other portions of the orthosis or prosthesis.

In one embodiment, a method is provided for controlling actuation of a prosthetic or orthotic device. The method comprises providing one or more sensors on an actuatable prosthetic or orthotic device. Data received from the sensors is processed and is used to determine the current state of locomotion for the prosthetic device. A processing unit, using at least a portion of the data received from the sensors, then predicts movement of the prosthetic or orthotic device. In one embodiment, a prosthetic ankle is provided that mimics the movement of a healthy ankle. The one or more sensors may comprise, for example, gyroscopes and/or accelerometers. In another embodiment of the invention, adjustments are not made to the actuatable prosthetic or orthotic device unless the locomotion type of the user is determined by the processing unit to have a security factor above a predetermined threshold value.

In another embodiment, a method is provided for identifying motion of an orthotic or prosthetic device. The method comprises receiving data from one or more sensors placed on an orthotic or prosthetic device while the device is moving. A waveform is generated from the data received by the sensors. A specific motion for the orthotic or prosthetic device is identified by correlating the waveform with known waveforms for particular types of motion. For example, known waveforms may be inputted by a user or downloaded from an external device or system. The waveforms may also be stored in a memory on the prosthetic or orthotic device.

In another embodiment, a method is provided for actuating an ankle-assisting device. The device is actuated by providing a computer control to provide relative motion between a first and a second portion of the device. In one embodiment, the device is an orthosis. In another embodiment, the device is a prosthesis. In one embodiment, the computer control predicts future motion of the device. In another embodiment, the computer control receives input from at least one sensor module that receives information regarding environmental variables and/or the movement or position of the prosthetic or orthotic device. In another embodiment, the computer control receives input from at least one sensor module that receives information regarding the movement or position of a healthy limb.

One embodiment of the invention includes a device configured to be attached to a limb. The device comprises a first portion and a second portion, the first and second portions being moveable relative to each other to mimic a natural human joint. The device also comprises an actuator coupling the first and second portions together and configured to adjust the angle between the first and second portions. The actuator comprises a rotor operatively coupled to a stator and a motor configured to rotate the rotor, wherein the actuator is selectively locked during a desired phase in a gait cycle.

Another embodiment of the invention includes a device configured to be attached to a limb. The device comprises a first portion and a second portion, the first and second portions being moveable relative to each other to mimic a natural human joint. The device also comprises an actuator coupling the first and second portions together and configured to adjust the angle between the first and second portions. The actuator comprises a rotor operatively coupled to a stator and a motor configured to rotate the rotor. The device also comprises means for minimizing friction against the rotor.

Still another embodiment of the invention includes a device configured to be attached to a limb. The device comprises a first portion and a second portion, the first and second portions being moveable relative to each other to mimic a natural human joint. The device also comprises an actuator coupling the first and second portions together and configured to adjust the angle between the first and second portions. The actuator comprises a rotor operatively coupled to a stator and a motor configured to rotate the rotor, wherein the motor is disposed about the rotor.

Another embodiment of the invention includes a prosthetic device configured to be attached to a limb. The device comprises a prosthetic foot and a pivot assembly attached to the prosthetic foot, the pivot assembly mimicking a natural human ankle joint. The device also comprises a support member having an upper end and a lower end, wherein the lower end of the support member is operatively coupled to the pivot assembly. The prosthetic device also comprises an actuator operatively coupled to the prosthetic foot and the support member, the actuator configured to adjust an angle between the support member and the prosthetic foot about the pivot assembly, wherein the actuator is selectively locked during a desired phase of a gait cycle of the prosthetic foot.

In still another embodiment, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. The actuator also comprises a rotor rotatably coupled to the elongate member and a stator operatively coupled to the rotor. At least one magnet is disposed between the rotor and the stator, the magnet configured to apply a magnetic force between the rotor and the stator. The actuator also comprises a motor configured to rotate the rotor relative to the elongate member, wherein the at least one magnet is configured to minimize friction between the rotor and the stator.

In another embodiment of the invention, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. The actuator also comprises a rotor rotatably coupled to the elongate member and a stator operatively coupled to the rotor. A ball bearing is disposed between the rotor and the stator. The actuator also comprises a motor configured to rotate the rotor relative to the elongate member, wherein the ball bearing is configured to minimize friction between the rotor and the stator.

In yet another embodiment of the invention, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. A rotor is rotatably coupled to the elongate member and a stator operatively coupled to the rotor. The actuator also comprises a motor disposed about the rotor and configured to rotate the rotor relative to the elongate member.

In another embodiment, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. The actuator also comprises a rotor rotatably coupled to the elongate member, a retainer disposed about the rotor, and a stator operatively coupled to the rotor. A motor is configured to rotate the rotor relative to the elongate member, wherein the rotor and the retainer selectively engage to inhibit rotation of the rotor.

In another embodiment, a method of operating a prosthetic device attached to a limb is provided. The method comprises providing a prosthetic device configured to attach to a limb, the device mimicking a natural human joint and having a first portion and a second portion, the portions moveable relative to each other about the joint. The method also comprises providing an actuator coupled to the first portion and the second portion, adjusting an angle between the first portion and the second portion and selectively locking the actuator during a desired phase of a gait cycle.

In still another embodiment, a method of operating a prosthetic device attached to a limb is provided. The method comprises providing a prosthetic device configured to attach to a limb, the device mimicking a natural human joint and having a first portion and a second portion, the portions moveable relative to each other about the joint. The method also comprises providing an actuator coupled to the

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No. 13/244,010, which is a divisional of U.S. patent application Ser. No. 12/409,336, filed Mar. 23, 2009, now U.S. Pat. No. 8,057,550 B2, issued Nov. 15, 2011, which claims priority to U.S. Provisional Application No. 61/039,055, filed Mar. 24, 2008. Each of the above mentioned applications is incorporated herein by reference in its entirety and should be considered part of this specification.

BACKGROUND

Field of the Invention

The present invention relates to prosthetic and orthotic limbs in general and, in addition, to systems and methods for configuring, synchronizing, and optimizing the adaptive control systems of prosthetic and orthotic devices on a patient.

