Impedance simulating motion controller for orthotic and prosthetic applications
First Claim
1. A motorized prosthetic or orthotic device (POD) provided with a knee joint comprising:
- a sensor configured to measure a joint angle of the knee joint of the motorized POD during a gait cycle; and
a controller including non-transitory computer-readable medium storing computer-executable instructions for controlling the motorized POD that when executed, cause the controller to;
receive the measured joint angle from the sensor,determine one or more control signals that control a stiffness of one or more actuators of the motorized POD based at least in part on a difference of the measured joint angle from an equilibrium angular position during stance phase of the gait cycle, wherein the equilibrium angular position is constant during at least a majority of the stance phase, and wherein the one or more control signals are based at least in part on at least a position set-point, a proportional gain, and a derivative gain, andcause the one or more control signals to be communicated to the one or more actuators to control the stiffness of the one or more actuators.
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Accused Products
Abstract
An impedance simulating motion controller for orthotic and prosthetic devices includes an equilibrium trajectory generator that receives locomotion data regarding the locomotion of a user, a dynamic trajectory compensator that generates one or more control parameters based on the locomotion data and one or more physiological characteristics of the user, and a dynamic gain tuner that adjusts the one or more control parameters based on a gain scaling factor that is calculated using a measured deflection point and an expected deflection point. The adjusted control parameters are used to control movement of an actuator of an orthotic or prosthetic device.
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Citations
20 Claims
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1. A motorized prosthetic or orthotic device (POD) provided with a knee joint comprising:
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a sensor configured to measure a joint angle of the knee joint of the motorized POD during a gait cycle; and a controller including non-transitory computer-readable medium storing computer-executable instructions for controlling the motorized POD that when executed, cause the controller to; receive the measured joint angle from the sensor, determine one or more control signals that control a stiffness of one or more actuators of the motorized POD based at least in part on a difference of the measured joint angle from an equilibrium angular position during stance phase of the gait cycle, wherein the equilibrium angular position is constant during at least a majority of the stance phase, and wherein the one or more control signals are based at least in part on at least a position set-point, a proportional gain, and a derivative gain, and cause the one or more control signals to be communicated to the one or more actuators to control the stiffness of the one or more actuators. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A motorized prosthetic or orthotic device (POD) provided with a knee joint comprising:
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a sensor configured to measure a joint angle of the knee joint of the motorized POD during a gait cycle; and a controller including non-transitory computer-readable medium storing computer-executable instructions for controlling the motorized POD that when executed, cause the controller to; receive the measured joint angle from the sensor, determine one or more control signals that control a stiffness of one or more actuators of the motorized POD based at least in part on a difference of the measured joint angle from an equilibrium angular position during stance phase of the gait cycle, wherein the equilibrium angular position is constant during at least a majority of the stance phase, cause the one or more control signals to be communicated to the one or more actuators to control the stiffness of the one or more actuators, and alter, using a dynamic gain tuner, the one or more control signals upon determining that a difference between at least one of the measured joint angle and an expected joint angle or the measured joint angle and the equilibrium angular position satisfies a threshold tolerance level. - View Dependent Claims (12, 13, 14, 15)
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16. A motorized prosthetic or orthotic device (POD) provided with a knee joint comprising:
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a sensor configured to measure a joint angle of the knee joint of the motorized POD during a gait cycle; and a controller including non-transitory computer-readable medium storing computer-executable instructions for controlling the motorized POD that when executed, cause the controller to; receive the measured joint angle from the sensor, determine one or more control signals that control a stiffness of one or more actuators of the motorized POD based at least in part on a difference of the measured joint angle from an equilibrium angular position during stance phase of the gait cycle, wherein the equilibrium angular position is constant during at least a majority of the stance phase, and wherein the stiffness of the one or more actuators causes the measured joint angle to follow a Winter'"'"'s reference trajectory during the stance phase, and cause the one or more control signals to be communicated to the one or more actuators to control the stiffness of the one or more actuators. - View Dependent Claims (17, 18, 19, 20)
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Specification