Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature

• US 20070050044A1
• Filed: 08/26/2005
• Published: 03/01/2007
• Est. Priority Date: 08/26/2005
• Status: Active Grant

• Current Assignee: Willowood Global, LLC
• Original Assignee: Ohio Willow Wood Company
• Inventors: Taylor, Marc, Haynes, Michael
• Granted Patent: US 7,485,152 B2
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2002/30523 by means of meshing gear teeth
• 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 2002/705 Electromagnetic data transfer for implantable prostheses A61F2250/0002
• 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: A61F 2220/0025 Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements

Abstract

A prosthetic leg having an electronically controlled regenerative prosthetic knee. In certain embodiments of the present invention the knee may be passive, whereby it is used only to generate electrical energy. In other embodiments, the knee may be active, whereby it can be used to assist with or completely control gait, as well as to generate electrical energy. The knee makes use of an actuator motor/generator to control gait and/or to generate electrical energy. An electronic control system is provided to control overall operation of the prosthetic leg, to distribute generated electrical energy, and to transfer excess electrical energy to one or more storage devices for later use. A prosthetic leg of the present invention having an active prosthetic knee may be especially helpful in assisting an amputee with activities that impart a high torque load to the knee joint.

Claims

1. A prosthetic leg having a regenerative knee, comprising:

a frame;

a knee joint;

a damping device connected between said frame and said knee joint, said damping device operative to adjust the gait of a user;

an actuator/generator associated with said knee joint;

at least one electrical energy storage device in communication with said actuator/generator;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said damping device, said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein bending of the knee joint during ambulation of a user causes a forced movement of said actuator/generator and the subsequent generation of electrical energy;

wherein said electronic control system adjusts said damping device as needed to regulate the gait of said user; and

wherein said electronic control system is operative to distribute electrical energy to one or more electrical energy consuming devices associated with said prosthetic leg and transfers excess electrical energy produced by said actuator/generator to said at least one electrical energy storage device for later use.

2. The prosthetic leg of claim 1, wherein said damping device is selected from the group consisting of hydraulic cylinders, pneumatic cylinders, and magneto-rheological fluid employing dampers or brakes.

3. The prosthetic leg of claim 1, wherein said actuator/generator is selected from the group consisting field wound and permanent magnet motors.

4. The prosthetic leg of claim 1, wherein said at least one electrical energy storage device is selected from the group consisting of batteries and capacitors.

5. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg by setting a fixed knee joint flexion torque value based on heel rise, and a fixed knee joint extension torque value based on the time required for said knee joint to reach full extension at some specified amount of time prior to heel contact.

6. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg by allowing said knee joint to swing freely in flexion until it approaches a specified limit in heel rise angle, at which time said control system causes said actuator/generator to absorb energy from the flexion swing, said control system subsequently allowing said knee to swing back freely until it approaches full extension, at which time energy is absorbed from terminal impact.

7. The prosthetic leg of claim 1, wherein resistance to motion produced by said actuator/generator and/or other damping device is proportional to the angular speed of the knee joint, and wherein said electronic control system controls operation of said prosthetic leg by creating flexion and extension settings based on heel rise angle and the timing of terminal impact, respectively.

8. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg by monitoring the amount of energy produced by rotation of said knee joint and maintaining said amount of energy below some predetermined level based on the position of said knee joint in a heel rise or free swing phase of said user'"'"'s gait cycle.

9. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg by modifying said user'"'"'s gait trajectory in a manner that forces said user to work harder during ambulation, thereby increasing the amount of energy available for recovery and use.

10. The prosthetic leg of claim 9, wherein said electronic control system acts to limit the angle of said knee joint during heel rise.

11. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg by some combination of the methods of claims 5-9.

12. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg using a sliding scale that takes into consideration one or more of the current state of charge of said at least one electrical energy storage device, an amount of energy being output by said user, and the type of terrain being traversed.

13. The prosthetic leg of claim 1, wherein said electronic control system controls operation of said prosthetic leg by setting said damping device to limit both heel rise and terminal impact to some predetermined and corresponding range of values, and leaving said setting unchanged unless a change in gait produces a change in heel rise angle or terminal impact timing that falls outside of said range.

14. The prosthetic leg of claim 1, wherein said user manually sets said prosthetic leg to operate in a particular manner and said electronic control system simply reports the charge status of said at least one electrical energy storage device.