Description of the Related Art

Millions of individuals worldwide rely on prosthetic and/or orthotic devices to compensate for disabilities, such as amputation or debilitation, and to assist in the rehabilitation of injured limbs. Orthotic devices include external apparatuses used to support, align, prevent, protect, correct deformities of, or improve the function of movable parts of the body. Prosthetic devices include apparatuses used as artificial substitutes for a missing body part, such as an arm or leg.

The number of disabled persons and amputees is increasing each year as the average age of individuals increases, as does the prevalence of debilitating diseases such as diabetes. As a result, the need for prosthetic and orthotic devices is also increasing. Conventional orthoses are often used to support a joint, such as an ankle or a knee, of an individual, and movement of the orthosis is generally based solely on the energy expenditure of the user. Some conventional prostheses are equipped with basic controllers that artificially mobilize the joints without any interaction from the amputee and are capable of generating only basic motions. Such basic controllers do not take into consideration the dynamic conditions of the working environment. The passive nature of these conventional prosthetic and orthotic devices typically leads to movement instability, high energy expenditure on the part of the disabled person or amputee, gait deviations and other short- and long-term negative effects. This is especially true for leg orthoses and prostheses.

Prosthetic and orthotic devices, such as are attached to a human limb, have benefited from advances in electronics. Electronically controlled prosthetic or orthotic devices, which may be generally referred to as “mechatronic” devices, for example, prosthetic ankles or knees, can provide safer and more natural movement to patients who are equipped with such systems. However, advances in electronics appear to have outpaced the advances in control systems. Thus, control systems for prosthetic systems can benefit from intelligent architectures.

Further, the proliferation of electronic control systems for prosthetic and orthotic systems has created a need for systems and methods of synchronizing multiple devices which are worn by a single patient, e.g., a prosthetic knee and a prosthetic ankle. Operating in isolation from each other, multiple control systems may fail to provide the patient with stable, coordinated movement. In addition, independent configuration of multiple prosthetic devices can be inconvenient. Thus, it is desirable to have systems and methods of configuration, communication, and synchronization between such control systems. Further, it is desirable to have systems and methods of adding, replacing, or augmenting portions of the software in such control systems.

SUMMARY OF CERTAIN EMBODIMENTS

Accordingly, one embodiment of the invention includes a prosthetic or orthotic system that is self-powered and that mimics the natural movement of a healthy limb, and in particular, the movement of a healthy ankle. Another embodiment of the invention includes a sensor system and a control system that manage the motion of the prosthetic or orthotic system so as to facilitate movement by the disabled person or amputee.

One embodiment of the invention includes a system associated with the movement of a limb. In one embodiment, the system comprises a foot unit; an attachment member having an upper end and a lower end, wherein the lower end is pivotably attached to a first location on the foot unit; and an actuator operatively coupled to the foot unit and to the attachment member, wherein the actuator is configured to actively adjust an angle between the attachment member and the foot unit. For example, the foot unit may be a prosthetic or orthotic device.

Another embodiment of the invention includes a prosthetic system for mimicking the natural movement of an ankle. In one embodiment, the prosthetic system comprises a prosthetic foot; a pivot assembly attached to a first position on the prosthetic foot, wherein the first position is near a natural ankle location of the prosthetic foot; a lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, wherein the lower end of the lower limb member is operatively coupled to the pivot assembly; and an actuator operatively coupled to the prosthetic foot and to the lower limb member, wherein the actuator is configured to actively adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly.

One embodiment of the invention includes a method for controlling a device associated with the movement of a limb. In one embodiment, the method comprises monitoring with at least one sensor the movement of an actuatable device associated with a limb; generating data indicative of said movement; processing the data with a processing module to determine a current state of locomotion of the actuatable device; and adjusting the actuatable device based on the determined state of locomotion, wherein said adjusting comprises substantially mimicking the movement of a healthy ankle. For example, the actuatable device may be a prosthesis or an orthosis.

Another embodiment of the invention includes a method for controlling a prosthetic ankle device. In one embodiment, the method comprises monitoring with at least one sensor the movement of an actuatable prosthetic ankle device, wherein the at least one sensor generates data indicative of the movement of the prosthetic ankle device; receiving and processing the data with a control module to determine a current state of locomotion of the actuatable prosthetic ankle device; outputting with the control module at least one control signal based on the determined state of locomotion; and adjusting the actuatable prosthetic ankle device based at least upon the control signal, wherein said adjusting comprises substantially mimicking the movement of a healthy ankle.

In one embodiment, a prosthetic or orthotic system is provided having an ankle-motion-controlled foot. The prosthetic or orthotic system comprises, among other things, a lower limb member, an actuator, and a foot unit. The actuator is configured to mimic the motion of an ankle by adjusting the angle between the lower limb member and the foot unit. The prosthetic or orthotic system also comprises an attachment portion that facilitates coupling of the lower limb member to another prosthetic or orthotic member, to the stump of an amputee, or to another component. The prosthetic or orthotic system may also comprise a rechargeable battery to provide power to the actuator or other components of the system. Embodiments of the invention include systems for both transtibial and transfemoral amputees.

In another embodiment of the invention, the prosthetic or orthotic system comprises a sensor system that is used to capture information regarding the position and movement of the prosthetic or orthotic device. This information may be processed in real-time so as to predict appropriate movements for the prosthetic or orthotic device and to adjust the prosthetic or orthotic device accordingly.

In one embodiment of the invention, a system architecture is provided having a sensor module, a central processing unit, a memory, an external interface, a control drive module, an actuator, and an ankle device. The system architecture may receive instructions and/or data from external sources, such as a user or an electronic device, through the external interface.

In one embodiment, a control system may also be provided that manages the movement of the orthosis or the prosthesis. In one embodiment, the control system manages the movement of an actuator, such as a screw motor. Such motion control provides for movement by the user up inclined surfaces, down declines, or on stairs. In one embodiment, the control system may be configured to monitor through sensors the movements of a healthy limb and use the measurements to control the movement of the prosthesis or orthosis. The control system may also manage the damping of the actuator or other portions of the orthosis or prosthesis.

In one embodiment, a method is provided for controlling actuation of a prosthetic or orthotic device. The method comprises providing one or more sensors on an actuatable prosthetic or orthotic device. Data received from the sensors is processed and is used to determine the current state of locomotion for the prosthetic device. A processing unit, using at least a portion of the data received from the sensors, then predicts movement of the prosthetic or orthotic device. In one embodiment, a prosthetic ankle is provided that mimics the movement of a healthy ankle. The one or more sensors may comprise, for example, gyroscopes and/or accelerometers. In another embodiment of the invention, adjustments are not made to the actuatable prosthetic or orthotic device unless the locomotion type of the user is determined by the processing unit to have a security factor above a predetermined threshold value.

