Hybrid Terrain-Adaptive Lower-Extremity Systems
First Claim
1. A method for determining ground reaction forces and zero moment pivot imparted by an underlying surface onto a foot member of a lower extremity prosthetic apparatus worn by a wearer, the apparatus comprising a foot member, a lower leg member, an ankle joint for connecting the foot member to the lower leg member and a first actuator for applying torque to the ankle joint to rotate the foot member with respect to the lower leg member, the method comprising:
- calculating the ground reaction force based on an inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, axial force applied to the lower leg member, and an angle between the foot member and lower leg member.
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Accused Products
Abstract
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
344 Citations
40 Claims
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1. A method for determining ground reaction forces and zero moment pivot imparted by an underlying surface onto a foot member of a lower extremity prosthetic apparatus worn by a wearer, the apparatus comprising a foot member, a lower leg member, an ankle joint for connecting the foot member to the lower leg member and a first actuator for applying torque to the ankle joint to rotate the foot member with respect to the lower leg member, the method comprising:
calculating the ground reaction force based on an inertial pose of the lower leg member, the torque applied to the lower leg member by the actuator, axial force applied to the lower leg member, and an angle between the foot member and lower leg member. - View Dependent Claims (2, 3, 4)
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5. A method for minimizing the effect of accelerometer and rate gyro errors on a lower extremity prosthesis or orthosis comprising a foot member, a lower leg member, and an ankle joint for connecting the foot member to the lower leg member, the method comprising:
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determining at least one velocity error contribution for an accelerometer signal output by an accelerometer coupled to the lower leg member when the ankle joint is substantially stationary during a walking cycle of the prosthesis or orthosis; and determining at least one velocity error contribution for an inertial pose misalignment signal output by an inertial measurement unit coupled to the lower leg member when the ankle joint is substantially stationary during a walking cycle of the prosthesis or orthosis. - View Dependent Claims (6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for controlling balance of a wearer wearing a lower extremity prosthetic, orthotic or exoskeleton apparatus comprising a foot member, a lower leg member, and an ankle joint for connecting the foot member to the lower leg member, the method comprising:
adjusting at least one of the ankle joint impedance, position or torque of the apparatus based on inertial pose of the lower leg member, angle between the lower leg member and the foot member and ground reaction force and the zero moment pivot imparted by an underlying surface onto the foot member. - View Dependent Claims (16, 17, 18, 19, 20, 21, 22)
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23. A method for reducing, throughout a gait cycle, hip impact force and hip impact force rate of a lower-extremity prosthetic, orthotic, or exoskeleton apparatus worn by a wearer, the method comprising:
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generating a cost function based on hip impact force and force rate generated by transmission of foot contact with underlying terrain; and controlling at least one of position, impedance or torque of at least one joint of the lower-extremity prosthetic, orthotic, or exoskeleton apparatus based on minimizing the cost function wearer to reducing hip impact forces generated during a gait cycle over the underlying terrain. - View Dependent Claims (24, 25, 26, 27, 28, 29, 30, 31)
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32. A method for minimizing, throughout a gait cycle, work performed by a lower-extremity prosthetic, orthotic, or exoskeleton apparatus worn by a wearer, the method comprising:
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generating a cost function for estimating intra-step transition work performed by a combination of the apparatus and subject on center of mass of the combination during double support; and controlling at least one of position, impedance or torque of at least one joint of the lower-extremity prosthetic, orthotic, or exoskeleton apparatus based on minimizing the cost function wearer to reducing the work performed by the wearer and apparatus generated during a gait cycle. - View Dependent Claims (33, 34, 35, 36, 37, 38, 39, 40)
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Specification