15. The prosthetic leg of claim 1, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg in a manner that results in a greater or lesser amount of electrical energy generation by said actuator/generator.

16. The prosthetic leg of claim 15, wherein when said charge status falls below some predetermined level, said electronic control system adjusts operation of said prosthetic leg to cause a greater amount of electrical energy generation.

17. The prosthetic leg of claim 15, wherein when said charge status is above some predetermined level, said electronic control system adjusts operation of said prosthetic leg to optimize one or more gait parameters.

18. The prosthetic leg of claim 1, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg to best maintain said charge status.

19. The prosthetic leg of claim 1, wherein said electronic control system also distributes electrical energy produced by said actuator/generator to one or more ancillary electrical energy consuming devices associated with said user.

20. The prosthetic leg of claim 19, wherein said ancillary electrical energy consuming devices are selected from the group consisting of other prosthetic limbs, remote sensors, implants, and personal electronic devices.

21. The prosthetic leg of claim 1, wherein said electronic control system controls the transfer of electrical energy from said at least one electrical energy storage device to one or more electrical energy consuming devices.

22. The prosthetic leg of claim 1, wherein said electronic control system operates said prosthetic leg in a gait profile duplication mode.

23. The prosthetic leg of claim 22, wherein data associated with said gait profile is obtained by monitoring and recording the gait of a test subject.

24. The prosthetic leg of claim 22, wherein data associated with said gait profile is calculated based on various characteristics of said user.

25. The prosthetic leg of claim 22, wherein data associated with said gait profile is obtained by instrumenting said user'"'"'s natural leg and forcing said prosthetic leg to duplicate a time scaled version of a trajectory detected for a previous stride of said natural leg.

26. The prosthetic leg of claim 22, wherein said gait profile is a natural gait profile.

27. The prosthetic leg of claim 22, wherein said electronic control system shifts operation of said prosthetic leg on a sliding scale from said gait profile duplication mode toward a more highly regenerative mode when detected energy consumption exceeds some calculated level.

28. The prosthetic leg of claim 27, wherein actuator/generator gain and/or maximum torque values are limited by said electronic control system when said actuator/generator is expending electrical energy, but remain high when said actuator/generator is generating electrical energy.

29. The prosthetic leg of claim 28, wherein actuator/generator gain and/or maximum torque values during electrical energy generation periods remain high enough to limit heel rise and terminal impact while remaining low enough to allow energy transmitted from said user'"'"'s hip to said user'"'"'s shin and foot to overcome frictional forces associated with said knee joint during a swing phase of said user'"'"'s gait cycle.

30. The prosthetic leg of claim 27, wherein heel rise is scaled to some value between that of the gait profile being duplicated and a smaller angle, thus forcing said user'"'"'s hip to work harder and causing said actuator/generator to generate a greater amount of electrical energy.

31. The prosthetic leg of claim 30, wherein actuator/generator gain and maximum torque values are kept constant, but heel rise is scaled to some angle between that of a gait profile being duplicated and a gait profile that has a maximum heel rise just larger than necessary to cause a foot portion of said prosthetic leg to clear the floor as a lower portion of said prosthetic leg swings through.

32. The prosthetic leg of claim 1, wherein said electronic control system operates said prosthetic leg in an audible noise minimization mode.

33. The prosthetic leg of claim 32, wherein said knee joint is forced to follow a path of reduced angular travel at near constant speed.

34. The prosthetic leg of claim 33, wherein a degree of knee flexion necessary to allow safe swing through of said prosthetic leg is determined and knee angle is subsequently limited by said electronic control system to some small margin of error above this value.

35. The prosthetic leg of claim 34, further comprising using stride time to determine the time required for said prosthetic leg to reach a point where it will contact the ground and setting knee speed to be as close to constant over the entire stride as possible.

36. The prosthetic leg of claim 32, wherein noise is minimized by constantly maintaining some minimum amount of torque on said actuator/generator.

37. The prosthetic leg of claim 1, wherein the current and/or torque output of said actuator/generator is limited and/or controlled by employing a current controller to control the electric power flowing from said actuator/generator.

38. The prosthetic leg of claim 37, wherein said current controller is a switch mode DC-DC converter that converts said electric power from said actuator/generator into electrical energy at a voltage that can be stored or used concurrently.

123. The prosthetic leg of claim 117, wherein resistance to motion produced by said actuator/generator is proportional to the angular speed of said knee joint, and wherein said electronic control system controls operation of said prosthetic leg by creating flexion and extension settings based on heel rise angle and the timing of terminal impact, respectively.