In another embodiment, a method is provided for identifying motion of an orthotic or prosthetic device. The method comprises receiving data from one or more sensors placed on an orthotic or prosthetic device while the device is moving. A waveform is generated from the data received by the sensors. A specific motion for the orthotic or prosthetic device is identified by correlating the waveform with known waveforms for particular types of motion. For example, known waveforms may be inputted by a user or downloaded from an external device or system. The waveforms may also be stored in a memory on the prosthetic or orthotic device.

In another embodiment, a method is provided for actuating an ankle-assisting device. The device is actuated by providing a computer control to provide relative motion between a first and a second portion of the device. In one embodiment, the device is an orthosis. In another embodiment, the device is a prosthesis. In one embodiment, the computer control predicts future motion of the device. In another embodiment, the computer control receives input from at least one sensor module that receives information regarding environmental variables and/or the movement or position of the prosthetic or orthotic device. In another embodiment, the computer control receives input from at least one sensor module that receives information regarding the movement or position of a healthy limb.

One embodiment of the invention includes a device configured to be attached to a limb. The device comprises a first portion and a second portion, the first and second portions being moveable relative to each other to mimic a natural human joint. The device also comprises an actuator coupling the first and second portions together and configured to adjust the angle between the first and second portions. The actuator comprises a rotor operatively coupled to a stator and a motor configured to rotate the rotor, wherein the actuator is selectively locked during a desired phase in a gait cycle.

Another embodiment of the invention includes a device configured to be attached to a limb. The device comprises a first portion and a second portion, the first and second portions being moveable relative to each other to mimic a natural human joint. The device also comprises an actuator coupling the first and second portions together and configured to adjust the angle between the first and second portions. The actuator comprises a rotor operatively coupled to a stator and a motor configured to rotate the rotor. The device also comprises means for minimizing friction against the rotor.

Still another embodiment of the invention includes a device configured to be attached to a limb. The device comprises a first portion and a second portion, the first and second portions being moveable relative to each other to mimic a natural human joint. The device also comprises an actuator coupling the first and second portions together and configured to adjust the angle between the first and second portions. The actuator comprises a rotor operatively coupled to a stator and a motor configured to rotate the rotor, wherein the motor is disposed about the rotor.

Another embodiment of the invention includes a prosthetic device configured to be attached to a limb. The device comprises a prosthetic foot and a pivot assembly attached to the prosthetic foot, the pivot assembly mimicking a natural human ankle joint. The device also comprises a support member having an upper end and a lower end, wherein the lower end of the support member is operatively coupled to the pivot assembly. The prosthetic device also comprises an actuator operatively coupled to the prosthetic foot and the support member, the actuator configured to adjust an angle between the support member and the prosthetic foot about the pivot assembly, wherein the actuator is selectively locked during a desired phase of a gait cycle of the prosthetic foot.

In still another embodiment, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. The actuator also comprises a rotor rotatably coupled to the elongate member and a stator operatively coupled to the rotor. At least one magnet is disposed between the rotor and the stator, the magnet configured to apply a magnetic force between the rotor and the stator. The actuator also comprises a motor configured to rotate the rotor relative to the elongate member, wherein the at least one magnet is configured to minimize friction between the rotor and the stator.

In another embodiment of the invention, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. The actuator also comprises a rotor rotatably coupled to the elongate member and a stator operatively coupled to the rotor. A ball bearing is disposed between the rotor and the stator. The actuator also comprises a motor configured to rotate the rotor relative to the elongate member, wherein the ball bearing is configured to minimize friction between the rotor and the stator.

In yet another embodiment of the invention, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. A rotor is rotatably coupled to the elongate member and a stator operatively coupled to the rotor. The actuator also comprises a motor disposed about the rotor and configured to rotate the rotor relative to the elongate member.

In another embodiment, an actuator is provided, comprising an elongate member extending about a major axis of the actuator. The actuator also comprises a rotor rotatably coupled to the elongate member, a retainer disposed about the rotor, and a stator operatively coupled to the rotor. A motor is configured to rotate the rotor relative to the elongate member, wherein the rotor and the retainer selectively engage to inhibit rotation of the rotor.

In another embodiment, a method of operating a prosthetic device attached to a limb is provided. The method comprises providing a prosthetic device configured to attach to a limb, the device mimicking a natural human joint and having a first portion and a second portion, the portions moveable relative to each other about the joint. The method also comprises providing an actuator coupled to the first portion and the second portion, adjusting an angle between the first portion and the second portion and selectively locking the actuator during a desired phase of a gait cycle.

In still another embodiment, a method of operating a prosthetic device attached to a limb is provided. The method comprises providing a prosthetic device configured to attach to a limb, the device mimicking a natural human joint and having a first portion and a second portion, the portions moveable relative to each other about the joint. The method also comprises providing an actuator coupled to the first portion and the second portion, adjusting an angle between the first portion and the second portion and actively minimizing friction against a rotor of the actuator during a desired phase in a gait cycle.

In another embodiment, a system is disclosed for sensing a rotational movement of a lower-limb prosthetic device. The system includes a prosthetic foot and an attachment member having an upper end and a lower end. The system also includes a pivot assembly rotatably coupling the lower end of the attachment member to the prosthetic foot to allow for rotation of the prosthetic foot about a pivot axis extending through the pivot assembly, wherein the pivot assembly is configured to substantially mimic a natural ankle joint The system further includes a sensor assembly coupled to the pivot assembly and configured to detect the rotation of the prosthetic foot about the pivot axis, wherein at least a portion of the sensor assembly is configured to rotate about the pivot axis and is securely positioned along the pivot axis to substantially eliminate other movement.

In another embodiment, a system is disclosed for sensing a rotational movement of a device associated with a limb. The system includes a foot unit and an attachment member having an upper end and a lower end. The system also includes a pivot assembly rotatably coupling the lower end of the attachment member to the foot unit to allow for rotation of the foot unit about an axis extending through the pivot assembly, wherein the pivot assembly is configured to substantially mimic a natural ankle joint. The system further includes a sensor assembly coupled to the pivot assembly and configured to detect the rotation of the foot unit about the axis and to substantially neglect axial and radial movement of the foot unit with respect to the axis.

