Powered ankle-foot prosthesis

• US 10,137,011 B2
• Filed: 08/19/2013
• Issued: 11/27/2018
• Est. Priority Date: 03/31/2005
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Herr, Hugh M., Weber, Jeff A., Au, Kwok Wai Samuel, Deffenbaugh, Bruce Wayne, Magnusson, Lee Harris, Hofmann, Andreas G., Aisen, Benjamin B.
• Primary Examiner(s): Sweet, Thomas J
• Assistant Examiner(s): Bahena, Christie
• Application Number:
  US13/970,094
• Publication Number:
  US 20140088729A1
• Time in Patent Office: 1,926 Days
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/605 Hip joints
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/68 Operating or control means
• CPC Class Codes: A61F 2002/5004 operated by electro- or magnetorheological fluids
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping damping means A61F2002/5003
• CPC Class Codes: A61F 2002/5075 Multiple spring systems including two or more helical springs
• CPC Class Codes: A61F 2002/6818 for braking
• 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 2002/7635 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: B25J 19/0008 Balancing devices

Abstract

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Claims

1. An autonomous, wearable powered leg device, comprising:

a) a controllable powered actuator including a motor being linkable to an ankle joint to thereby impart torque about the ankle joint;

b) a controller that includes an electromyographic processing unit linked to the controllable powered actuator;

c) at least one electromyographic sensor coupled to the electromyographic processing unit and connectable to limb muscles of an individual wearing the device, whereby electromyographic signals measured from the limb muscles are transmitted to the electromyographic processing unit and thereby modulate control commands from the controller; and

d) a plurality of servo controllers, at least one of the servo controllers linking the electromyographic processing unit to the controllable powered actuator, whereby the individual wearing the device can modulate the controller to adjust between the plurality of the servo controllers, wherein the servo controllers include;

i) a torque controller that provides an offset torque during powered plantar flexion push-off of the powered leg device;

ii) an impedance controller that modulates at least one of joint stiffness and damping of the powered leg device during a stance phase of a gait of the individual; and

iii) a position controller that controls foot position of the powered leg device during a swing phase of the gait of the individual.

2. The device of claim 1, further including the ankle joint, the joint being a prosthetic joint.

3. The device of claim 2, wherein the joint has a rotational joint bearing axis, and the joint defines an angle between two structures that are joined by the joint, and the angle can vary over a range of angles.

4. The device of claim 1, further including a sensory system linked to the controllable powered actuator, the sensory system including at least one sensor at or proximate to the joint.

5. The device of claim 1, wherein the electromyographic processing unit is used to switch among a plurality of selected gait modes selected by the individual.

6. The device of claim 5, wherein the gait modes include level ground walking and stair descent.

7. The device of claim 1, wherein the controller determines which servo controller is employed to execute a gait selected by the individual among distinct gaits.

8. The device of claim 7, wherein the controller includes at least one finite state controller corresponding to at least one of the distinct gaits.

9. The powered device of claim 1, wherein the controllable powered actuator is configured to apply torque about the joint to power plantarflexion of the joint.

10. The device of claim 1, wherein the electromyographic processing unit includes a pre-processing unit that computes a standard deviation of the sensed electromyographic signal received from the electromyographic sensor.

11. The device of claim 1, wherein the actuator further includes a series elastic actuator, the series elastic actuator including the motor, a spring connected in series with the motor, and a transmission coupled to the motor and the spring.

12. An autonomous, wearable powered leg device, comprising:

a) a controllable powered actuator including a motor and being linkable to an ankle joint to thereby apply torque about the ankle joint;

b) a controller that includes an electromyographic processing unit linked to the controllable powered actuator;

c) at least one electromyographic sensor coupled to the electromyographic processing unit and connectable to limb muscles of an individual wearing the device, whereby electromyographic signals measured from the limb muscles are transmitted to the electromyographic processing unit and thereby switch the device among a plurality of gait modes selectable by the individual; and

d) a plurality of servo controllers, at least one of the servo controllers linking the electromyographic processing unit to the controllable powered actuator, whereby the individual wearing the device can modulate the controller to adjust between the plurality of servo controllers, wherein the servo controllers include;

i) a torque controller that provides offset torque during powered plantar flexion push-off of the powered leg device,

ii) an impedance controller that modulates at least one of joint stiffness and damping of the powered leg device during a stance phase of a gait of the individual, and

iii) a position controller that controls foot position of the powered leg device during a swing phase of the gait of the individual.

13. The device of claim 12, wherein the electromyographic processing unit includes a pre-processing unit that computes a standard deviation of the sensed electromyographic signal received from the electromyographic sensor.

14. The device of claim 12, wherein the actuator further includes a series elastic actuator, the series elastic actuator including the motor, a spring connected in series with the motor, and a transmission coupled to the motor and the spring.

15. The device of claim 12, wherein the gait modes include level ground walking and stair descent.