Hybrid terrain-adaptive lower-extremity systems

• US 10,070,974 B2
• Filed: 04/11/2016
• Issued: 09/11/2018
• Est. Priority Date: 09/04/2008
• Status: Active Grant

• Current Assignee: Otto Bock HealthCare LP (Nader Holding GmbH & Co. KG)
• Original Assignee: BionX Medical Technologies, Inc. (Ottobock SE & Co. KGaA)
• Inventors: Herr, Hugh M., Casler, Rick, Nook, Christopher M., Margolin, Alexander S., Size, Kristin J., Kowalczyk, Matthew T., Spaller, Robert W., Thompson, Gregory K., Dalrymple, Timothy M., Kessler, Seth S., Murray, David W., Barnhart, Christopher E.
• Primary Examiner(s): Luo, David S
• Application Number:
  US15/095,616
• Publication Number:
  US 20160296348A1
• Time in Patent Office: 883 Days
• Field of Search: 318135, 318 34
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers
• CPC Class Codes: A61F 2002/5007 having elastic means different from springs, e.g. including an elastomeric insert
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping
• CPC Class Codes: A61F 2002/5079 Leaf springs A61F2002/6657 takes precedence
• CPC Class Codes: A61F 2002/5087 Sound-damping or noise-reducing means
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/764 for measuring acceleration
• CPC Class Codes: A61F 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2002/7665 : for measuring temperatures
• CPC Class Codes: A61F 2005/0155 : with actuating means
• CPC Class Codes: A61F 2005/0169 : with damping means
• CPC Class Codes: A61H 1/0266 : Foot
• CPC Class Codes: A61H 2003/001 : on steps or stairways
• CPC Class Codes: A61H 3/00 : Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: G01L 5/0028 : Force sensors associated with force applying means G01L5/0052, G01L5/0057, G01L5/0061 take precedence
• CPC Class Codes: G01L 5/0061 : Force sensors associated with industrial machines or actuators for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21
• CPC Class Codes: G01P 21/00 : Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: H02K 7/06 : Means for converting reciprocating motion into rotary motion or vice versa
• CPC Class Codes: H02K 7/116 : with gears

Abstract

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Claims

1. A low noise linear actuator, comprising:

a rotary motor comprising a motor shaft output; and

a screw transmission assembly comprising a threaded shaft coupled to the motor shaft output, the threaded shaft comprising a hollowed out portion containing an acoustic damping material, and

a nut assembly, wherein the screw transmission assembly translates rotational motion of the motor shaft output to a linear motion of the nut assembly.

2. The linear actuator of claim 1, wherein the screw transmission assembly is a ball-screw transmission assembly and the nut assembly is a ball-nut assembly, wherein the ball-nut assembly further comprises a plurality of ball bearings and a plurality of ball tracks for holding the ball bearings and for recirculating the ball bearings in the ball bearing assembly.

3. The linear actuator of claim 2, comprising a pulley coupling the motor shaft output to the threaded shaft via a plurality of belts connected in parallel between the pulley and the threaded shaft of the ball-screw transmission assembly.

4. The linear actuator of claim 3, comprising a sensor that validates belt integrity during operation.

5. The linear actuator of claim 3, wherein the pulley is welded to the motor shaft output.

6. The linear actuator of claim 3, comprising a radial and thrust bearing coupling the plurality of belts to the threaded shaft to support loads applied by tension in the belts and the threaded shaft.

7. The linear actuator of claim 2, wherein the ball-screw transmission assembly comprises at least one seal for protecting the ball-screw transmission assembly from contaminants.

8. The linear actuator of claim 1, wherein the linear actuator is a component of a lower extremity prosthesis orthosis, or exoskeleton.

9. The linear actuator of claim 1, comprising a transmission that employs traction wheels that couple the motor shaft output to the threaded shaft of the ball-screw transmission assembly.

10. The linear actuator of claim 1, wherein the screw transmission assembly is a lead screw transmission assembly.

11. A linear actuator, comprising:

a rotary motor comprising a motor shaft output;

a motor drive transmission assembly coupled to the motor shaft output to translate rotational motion of the motor shaft output to a linear motion at an output of the motor drive transmission; and

at least one elastic element with bi-directional stiffness connected in series with the motor drive transmission assembly to store energy in tension and compression.

12. The linear actuator of claim 11, comprising a strain sensor coupled to the at least one elastic element for measuring strains in the at least one elastic element.

13. The linear actuator of claim 12, the at least one elastic element is a series or parallel elastic element coupled to the output of the motor drive transmission assembly.

14. The linear actuator of claim 13, comprising a controller for receiving measured strain signals for performing closed loop control of the linear actuator thrust force.

15. The linear actuator of claim 11, wherein the at least one elastic element is a substantially flat spring divided along a longitudinal axis of the spring minimizing out-of-plane moment applied by the spring to the output of the motor drive transmission assembly.

16. The linear actuator of claim 11, wherein the at least one elastic element is a series elastic strain element coupled to the output of the motor drive transmission assembly, and further comprising a sensor that measures motor position or position of the output of the motor drive transmission assembly, and at least one sensor that measures the output of the series elastic element, and signal processing electronics that estimates thrust force of the linear actuator for closed loop control of the linear actuator thrust force.

17. A linear actuator comprising intrinsic safety features, the actuator comprising:

a rotary motor comprising a motor shaft output, wherein a pulley is coupled to the motor shaft output; and

a ball-screw transmission assembly comprising a threaded shaft coupled to the motor shaft output by a plurality of belts connected in parallel between the pulley and the threaded shaft of the ball-screw transmission assembly, wherein the ball-screw transmission assembly translates rotational motion of the motor shaft output to a linear motion of a portion of the ball-screw transmission assembly.

18. The linear actuator of claim 17, comprising an angular encoder for determining angular alignment between the rotary motor'"'"'s rotor and stator.

19. The linear actuator of claim 17, comprising a controller configured to short three leads of the rotary motor to ground in response to a belt breakage sensor detecting a failure of one or more of the plurality of belts.

20. The linear actuator of claim 19, wherein shorting the three leads results in the rotary motor functioning as a stiff, viscous brake.

21. The linear actuator of claim 17, wherein temperature of the motor is determined by applying a fixed current to a winding of the motor winding and measuring a corresponding voltage in the winding to determine the winding resistance.

22. The linear actuator of claim 17, wherein temperature of the motor is determined by applying a fixed voltage to a winding of the motor winding and measuring a corresponding current in the winding to determine the winding resistance.

23. The linear actuator of claim 17, comprising a motor temperature sensor for measuring the temperature of the motor.

24. The linear actuator of claim 17, comprising a controller coupled to the motor for controlling torque output by the actuator based on temperature of the motor.