In another embodiment, a system is disclosed for sensing a rotational movement of a device associated with a lower limb. The system includes a foot means for contacting a ground surface and a means for attaching the foot means to a patient. The system also includes a means for pivotably coupling the foot means to a lower end of the means for attaching to allow for rotation of the foot means about an axis extending through the means for pivotably coupling, wherein the means for pivotably coupling substantially mimics an ankle joint. The system further includes a means for sensing coupled to the means for pivotably coupling, the means for sensing further configured to detect the rotation of the foot means about the axis and to substantially neglect axial and radial movement of the foot means with respect to the axis.

In another embodiment, a prosthetic system is disclosed that mimics the movement of a natural ankle in a relaxed position. The prosthetic system comprises a prosthetic ankle joint comprising a foot unit and an upper member moveably attached to the foot unit to simulate a natural human ankle joint. The system further comprises a controller configured to automatically adjust the state of the prosthetic ankle joint, wherein the controller is configured to automatically adjust the prosthetic ankle joint to a relaxed state upon receiving data indicative of a user's movement to a relaxed position.

In another embodiment, a prosthetic system is disclosed for mimicking the natural movement of an ankle in a relaxed position. The prosthetic system comprises a prosthetic foot. The prosthetic system further comprises a pivot assembly attached to a first location on the prosthetic foot, wherein the first location is near a natural ankle location of the prosthetic foot. The prosthetic system further comprises a lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, wherein the lower end of the lower limb member is operatively coupled to the pivot assembly. The prosthetic system further comprises an actuator coupled to the prosthetic foot and to the lower limb member, wherein the actuator is configured to adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly. The prosthetic system further comprises at least one sensor configured to detect a position of a user of the prosthetic system. The prosthetic system further comprises a controller configured to operate the actuator. With regards to the prosthetic system described, the at least one sensor is configured to transmit data to the controller indicative of when the user is in a relaxed position, said relaxed position determined by the user positioning the prosthetic system within a range of defined angles relative to a ground surface for a defined amount of time and the prosthetic system having an acceleration less than a maximum threshold value, and wherein the controller is configured to operate the actuator to cause an angle between the prosthetic foot and the lower limb assembly to increase about the pivot assembly such that the prosthetic foot becomes more plantarflexed relative to the lower limb assembly.

In another embodiment, a method is disclosed for adjusting a prosthetic ankle device. The method comprises monitoring with at least one sensor the movement of a user of a prosthetic ankle device. The method further comprises generating data indicative of the movement. The method further comprises processing the data with a processing module to determine whether the user is in a relaxed position. The method further comprises adjusting the prosthetic ankle device based on whether the user is in a relaxed position, wherein adjusting the prosthetic ankle device comprises automatically adjusting a configurable element of the prosthetic ankle device.

In another embodiment, a method is disclosed for adjusting a prosthetic ankle device comprising a prosthetic foot and a limb member moveably connected at a location about a natural human ankle joint. The method comprises measuring with at least one sensor the angle of the prosthetic ankle device relative to a ground surface and an acceleration of the device. The method further comprises determining whether the angle of the prosthetic ankle device relative to the ground surface falls within a defined range of angles. The method further comprises determining whether the acceleration of the device is above or below a threshold acceleration. The method further comprises adjusting an angle between the prosthetic foot and the limb member to a plantarflexed or dorsiflexed configuration upon determining that the angle of the ankle device relative to the ground surface falls within the defined range of angles and upon determining that the acceleration of the device is above or below the threshold acceleration.

In another embodiment, a method is disclosed for operating a prosthetic ankle worn by a user. The method comprises providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and lower limb member configured to rotate at about a location of a natural human ankle. The method further comprises detecting an incline or decline of a surface while the user moves with the prosthetic ankle. The method further comprises adjusting an angle between the foot unit and the lower limb member based on the detected incline or decline.

In another embodiment, a method is disclosed for operating a prosthetic ankle worn by a user. The method comprises providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and the lower limb member configured to rotate at about a location of a natural human ankle. The method further comprises measuring a terrain variable upon which the user moves with the prosthetic ankle. The method further comprises adjusting an angle between the foot unit and the lower limb member based on the measured terrain variable.

In another embodiment, a method is disclosed for operating a prosthetic ankle worn by a user. The method comprises providing a prosthetic ankle comprising a foot unit and a lower limb member, the foot unit and the lower limb member configured to rotate at about a location of a natural human ankle. The method further comprises measuring a surface angle of a surface upon which the user moves with the prosthetic ankle. The method further comprises calculating a desired angle between the foot unit and the lower limb member for moving upon the surface, wherein the calculation is based at least in part on the measured surface angle. The method further comprises adjusting an angle between the foot unit and the lower limb member to the desired angle.

One embodiment is a system for controlling motion of a human limb. The system may include a plurality of mechatronic devices. Each of the plurality of mechatronic devices is in communication with at least one other of the plurality of mechatronic devices. At least one of the mechatronic devices controls an actuator. In one such embodiment, at least one of the plurality of mechatronic devices is configured to generate a control state for at least one other of the plurality of mechatronic devices based on the communicated data. In one embodiment, the communicated data is used to synchronize the mechatronic devices. In one embodiment, each of the mechatronic devices comprises an artificial joint. In one embodiment, at least one of the plurality of mechatronic devices comprises a prosthetic knee and at least one of the mechatronic devices comprises a prosthetic ankle.

Another embodiment is a mechatronic device for controlling motion of a human limb in cooperation with at least one other mechatronic device. The mechatronic device includes a communication interface configured to communicate data with the at least one other mechatronic device, a sensor configured to obtain a value indicative of at least one motion parameter of the limb; an actuator configured to affect at least one motion parameter of the mechatronic device, and a processor configured to activate the actuator based on the received communicated data and the at least one motion parameter value. In one embodiment, the communicated data may include the parameter value obtained from the sensor. In another embodiment, the communicated data may include state machine data received from the other mechatronic devices. In yet another embodiment, the communicated data may include configuration data received from the other mechatronic devices.