39. A prosthetic leg having an active and regenerative knee, comprising:

a frame;

a knee joint;

an auxiliary damping device connected between said frame and said knee joint;

an actuator/generator in communication with said frame and said knee joint;

at least one electrical energy storage device in communication with said actuator/generator;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said auxiliary damping device, said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said electronic control system operates said actuator/generator in an actuator mode as needed to actively control the gait of said user;

wherein said auxiliary damping device is used only to supplement said actuator/generator during periods of high torque load on said knee joint;

wherein bending of said knee joint during ambulation of a user causes a forced actuation of said actuator/generator in a generator mode and the subsequent generation of electrical energy;

wherein said electronic control system distributes electrical energy to one or more electrical energy consuming devices associated with said prosthetic leg; and

wherein said electronic control system transfers excess electrical energy produced by said actuator/generator to said at least one electrical energy storage device for later use.

wherein said electronic control system transfers excess electrical energy produced by said actuator/generator to said at least one electrical energy storage device for later use.

40. The prosthetic leg of claim 39, wherein said auxiliary damping device is selected from the group consisting of hydraulic cylinders, pneumatic cylinders, and magneto-rheological fluid employing devices.

41. The prosthetic leg of claim 39, wherein said actuator/generator is selected from the group consisting of field wound motors, permanent magnet motors, and electroactive polymers.

42. The prosthetic leg of claim 39, wherein said at least one electrical energy storage device is selected from the group consisting of batteries and capacitors.

43. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg by setting a fixed knee joint flexion torque value based on heel rise, and a fixed knee joint extension torque value based on the time required for said knee joint to reach full extension at some specified amount of time prior to heel contact.

44. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg by allowing said knee joint to swing freely in flexion until it approaches a specified limit in heel rise angle, at which time said control system causes said actuator/generator to absorb energy from the flexion swing, said control system subsequently allowing said knee to swing back freely until it approaches full extension, at which time energy is absorbed from terminal impact.

45. The prosthetic leg of claim 39, wherein resistance to motion produced by said actuator/generator and/or said auxiliary damping device is proportional to the angular speed of the knee joint, and wherein said electronic control system controls operation of said prosthetic leg by creating flexion and extension settings based on heel rise angle and the timing of terminal impact, respectively.

46. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg by monitoring the amount of energy produced by rotation of said knee joint and maintaining said amount of energy below some predetermined level based on the position of said knee joint in a heel rise or free swing phase of said user'"'"'s gait cycle.

47. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg by modifying said user'"'"'s gait trajectory in a manner that forces said user to work harder during ambulation, thereby increasing the amount of energy available for recovery and use.

48. The prosthetic leg of claim 47, wherein said electronic control system limits the angle of said knee joint during heel rise.

49. The prosthetic leg of any of claims 43-47, wherein said electronic control system operates said prosthetic leg in a maximized energy regeneration mode.

50. The prosthetic leg of claim 39, wherein said electronic control system operates said prosthetic leg in a maximized energy regeneration mode.

51. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg by some combination of the methods of claims 43-47.

52. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg by setting said damping device to limit both heel rise and terminal impact to some predetermined and corresponding range of values, and leaving said setting unchanged unless a change in gait produces a change in heel rise angle or terminal impact timing that falls outside of said range.

53. The prosthetic leg of claim 39, wherein said electronic control system controls operation of said prosthetic leg using a sliding scale that takes into consideration one or more of the current state of charge of said at least one electrical energy storage device, an amount of energy being output by said user, and the type of terrain being traversed.

54. The prosthetic leg of claim 39, wherein said user manually sets said prosthetic leg to operate in a particular manner and said electronic control system simply reports the charge status of said at least one electrical energy storage device.

55. The prosthetic leg of claim 39, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg in a manner that results in a greater or lesser amount of electrical energy generation by said actuator/generator.

56. The prosthetic leg of claim 55, wherein when said charge status falls below some predetermined level, said electronic control system adjusts operation of said prosthetic leg to cause a greater amount of electrical energy generation.

57. The prosthetic leg of claim 55, wherein when said charge status is above some predetermined level, said electronic control system adjusts operation of said prosthetic leg to optimize one or more gait parameters.

58. The prosthetic leg of claim 39, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg to best maintain said charge status.

