Hybrid terrain-adaptive lower-extremity systems
First Claim
1. A method for determining ground reaction force imparted by an underlying surface onto a foot member of a lower extremity prosthetic apparatus worn by a wearer, the apparatus comprising a foot member, a lower leg member, an ankle joint for connecting the foot member to the lower leg member and a first actuator for applying torque to the ankle joint to rotate the foot member with respect to the lower leg member, the method comprising:
- calculating the ground reaction force based on an inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, axial force applied to the lower leg member, and an angle between the foot member and lower leg member; and
controlling the first actuator based on the calculated ground reaction force.
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Accused Products
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.
370 Citations
20 Claims
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1. A method for determining ground reaction force imparted by an underlying surface onto a foot member of a lower extremity prosthetic apparatus worn by a wearer, the apparatus comprising a foot member, a lower leg member, an ankle joint for connecting the foot member to the lower leg member and a first actuator for applying torque to the ankle joint to rotate the foot member with respect to the lower leg member, the method comprising:
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calculating the ground reaction force based on an inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, axial force applied to the lower leg member, and an angle between the foot member and lower leg member; and controlling the first actuator based on the calculated ground reaction force. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A method for controlling balance of a wearer wearing a lower extremity prosthetic, orthotic or exoskeleton apparatus comprising a foot member, a lower leg member, and an ankle joint for connecting the foot member to the lower leg member, the method comprising:
adjusting at least one of an ankle joint impedance, position or torque of the apparatus based on inertial pose of the lower leg member, angle between the lower leg member and the foot member and ground reaction force and a zero moment pivot imparted by an underlying surface onto the foot member. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
Specification