Another embodiment is a mechatronic device for controlling motion of a human limb in cooperation with at least one other mechatronic device. The mechatronic device includes a communication interface configured to communicate data with the at least one other mechatronic device, and a processor configured to generate a control state of the at least one other mechatronic device. The processor is further configured to communicate data associated with the control state through the communication interface. The mechatronic device further includes an actuator controlled by the processor so as to effectuate movement of the human limb. In another embodiment, the communicated data may include software that when executed by the processor is configured to affect the selection of the control state. In one embodiment, the communicated data includes data obtained by the at least one sensor of the other mechatronic device. In one embodiment, the communicated data includes configuration data obtained by the at least one sensor of the other mechatronic device. In one embodiment, the processor is further configured to determine at least one actuator control command based on the control state, and wherein the communicated data includes the at least one actuator control command.

Another embodiment is a method of synchronizing a first mechatronic device with a second mechatronic device. The method includes communicating data from the second mechatronic device to the first mechatronic device. The method further includes generating a control state in response to the received data. The method further includes controlling an actuator on the second mechatronic device based at least in part on the control state. In one embodiment, the method further includes generating a command to control an actuator of the second mechatronic device in response to the control state. In one embodiment, the method further includes generating a command to control an actuator of the first mechatronic device in response to the communicated data. In one embodiment, the received data includes sensor data received from the second mechatronic device. In another embodiment, the received data includes at least a portion of information indicative of the control state. In yet another embodiment, the received data includes computer software and the control state is performed at least partly by executing the computer software.

Another embodiment is a system for controlling motion of a device associated with a limb. The system includes a mechatronic device. The system further includes a sensor associated with a human limb which provides motion parameter data to the mechatronic device. The mechatronic device uses the motion parameter data for synchronization. In one embodiment, the sensor receives signals from the human nervous system. In one embodiment, the sensor receives signals from a sensor associated with a sound limb. In one embodiment, the motion parameter data is used for synchronization with another mechatronic device. In one such embodiment, the other mechatronic device provides motion parameter data to the mechatronic device.

One embodiment is a method of synchronizing a computing device with a a device associated with a limb. The method includes communicating data between the mechatronic system and the computing device, storing the data on the computing device, generating a control state on the mechatronic system in response to the data, and controlling an actuator on the second mechatronic system based at least in part on the control state.

Another embodiment is a mechatronic system attached to a human body. The device includes a sensor configured to provide data indicative of movement of the human body. An actuator is configured to control movement of at least a portion of the human body. A processor is configured to execute instructions configured to control the actuator based on the sensor data. A communication interface is configured to communicate data with a data source. The processor is further configured to receive at least a portion of the instructions from the data source. In one embodiment, the mechatronic system may include a separation of the processing, sensing, actuation, and communications in two or more mechatronic devices.

In one embodiment a transfemoral prosthetic device capable of mimicking the gait of a healthy leg is provided. The transfemoral prosthetic device has a foot unit, and a tibial member with an upper and lower end. The lower end of the tibial member is pivotably attached to a location on the foot unit. A first actuator is operatively coupled to the foot unit and to the tibial member, and configured to actively adjust an angle between the tibial member and the foot unit. The transfemoral prosthetic device also has a femoral member with an upper end and a lower end. The lower end of the femoral member is pivotably attached to the upper end of the tibial member. A second actuator is operatively coupled to the tibial member and to the femoral member, and is configured to actively adjust an angle between the femoral member and the tibial member.

In another embodiment, a method of controlling a transfemoral prosthetic device is provided. The method includes monitoring, with at least one sensor, at least one of position and movement of a transfemoral prosthetic device, where the device includes a foot unit, a tibial member pivotally attached to the foot unit, a first actuator operatively coupled to the foot unit and to the tibial member, a femoral member pivotally attached to the tibial member, and a second actuator operatively coupled to the tibial member and to the femoral member. The first actuator is configured to adjust an ankle angle between the foot unit and the tibial member and the second actuator is configured to adjust a knee angle between the tibial member and the femoral member. The method also includes generating data indicative of the at least one of position and movement and processing the data with a processing module to determine a gait cycle phase. In addition, the method includes actuating the first actuator during a swing phase to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle and actuating the second actuator during the swing phase to move the tibial member relative to the femoral member in a manner that substantially mimics the movement of a healthy knee joint attached to a healthy ankle joint.

In another embodiment, a method for controlling a transfemoral prosthetic device is provided. The method includes monitoring, with at least one sensor, at least one of position and movement of a transfemoral device associated with a limb throughout at least one gait cycle, where the device includes a foot unit, a tibial member pivotally attached to the foot unit, a first actuator operatively coupled to the foot unit and to the tibial member, a femoral member pivotally attached to the tibial member, and a second actuator operatively coupled to the tibial member and to the femoral member. The first actuator is configured to adjust an ankle angle between the foot unit and the tibial member and the second actuator is configured to adjust a knee angle between the tibial member and the femoral member. The method further includes generating data indicative of the at least one of position and movement throughout at least one gait cycle and processing the data with a processing module to determine if the data corresponds to one of a plurality of defined terrains, where the information defining the plurality of terrains is stored in memory of the device. The method further includes determining ankle-angle adjustments and knee-angle adjustments corresponding to a determined terrain and adjusting the device based on the determined ankle-angle adjustments and knee-angle adjustments corresponding to the determined terrain. The adjusting comprises actuating the first actuator to move the tibial member relative to the foot unit in a manner substantially mimicking movement of a healthy ankle. The ankle-angle adjustments are applied over a swing phase of subsequent gait cycles until a state transition is detected from the determined terrain to a different terrain. The adjusting further includes actuating the second actuator to move the femoral member relative to the tibial member in a manner substantially mimicking movement of a healthy knee attached to a healthy ankle.

In still another embodiment, a method of using a motion-controlled ankle device with a transfemoral prosthetic device to mimic natural transfemoral gait is provided. The method includes selecting a transfemoral device that is approximately the same length as a healthy leg and attaching a motion-controlled ankle device to the transfemoral prosthetic device, wherein the motion-controlled ankle device is capable of mimicking healthy ankle movement by providing toe clearance during swing. The method further includes walking with the transfemoral prosthetic device without substantially adjusting the hip movement necessary for normal, healthy walking.