59. The prosthetic leg of claim 39, wherein said electronic control system also distributes electrical energy produced by said actuator/generator to one or more other ancillary electrical energy consuming devices associated with said user.

60. The prosthetic leg of claim 59, wherein said ancillary electrical energy consuming devices are selected from the group consisting of other prosthetic limbs, remote sensors, implants, and personal electronic devices.

61. The prosthetic leg of claim 39, wherein said electronic control system operates said prosthetic leg in a gait profile duplication mode.

62. The prosthetic leg of claim 61, wherein data associated with said gait profile is obtained by monitoring and recording the gait of a test subject.

63. The prosthetic leg of claim 61, wherein data associated with said gait profile is calculated based on various characteristics of said user.

64. The prosthetic leg of claim 61, wherein data associated with said gait profile is obtained by instrumenting said user'"'"'s natural leg and forcing said prosthetic leg to duplicate a time scaled version of a trajectory detected for a previous stride of said natural leg.

65. The prosthetic leg of claim 61, wherein said gait profile is a natural gait profile.

66. The prosthetic leg of claim 61, wherein said electronic control system shifts operation of said prosthetic leg on a sliding scale from said gait profile duplication mode toward a more highly regenerative mode when detected energy consumption exceeds some calculated level.

67. The prosthetic leg of claim 66, wherein actuator/generator gain and/or maximum torque values are limited by said electronic control system when said actuator/generator is expending electrical energy, but remain high when said actuator/generator is generating electrical energy.

68. The prosthetic leg of claim 67, wherein actuator/generator gain and/or maximum torque values during electrical energy generation periods remain high enough to limit heel rise and terminal impact while remaining low enough to allow the energy transmitted from said user'"'"'s hip to said user'"'"'s shin and foot to overcome frictional forces associated with said knee joint during a swing phase of said user'"'"'s gait cycle.

69. The prosthetic leg of claim 68, wherein heel rise is scaled to some angle between that of the gait profile being duplicated and a smaller angle, thus forcing said user'"'"'s hip to work harder and causing said actuator/generator to generate a greater amount of electrical energy.

70. The prosthetic leg of claim 69, wherein actuator/generator gain and maximum torque values are kept constant, but the angle of heel rise is scaled to some value between that of a gait profile being duplicated and a gait profile that has a maximum heel rise just larger than necessary to cause a foot portion of said prosthetic leg to clear the floor as a lower portion of said prosthetic leg swings through.

71. The prosthetic leg of claim 39, wherein said electronic control system operates said prosthetic leg in an audible noise minimization mode.

72. The prosthetic leg of claim 71, wherein said electronic control system forces said knee joint to follow a path of reduced angular travel at near constant speed.

73. The prosthetic leg of claim 72, wherein a degree of knee flexion necessary to allow safe swing through of said prosthetic leg is determined and knee angle is subsequently limited by said electronic control system to some small margin of error above this value.

74. The prosthetic leg of claim 73, further comprising using stride time to determine the time required for said prosthetic leg to reach a point where it will contact the ground and setting knee speed to be as close to constant over the entire stride as possible.

75. The prosthetic leg of claim 71, wherein noise is minimized by constantly maintaining some minimum amount of torque on said actuator/generator.

76. The prosthetic leg of claim 39, wherein the current and/or torque output of said actuator/generator is limited and/or controlled by employing a current controller to control the electric power flowing from said actuator/generator.

77. The prosthetic leg of claim 76, wherein said current controller is a switch mode DC-DC converter that converts said electric power from said actuator/generator into electrical energy at a voltage that can be stored or used concurrently.

78. A prosthetic leg having an active and regenerative knee, comprising:

a frame;

a knee joint;

a damping device connected between said frame and said knee joint;

an actuator/generator in communication with said knee joint;

at least one electrical energy storage device in communication with said actuator/generator;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said damping device, said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said damping device is preset to some gross stiffness value and serves as the primary controller of a user'"'"'s gait;

wherein said electronic control system operates said actuator/generator in an actuator mode as needed to make adjustments to the gait of said user;

wherein bending of the knee joint during ambulation of a user causes a forced actuation of said actuator/generator in a generator mode and the subsequent generation of electrical energy;

wherein said electronic control system distributes electrical energy to one or more electrical energy consuming devices associated with said prosthetic leg; and

wherein said electronic control system transfers excess electrical energy produced by said actuator/generator to said at least one electrical energy storage device for later use.

