Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
First Claim
1. An artificial ankle comprising, in combination, a shin member, a foot and ankle structure coupled for rotation with respect to said shin member at an ankle joint, said foot and ankle structure comprising:
- a curved flexible elastic foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member to said ankle joint, and a variable damper element for arresting the motion of said foot and ankle structure with respect to said shin member under predetermined conditions.
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Accused Products
Abstract
An artificial foot and ankle joint consisting of a curved leaf spring foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position, and a controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and a sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent and stair descent.
233 Citations
25 Claims
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1. An artificial ankle comprising, in combination,
a shin member, a foot and ankle structure coupled for rotation with respect to said shin member at an ankle joint, said foot and ankle structure comprising: -
a curved flexible elastic foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member to said ankle joint, and a variable damper element for arresting the motion of said foot and ankle structure with respect to said shin member under predetermined conditions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. An artificial ankle comprising, in combination,
a shin member, a foot and ankle structure coupled for rotation with respect to said shin member at an ankle joint, said foot and ankle structure comprising: -
a curved flexible elastic foot member that defines a heel extremity and a toe extremity, and a flexible elastic ankle member that connects said foot member to said ankle joint, and a motor connected for applying torque to said ankle joint to rotate said foot and ankle structure with respect to said shin member at controllable times. - View Dependent Claims (16, 17, 18)
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19. An artificial ankle and foot system for supporting a human wearer as said wearer walks on a support surface comprising, in combination,
an elastic ankle and foot structure for storing energy during a dorsiflexion period as the weight of said wearer displaces said elastic ankle and foot structure and for releasing energy during a powered plantarflexion period as said elastic foot and ankle structure urges said wearer in a forward direction with respect to said support surface, a shin member, an ankle joint for connecting said ankle and shin structure for rotational motion with respect to said shin member, a motor for applying a torque to said ankle joint tending to move said ankle and foot structure with respect to said shin member, a stop mechanism coupled between said ankle and foot structure and said shin member for preventing the rotation of said ankle and foot structure with respect to said shin member beyond a limiting position, a controllable variable damper coupled to said ankle joint for arresting the motion of said ankle and foot structure with respect to said shin member under predetermined conditions, and a controller connected to operate said motor and said controllable variable damper at predetermined times relative to said dorsiflexion period and said plantarflexion period.
Specification