In still another embodiment, a method of using a motion-controlled ankle device with a transfemoral prosthetic device to mimic natural transfemoral gait is provided. The method includes selecting a transfemoral device that is approximately the same length as a healthy leg, attaching a motion-controlled ankle device to the transfemoral prosthetic device, wherein the motion-controlled ankle device is capable of mimicking healthy ankle movement by adjusting to different terrains, and walking with the transfemoral prosthetic device without substantially adjusting the hip movement necessary for normal, healthy walking.

In yet another embodiment, prosthetic system for a transfemoral user is provided. The system includes a prosthetic knee device; and a prosthetic ankle device configured to lift a toe portion of the prosthetic ankle device during swing. The system may further include a single controller to actuate the prosthetic knee device and the prosthetic ankle device. Additionally and/or alternatively, the prosthetic ankle device may be further configured to optimize the functionality of the prosthetic knee device.

In another embodiment, a method of optimizing a prosthetic device for another prosthetic device is provided. The method includes providing a first prosthetic device; providing a second prosthetic device operable in conjunction with the first prosthetic device; and operating the second prosthetic device to optimize the operation of the first prosthetic device. The method further including synchronizing the movement of the first prosthetic device and the second prosthetic device.

In still another embodiment, a method for operating a prosthetic system for a transfemoral user is provided. The method includes providing a prosthetic knee, the knee having an upper leg portion and a lower leg portion that are articulatable about a knee joint; providing a prosthetic ankle to the prosthetic knee, the prosthetic ankle having a leg portion and a foot portion that are articulatable about an ankle joint; operating the prosthetic ankle to optimize the operation of the prosthetic knee for a transfemoral user. In some embodiments, a prosthetic ankle device is optimized for a transfemoral user by adjusting to terrain conditions more rapidly than for transtibial users by, for example, reducing the number of monitored steps before adjusting the device. In some embodiments, a prosthetic ankle device is optimized for a transfemoral user by reducing the minimum speed at which toe clearance is provided. In some embodiments, a prosthetic ankle device is optimized for a transfemoral user by enabling, disabling, or modifying a relaxed mode. In some embodiments, a prosthetic ankle device is optimized for a transfemoral user by calibrating the device, in a learn mode, for a transfemoral user. In some embodiments, a prosthetic ankle device is optimized for a transfemoral user by providing for toe clearance during steeper declines than would be provided for a transtibial user. In some embodiments, a prosthetic ankle device is optimized for a transfemoral user by enabling, disabling, or modifying a stairs mode.

In yet another embodiment, a method of optimizing a prosthetic device for a physiological condition is provided. The method includes providing a prosthetic device whose function affects a physiological condition, and optimizing the prosthetic device for the physiological condition.

In one embodiment, a transfemoral prosthetic device associated with a limb is provided that comprises a foot unit and a tibial member pivotally attached to the foot unit. A first actuator is operatively coupled to the foot unit and to the tibial member and is configured to adjust an ankle angle between the foot unit and the tibial member. A femoral member is pivotally attached to the tibial member to define a knee joint. A second actuator is operatively coupled to the tibial member and to the femoral member, and is configured to adjust a knee angle between the tibial member and the femoral member. At least one sensor is disposed on the transfemoral device and is configured to monitor at least one of position and movement of the transfemoral device throughout at least one gait cycle and to generate data indicative of the at least one of position and movement throughout the at least one gait cycle. The transfemoral prosthetic device also comprises a memory module. A processing module is configured to determine when the data corresponds to one of a plurality of defined terrains. The information defining the plurality of terrains is stored in the memory module. The processing module is further configured to determine ankle-angle adjustments and knee-angle adjustments corresponding to the defined terrain. Based on the determined ankle-angle adjustments and knee-angle adjustments, the processing module is further configured to actuate the first actuator to adjust the foot unit relative to the tibial member in a manner substantially mimicking movement of a healthy ankle and actuate the second actuator to adjust the femoral member relative to the tibial member in a manner substantially mimicking movement of a healthy knee. The ankle-angle adjustments are applied over a swing phase of subsequent gait cycles until a terrain transition is detected.

In another embodiment, a method of controlling a transfemoral prosthetic device is provided. The method comprises monitoring, with at least one sensor, at least one of position and movement of a transfemoral prosthetic device. The device comprises a foot unit, a tibial member pivotally attached to the foot unit, and a first actuator operatively coupled to the foot unit and to the tibial member. The first actuator is configured to actively adjust an ankle angle between the foot unit and the tibial member. A femoral member is pivotally attached to the tibial member. A second actuator is operatively coupled to the tibial member and to the femoral member and is configured to adjust a knee angle between the tibial member and the femoral member. The method further comprises generating data indicative of the at least one of position and movement. The data is then processed to determine a gait cycle phase. During a swing phase of the gate cycle phase, the first actuator is actuated to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle and the second actuator is actuated to move the tibial member relative to the femoral member in a manner that substantially mimics the movement of a healthy knee joint attached to a healthy ankle joint.

In another embodiment, a transfemoral prosthetic system capable of mimicking the gait of a healthy leg is provided. The system comprises a foot unit and a tibial member having an upper end and a lower end. The lower end is pivotably attached to the foot unit. A first actuator is operatively coupled to the foot unit and to the tibial member and is configured to actively adjust an angle between the tibial member and the foot unit. A femoral member has an upper end and a lower end. The lower end is pivotably attached to the upper end of the tibial member. A second actuator is operatively coupled to the tibial member and to the femoral member and is configured to actively adjust an angle between the femoral member and the tibial member.

After considering this discussion, and particularly after reading the section entitled “Detailed Description of Certain Embodiments” one will understand how the features of this invention provide advantages that include providing a prosthetic or orthotic control system that provides more natural and comfortable movement to its users and enabling a more convenient and intuitive configuration, addition, replacement, or augmentation of control system software.

For purposes of summarizing, certain aspects, advantages and novel features have been described herein. It is to be understood that not necessarily all such advantages may be achieved in accordance with any particular embodiment. Thus, the invention may be embodied or carried out in a manner that achieves one advantage or group of advantages as taught herein without necessarily achieving other advantages as may be taught or suggested herein.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a lower limb prosthesis having an ankle-motion-controlled foot unit according to one embodiment of the invention.

FIG. 2 is a perspective view of the lower limb prosthesis of FIG. 1 , wherein a cover is removed to show inner components of the prosthesis.