79. The prosthetic leg of claim 78, wherein said damping device is selected from the group consisting of hydraulic cylinders, pneumatic cylinders, and magneto-rheological fluid employing brakes or dampers.

80. The prosthetic leg of claim 78, wherein said actuator/generator is selected from the group consisting of field wound motors, permanent magnet motors, and electroactive polymers.

81. The prosthetic leg of claim 78, wherein said at least one electrical energy storage device is selected from the group consisting of batteries and capacitors.

82. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg by setting a fixed knee joint flexion torque value based on heel rise, and a fixed knee joint extension torque value based on the time required for said knee joint to reach full extension at some specified amount of time prior to heel contact.

83. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg by allowing said knee joint to swing freely in flexion until it approaches a specified limit in heel rise angle, at which time said control system causes said actuator/generator to absorb energy from the flexion swing, said control system subsequently allowing said knee to swing back freely until it approaches full extension, at which time energy is absorbed from terminal impact.

84. The prosthetic leg of claim 78, wherein resistance to motion produced by said actuator/generator and/or said damping device is proportional to the angular speed of the knee joint, and wherein said electronic control system controls operation of said prosthetic leg by creating flexion and extension settings based on heel rise angle and the timing of terminal impact, respectively.

85. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg by monitoring the amount of energy produced by rotation of said knee joint and maintaining it below some predetermined level based on the position of said knee joint in a heel rise or free swing phase of said user'"'"'s gait cycle.

86. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg by modifying said user'"'"'s gait trajectory in a manner that forces said user to work harder during ambulation, thereby increasing the amount of energy available for recovery and use.

87. The prosthetic leg of claim 86, wherein said electronic control system limits the angle of said knee joint during heel rise.

88. The prosthetic leg of any of claims 82-86, wherein said electronic control system operates said prosthetic leg in a maximized energy regeneration mode.

89. The prosthetic leg of claim 78, wherein said electronic control system operates said prosthetic leg in a maximized energy regeneration mode.

90. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg by some combination of the methods of claims 82-86.

91. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg by setting said damping device to limit both heel rise and terminal impact to some predetermined and corresponding range of values, and leaving said setting unchanged unless a change in gait produces a change in heel rise angle or terminal impact timing that falls outside of said range.

92. The prosthetic leg of claim 78, wherein said electronic control system controls operation of said prosthetic leg using a sliding scale that takes into consideration one or more of the current state of charge of said at least one electrical energy storage device, an amount of energy being output by said user, and the type of terrain being traversed.

93. The prosthetic leg of claim 78, wherein said user manually sets said prosthetic leg to operate in a particular manner and said electronic control system simply reports the charge status of said at least one electrical energy storage device.

94. The prosthetic leg of claim 78, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg in a manner that results in a greater or lesser amount of electrical energy generation by said actuator/generator.

95. The prosthetic leg of claim 94, wherein when said charge status falls below some predetermined level, said electronic control system adjusts operation of said prosthetic leg to cause a greater amount of electrical energy generation.

96. The prosthetic leg of claim 94, wherein when said charge status is above some predetermined level, said electronic control system adjusts operation of said prosthetic leg to optimize one or more gait parameters.

97. The prosthetic leg of claim 78, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg to best maintain said charge status.

98. The prosthetic leg of claim 78, wherein said electronic control system also distributes electrical energy produced by said actuator/generator to one or more ancillary electrical energy consuming devices associated with said user.

99. The prosthetic leg of claim 98, wherein said ancillary electrical energy consuming devices are selected from the group consisting of other prosthetic limbs, remote sensors, implants, and personal electronic devices.

100. The prosthetic leg of claim 78, wherein said electronic control system operates said prosthetic leg in a gait profile duplication mode.

101. The prosthetic leg of claim 100, wherein data associated with said gait profile is obtained by monitoring and recording the gait of a test subject.

102. The prosthetic leg of claim 100, wherein data associated with said gait profile is calculated based on various characteristics of said user.

103. The prosthetic leg of claim 100, wherein data associated with said gait profile is obtained by instrumenting said user'"'"'s natural leg and forcing said prosthetic leg to duplicate a time scaled version of a trajectory detected for a previous stride of said natural leg.

104. The prosthetic leg of claim 100, wherein said gait profile is a natural gait profile.

105. The prosthetic leg of claim 100, wherein said electronic control system shifts operation of said prosthetic leg on a sliding scale from said gait profile duplication mode toward a more highly regenerative mode when detected energy consumption exceeds some calculated level.

