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Impedance simulating motion controller for orthotic and prosthetic applications

  • US 10,251,762 B2
  • Filed: 05/27/2015
  • Issued: 04/09/2019
  • Est. Priority Date: 05/03/2011
  • Status: Active Grant
First Claim
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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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