FIG. 3 is a side view of the lower limb prosthesis of FIG. 2 .

FIG. 4 is a rear view of the lower limb prosthesis of FIG. 2 .

FIG. 5 is a side view of the lower limb prosthesis of FIG. 1 with the cover shown partially removed, wherein the ankle-motion-controlled foot is adjusted to accommodate an incline.

FIG. 6 is a side view of a lower limb prosthesis of FIG. 5 , wherein the ankle-motion-controlled foot is adjusted to accommodate a decline.

FIG. 7 is a schematic drawing indicating the correlation between an ankle pivot point on an exemplifying embodiment of a prosthetic foot unit with the natural ankle joint of a human foot.

FIG. 8 is a graph depicting the range of ankle motion of an exemplifying embodiment of a prosthetic or orthotic system during one full stride on a level surface.

FIG. 9 is a block diagram of an exemplifying embodiment of a control system architecture of a prosthetic or orthotic system having an ankle-motion-controlled foot.

FIG. 10 is a table illustrating control signals usable to adjust the ankle angle of a prosthetic or orthotic system according to one embodiment of the invention.

FIG. 11 is a graph depicting an exemplifying embodiment of the relationship between the control of a prosthetic or orthotic system and the motion of a corresponding sound limb.

FIG. 12A is a perspective view of another embodiment of a lower limb prosthesis.

FIG. 12B is a side view of the lower limb prosthesis of FIG. 12A .

FIG. 12C is a cross-sectional view of the lower limb prosthesis of FIG. 12B along plane M-M.

FIG. 13 is a perspective view of one embodiment of an actuator which may be used with the lower limb prosthesis of FIG. 12A .

FIG. 14 is a side-view of the actuator of FIG. 13 .

FIG. 15 is a rear view of the actuator of FIG. 13 .

FIG. 16 is a top view of the actuator of FIG. 13 .

FIG. 17 is a cross-sectional side view of the actuator of FIG. 13 .

FIG. 18 is an exploded view of the actuator of FIG. 13 .

FIG. 19 is a flow chart illustrating different phases of motion of the prosthesis shown in FIG. 12A .

FIG. 20 is a disassembled view of a lower limb prosthesis having an ankle-motion-controlled foot unit according to another embodiment of the invention.

FIG. 21 is a disassembled view of a sensor assembly usable with the lower limb prosthesis of FIG. 20 .

FIG. 22 is a graph illustrating preferred ankle response angles for respective degrees of incline/decline.

FIG. 23 is a block diagram that illustrates one embodiment of a system including a number of mechatronic devices.

FIG. 24 is a block diagram illustrating in more detail one embodiment of a mechatronic device in communication with additional devices in one embodiment of the system of FIG. 23 .

FIG. 25 illustrates a user interface of one embodiment of an instrumentation program for use with a mechatronic device.

FIG. 26A is a schematic block diagram of an exemplary embodiment of the system of FIG. 1 that includes a prosthetic knee and a prosthetic ankle.

FIG. 26B is a schematic block diagram of an exemplary embodiment of the system of FIG. 1 that includes a prosthetic knee and a prosthetic foot.

FIG. 26C is a schematic block diagram of another exemplary embodiment of the system of FIG. 1 that includes a prosthetic knee, a prosthetic foot, and a master device.

FIG. 26D is a schematic block diagram of another exemplary embodiment of the system of FIG. 1 that includes a prosthetic knee and a prosthetic foot in which the prosthetic foot includes one or more state machines for controlling both devices.

FIG. 27 is a block diagram illustrating one embodiment of a system including mechatronic devices in communication with personal and network computing devices.

FIG. 28 is a flowchart illustrating one embodiment of a method of synchronizing configuration or calibration data of the mechatronic device with the network computing device.

FIG. 29 is a flowchart illustrating one embodiment of a method of replacing or augmenting software on the mechatronic device.

FIG. 30 is a perspective view of a transfemoral prosthesis having an ankle-motion-controlled foot unit and an actuated knee unit according to one embodiment of the invention.

DETAILED DESCRIPTION OF CERTAIN EMBODIMENTS

Some preferred embodiments of the invention described herein relate generally to prosthetic and orthotic systems and, in particular, to operatively coupled prosthetic and orthotic devices, such as a prosthetic ankle and/or knee, that improve the function of the other prosthetic and/or orthotic devices. While the description sets forth various embodiment-specific details, it will be appreciated that the description is illustrative only and should not be construed in any way as limiting the invention. Furthermore, various applications of the invention, and modifications thereto, which may occur to those who are skilled in the art, are also encompassed by the general concepts described herein. The following U.S. patent applications are hereby incorporated herewith: U.S. App. No. 60/544,259, LOWER LIMB PROSTHESIS WITH ANKLE-MOTION CONTROLLED FOOT, filed Feb. 12, 2004; U.S. App. No. 60/588,232, PROSTHETIC OR ORTHOTIC SYSTEM WITH ANKLE-MOTION-CONTROLLED FOOT, filed Jul. 15, 2004; U.S. application Ser. No. 11/056,344, SYSTEM AND METHOD FOR MOTION-CONTROLLED FOOT UNIT, filed Feb. 11, 2005; U.S. application Ser. No. 11/057,391, SYSTEM AND METHOD FOR MOTION-CONTROLLED FOOT UNIT, filed Feb. 11, 2005; U.S. application Ser. No. 11/367,049, SYSTEMS AND METHODS FOR ACTUATING A PROSTHETIC ANKLE BASED ON A RELAXED POSITION, filed Mar. 1, 2006; U.S. application Ser. No. 11/367,048, SYSTEMS AND METHODS FOR ADJUSTING THE ANGLE OF A PROSTHETIC ANKLE BASED ON A MEASURED SURFACE ANGLE, filed Mar. 1, 2006; U.S. App. No. 60/653,717, SYSTEM AND METHOD OF SYNCHRONIZING AND COMMUNICATING WITH MECHATRONIC DEVICES, filed Feb. 16, 2005; U.S. application Ser. No. 11/355,047, SYSTEM AND METHOD OF SYNCHRONIZING MECHATRONIC DEVICES, filed Feb. 15, 2006; U.S. App. No. 60/679,953, SYSTEM AND METHOD FOR DATA COMMUNICATION WITH A MECHATRONIC DEVICE, filed May 10, 2005; and U.S. application Ser. No. 11/355,058, SYSTEM AND METHOD FOR DATA COMMUNICATION WITH A MECHATRONIC DEVICE, filed Feb. 15, 200