106. The prosthetic leg of claim 105, wherein actuator/generator gain and/or maximum torque values are limited by said electronic control system when said actuator/generator is expending electrical energy, but remain high when said actuator/generator is generating electrical energy.

107. The prosthetic leg of claim 106, wherein actuator/generator gain and/or maximum torque values during electrical energy generation periods remain high enough to limit heel rise and terminal impact while remaining low enough to allow the energy transmitted from said user'"'"'s hip to said user'"'"'s shin and foot to overcome frictional forces associated with said knee joint during a swing phase of said user'"'"'s gait cycle.

108. The prosthetic leg of claim 105, wherein heel rise is scaled to some angle between that of the gait profile being duplicated and a smaller angle, thus forcing said user'"'"'s hip to work harder and causing said actuator/generator to generate a greater amount of electrical energy.

109. The prosthetic leg of claim 108, wherein actuator/generator gain and maximum torque values are kept constant, but heel rise is scaled to some angle between that of a gait profile being duplicated and a gait profile that has a maximum heel rise just larger than necessary to cause a foot portion of said prosthetic leg to clear the floor as a lower portion of said prosthetic leg swings through.

110. The prosthetic leg of claim 78, wherein said electronic control system operates said prosthetic leg in an audible noise minimization mode.

111. The prosthetic leg of claim 110, wherein said electronic control system forces said knee joint to follow a path of reduced angular travel at near constant speed.

112. The prosthetic leg of claim 111, wherein a degree of knee flexion necessary to allow safe swing through of said prosthetic leg is determined and knee angle is subsequently limited by said electronic control system to some small margin of error above this value.

113. The prosthetic leg of claim 112, further comprising using stride time to determine the time required for said prosthetic leg to reach a point where it will contact the ground and setting knee speed to be as close to constant over the entire stride as possible.

114. The prosthetic leg of claim 110, wherein noise is minimized by constantly maintaining some minimum amount of torque on said actuator/generator.

115. The prosthetic leg of claim 78, wherein the current and/or torque output of said actuator/generator is limited and/or controlled by employing a current controller to control the electric power flowing from said actuator/generator.

116. The prosthetic leg of claim 115, wherein said current controller is a switch mode DC-DC converter that converts said electric power from said actuator/generator into electrical energy at a voltage that can be stored or used concurrently.

117. A prosthetic leg having an active and regenerative knee, comprising:

a frame;

a knee joint;

an actuator/generator in communication with said frame and said knee joint;

at least one electrical energy storage device in communication with said actuator/generator;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said electronic control system operates said actuator/generator in an actuator mode as needed to actively control the gait of a user;

wherein bending of said knee joint during ambulation of said user causes a forced actuation of said actuator/generator in a generator mode and the subsequent generation of electrical energy;

wherein said electronic control system distributes electrical energy to one or more electrical energy consuming devices associated with said prosthetic leg; and

wherein said electronic control system transfers excess electrical energy produced by said actuator/generator to said at least one electrical energy storage device for later use.

118. The prosthetic leg of claim 117, wherein said actuator/generator is mounted within the knee joint.

119. The prosthetic leg of claim 117, wherein said actuator/generator is selected from the group consisting of permanent magnet motors, field wound motors, and electroactive polymers.

120. The prosthetic leg of claim 117, wherein said at least one electrical energy storage device is selected from the group consisting of batteries and capacitors.

121. The prosthetic leg of claim 117, wherein said electronic control system controls operation of said prosthetic leg by setting a fixed knee joint flexion torque value based on heel rise, and a fixed knee joint extension torque value based on the time required for said knee joint to reach full extension at some specified amount of time prior to heel contact.

122. The prosthetic leg of claim 117, wherein said electronic control system controls operation of said prosthetic leg by allowing said knee joint to swing freely in flexion until it approaches a specified limit in heel rise angle, at which time said control system causes said actuator/generator to absorb energy from the flexion swing, said control system subsequently allowing said knee to swing back freely until it approaches full extension, at which time energy is absorbed from terminal impact.

124. The prosthetic leg of claim 117, wherein said electronic control system controls operation of said prosthetic leg by monitoring the amount of energy produced by rotation of said knee joint and maintaining it below some predetermined level based on the position of said knee joint in heel rise or free swing phases of said user'"'"'s gait cycle.

125. The prosthetic leg of claim 117, wherein said electronic control system controls operation of said prosthetic leg by modifying said user'"'"'s gait trajectory in a manner that forces said user to work harder during ambulation, thereby increasing the amount of energy available for recovery and use.

126. The prosthetic leg of claim 125, wherein said electronic control system limits the angle of said knee joint during heel rise.

127. The prosthetic leg of any of claims 121-125, wherein said electronic control system operates said prosthetic leg in a maximized energy regeneration mode.

128. The prosthetic leg of claim 117, wherein said electronic control system operates said prosthetic leg in a maximized energy regeneration mode.

129. The prosthetic leg of claim 117, wherein said electronic control system controls operation of said prosthetic leg by some combination of the methods of claims 121-125.

130. The prosthetic leg of claim 117, wherein said electronic control system controls operation of said prosthetic leg using a sliding scale that takes into consideration one or more of the current state of charge of said at least one electrical energy storage device, an amount of energy being output by said user, and the type of terrain being traversed.

131. The prosthetic leg of claim 117, wherein said user manually sets said prosthetic leg to operate in a particular manner and said electronic control system simply reports the charge status of said at least one electrical energy storage device.

132. The prosthetic leg of claim 117, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg in a manner that results in a greater or lesser amount of electrical energy generation by said actuator/generator.

133. The prosthetic leg of claim 132, wherein when said charge status falls below some predetermined level, said electronic control system adjusts operation of said prosthetic leg to cause a greater amount of electrical energy generation.

134. The prosthetic leg of claim 132, wherein when said charge status is above some predetermined level, said electronic control system adjusts operation of said prosthetic leg to optimize one or more gait parameters.

135. The prosthetic leg of claim 117, wherein said electronic control system continually monitors the charge status of said at least one electrical energy storage device and correspondingly adjusts operation of said prosthetic leg to best maintain said charge status.

136. The prosthetic leg of claim 117, wherein said electronic control system also distributes electrical energy produced by said actuator/generator to one or more ancillary electrical energy consuming devices associated with said user.

137. The prosthetic leg of claim 136, wherein said ancillary electrical energy consuming devices are selected from the group consisting of other prosthetic limbs, remote sensors, implants, and personal electronic devices.

138. The prosthetic leg of claim 117, wherein said electronic control system operates said prosthetic leg in a gait profile duplication mode.

139. The prosthetic leg of claim 138, wherein data associated with said gait profile is obtained by monitoring and recording the gait of a test subject.

140. The prosthetic leg of claim 138, wherein data associated with said gait profile is calculated based on various characteristics of said user.

141. The prosthetic leg of claim 138, wherein data associated with said gait profile is obtained by instrumenting said user'"'"'s natural leg and forcing said prosthetic leg to duplicate a time scaled version of a trajectory detected for a previous stride of said natural leg.

142. The prosthetic leg of claim 138, wherein said gait profile is a natural gait profile.

143. The prosthetic leg of claim 138, wherein said electronic control system shifts operation of said prosthetic leg on a sliding scale from said gait profile duplication mode toward a more highly regenerative mode when detected energy consumption exceeds some calculated level.

144. The prosthetic leg of claim 143, wherein actuator/generator gain and/or maximum torque values are limited by said electronic control system when said actuator/generator is expending electrical energy, but remain high when said actuator/generator is generating electrical energy.

145. The prosthetic leg of claim 144, wherein actuator/generator gain and/or maximum torque values during electrical energy generation periods remain high enough to limit heel rise and terminal impact while remaining low enough to allow the energy transmitted from said user'"'"'s hip to said user'"'"'s shin and foot to overcome frictional forces associated with said knee joint during a swing phase of said user'"'"'s gait cycle.

146. The prosthetic leg of claim 138, wherein heel rise is scaled to some angle between that of the gait profile being duplicated and a smaller angle, thus forcing said user'"'"'s hip to work harder and causing said actuator/generator to generate a greater amount of electrical energy.

147. The prosthetic leg of claim 138, wherein actuator/generator gain and maximum torque values are kept constant, but the trajectory of heel rise is scaled to some angle between that of a gait profile being duplicated and a gait profile that has a maximum heel rise just larger than necessary to cause a foot portion of said prosthetic leg to clear the floor as a lower portion of said prosthetic leg swings through.

148. The prosthetic leg of claim 117, wherein said electronic control system operates said prosthetic leg in an audible noise minimization mode.

149. The prosthetic leg of claim 148, wherein said electronic control system forces said knee joint to follow a path of reduced angular travel at near constant speed.