CLAIMS

Claims ( 20 )

We claim:

1. A method of controlling a prosthetic ankle device, comprising:

monitoring, with at least one sensor, at least one of position and movement of one or more components of a prosthetic system comprising the prosthetic ankle device, wherein the prosthetic ankle device comprises a powered actuator configured to affect an ankle angle of the prosthetic ankle device;

determining a gait speed of a user of the prosthetic ankle device based at least in part on data obtained from the at least one sensor, the gait speed of the user defined as a linear distance travelled by the user over a ground surface per a unit of time;

determining a number of strides of the user of the prosthetic ankle device based at least in part on data obtained from the at least one sensor;

determining both that the determined gait speed of the user satisfies a threshold gait speed and that the determined number of strides of the user satisfies a threshold number of strides; and

controlling the actuator to adjust the ankle angle of the prosthetic ankle device only after determining both that i) the determined gait speed of the user satisfies the threshold gait speed and that ii) the determined number of strides of the user satisfies the threshold number of strides, wherein the threshold gait speed is defined as a threshold linear distance travelled by the user over the ground surface per a unit of time, wherein the actuator is not controlled to adjust the ankle angle prior to determining both that i) the determined gait speed of the user satisfies the threshold gait speed and that ii) the determined number of strides of the user satisfies the threshold number of strides.

2. The method of claim 1 , wherein the actuator is adjusted differently for a particular phase of gait cycle depending on the gait speed of the user.

3. The method of claim 1 , wherein the adjusting the ankle angle comprises providing toe lift during a swing phase of the gait.

4. The method of claim 1 , wherein the actuator is controlled in a first manner for a first gait speed, and is controlled in a second manner for a second gait speed, wherein the first gait speed is defined as a first linear distance travelled by the user over the ground surface per a unit of time, wherein the second gait speed is defined as a second linear distance travelled by the user over the ground surface per a unit of time, and wherein the first gait speed is less than the second gait speed.

5. The method of claim 1 , comprising performing a toe lift function based on determining that the number of strides is greater than one and that the gait speed of the user is greater than the threshold gait speed.

6. The method of claim 5 , comprising performing a toe lift function based on determining that the number of strides is greater than two.

7. The method of claim 5 , wherein the threshold gait speed is between about 0.40 m/s and about 0.60 m/s.

8. A method of controlling a prosthetic ankle device, comprising:

monitoring, with at least one sensor, at least one of position and movement of one or more components of a prosthetic system comprising the prosthetic ankle device, wherein the prosthetic ankle device comprises a powered actuator configured to affect an ankle angle of the prosthetic ankle device;

generating data indicative of the at least one of position and movement;

processing the data to determine a gait speed and a number of strides of a user of the prosthetic ankle device, the gait speed of the user defined as a linear distance travelled by the user over a ground surface per a unit of time;

determining both that the determined gait speed of the user satisfies a threshold gait speed and that the determined number of strides of the user satisfies a threshold number of strides; and

adjusting the ankle angle to provide for toe lift during a swing phase of the gait cycle only after determining both that i) the determined gait speed of the user satisfies the threshold gait speed and that ii) the determined number of strides of the user satisfies the threshold number of strides, wherein the threshold gait speed is defined as a threshold linear distance travelled by the user over the ground surface per a unit of time wherein the actuator is not controlled to adjust the ankle angle prior to determining both that i) the determined gait speed of the user satisfies the threshold gait speed and that ii) the determined number of strides of the user satisfies the threshold number of strides.

9. The method of claim 8 , wherein the powered actuator is configured to actively adjust the ankle angle of the prosthetic ankle device.

10. The method of claim 8 , wherein the powered actuator comprises a linear actuator.

11. The method of claim 8 , comprising monitoring at least one of position and movement with at least one accelerometer.

12. The method of claim 8 , comprising monitoring at least one of position and movement with at least one gyroscope.

13. The method of claim 8 , comprising adjusting the ankle angle to provide for toe lift during a swing phase of the gait cycle based on determining that the gait speed of the user is greater than the threshold gait speed and that the number of strides is greater than one.

14. The method of claim 13 , comprising adjusting the ankle angle to provide for toe lift during a swing phase of the gait cycle based on determining that the number of strides is greater than two.

15. The method of claim 8 , wherein the threshold gait speed is between about 0.40 m/s and about 0.60 m/s.

16. A method of controlling a prosthetic ankle device, comprising:

monitoring, with at least one sensor, at least one of position and movement of one or more components of a prosthetic system comprising the prosthetic ankle device, wherein the prosthetic ankle device comprises a powered actuator configured to affect an ankle angle of the prosthetic ankle device;

determining a gait speed of the user of the prosthetic ankle device based at least in part on data obtained from the at least one sensor, the gait speed of the user defined as a linear distance travelled by the user over a ground surface per a unit of time;

determining that the determined gait speed of the user satisfies a threshold gait speed; and

controlling the actuator to adjust the ankle angle of the prosthetic ankle device only after the determined gait speed satisfies the threshold gait speed and only after the user has completed at least one stride, wherein the threshold gait speed is defined as a threshold linear distance travelled by the user over the ground surface per a unit of time, wherein the actuator is not controlled to adjust the ankle angle prior to determining both that i) the determined gait speed of the user satisfies the threshold gait speed and that ii) the determined number of strides of the user satisfies the threshold number of strides.

17. The method of claim 16 , comprising controlling the actuator to adjust the ankle angle of the prosthetic ankle device only after the user has completed at least two strides.

18. The method of claim 16 , comprising performing a toe lift function based on determining that the gait speed is greater than the threshold gait speed and only after the user has completed at least two strides.

19. The method of claim 18 , wherein the threshold gait speed is between about 0.40 m/s and about 0.60 m/s.

20. The method of claim 16 , comprising performing a toe lift function based on determining that the gait speed is greater than a threshold gait speed and only after the user has completed at least three strides.

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Transfemoral prosthetic systems and methods for operating the same

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Transfemoral prosthetic systems and methods for operating the same

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Transfemoral prosthetic systems and methods for operating the same

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