150. The prosthetic leg of claim 149, wherein a degree of knee flexion necessary to allow safe swing through of said prosthetic leg is determined and knee angle is subsequently limited by said electronic control system to some small margin of error above this value.

151. The prosthetic leg of claim 150, further comprising using stride time to determine the time required for said prosthetic leg to reach a point where it will contact the ground, and setting knee speed to be as close to constant over the entire stride as possible.

152. The prosthetic leg of claim 148, wherein noise is minimized by constantly maintaining some minimum amount of torque on said actuator/generator.

153. The prosthetic leg of claim 117, wherein the current and/or torque output of said actuator/generator is limited and/or controlled by employing a current controller to control the electric power flowing from said actuator/generator.

154. The prosthetic leg of claim 153, wherein said current controller is a switch mode DC-DC converter that converts said electric power from said actuator/generator into electrical energy at a voltage that can be stored or used concurrently.

155. A prosthetic leg having a regenerative knee, comprising:

a frame;

a knee joint;

a damping device connected between said frame and said knee joint, said damping device operative to adjust the gait of a user;

an actuator/generator associated with said knee joint;

at least one electrical energy storage device;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said damping device, said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said electronic control system adjusts said damping device as needed to regulate the gait of said user;

wherein bending of the knee joint during ambulation of a user causes a forced movement of said actuator/generator and the subsequent generation of electrical energy;

wherein said electronic control system concurrently distributes electrical energy produced by said actuator/generator to one or more electrical energy consuming devices associated with said prosthetic leg and/or with said user; and

wherein additional electrical energy may be drawn from said at least one electrical energy storage device to supplement an amount of electrical energy produced by said actuator/generator.

156. A prosthetic leg having an active and regenerative knee, comprising:

a frame;

a knee joint;

an auxiliary damping device connected between said frame and said knee joint;

an actuator/generator in communication with said frame and said knee joint;

at least one electrical energy storage device;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said auxiliary damping device, said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said electronic control system operates said actuator/generator in an actuator mode as needed to actively control the gait of said user;

wherein said auxiliary damping device is used only to supplement said actuator/generator during periods of high torque load on said knee joint;

wherein bending of said knee joint during ambulation of a user causes a forced actuation of said actuator/generator in a generator mode and the subsequent generation of electrical energy;

wherein said electronic control system concurrently distributes electrical energy produced by said actuator/generator to one or more electrical energy consuming devices associated with said prosthetic leg and/or with said user; and

wherein additional electrical energy may be drawn from said at least one electrical energy storage device to supplement an amount of electrical energy produced by said actuator/generator.

157. A prosthetic leg having an active and regenerative knee, comprising:

a frame;

a knee joint;

a damping device connected between said frame and said knee joint;

an actuator/generator in communication with said knee joint;

at least one electrical energy storage device;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said damping device, said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said damping device is preset to some gross stiffness value and serves as the primary controller of a user'"'"'s gait;

wherein said electronic control system operates said actuator/generator in an actuator mode as needed to make adjustments to the gait of said user;

wherein bending of the knee joint during ambulation of a user causes a forced actuation of said actuator/generator in a generator mode and the subsequent generation of electrical energy;

wherein said electronic control system concurrently distributes electrical energy produced by said actuator/generator to one or more electrical energy consuming devices associated with said prosthetic leg and/or with said user; and

wherein additional electrical energy may be drawn from said at least one electrical energy storage device to supplement an amount of electrical energy produced by said actuator/generator.

158. A prosthetic leg having an active and regenerative knee, comprising:

a frame;

a knee joint;

an actuator/generator in communication with said frame and said knee joint;

at least one electrical energy storage device;

at least one sensor for monitoring and reporting at least one condition of said prosthetic leg; and

an electronic control system in communication with said actuator/generator, said at least one electrical energy storage device, and said at least one sensor;

wherein said electronic control system operates said actuator/generator in an actuator mode as needed to actively control the gait of a user;

wherein bending of said knee joint during ambulation of said user causes a forced actuation of said actuator/generator in a generator mode and the subsequent generation of electrical energy;

wherein said electronic control system concurrently distributes electrical energy produced by said actuator/generator to one or more electrical energy consuming devices associated with said prosthetic leg and/or with said user; and

wherein additional electrical energy may be drawn from said at least one electrical energy storage device to supplement an amount of electrical energy produced by said actuator/generator.