HYBRID TERRAIN-ADAPTIVE LOWER-EXTREMITY SYSTEMS

• US 20100174384A1
• Filed: 09/01/2009
• Published: 07/08/2010
• Est. Priority Date: 09/04/2008
• Status: Abandoned Application

• Current Assignee: iWalk Incorporated (Ottobock SE & Co. KGaA)
• Original Assignee: iWalk Incorporated (Ottobock SE & Co. KGaA)
• Inventors: Herr, Hugh M., Weber, Jeff A., Casler, Rick
• Application Number:
  US12/552,028
• Publication Number:
  US 20100174384A1
• Time in Patent Office: Days
• US Class Current: 623/32
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers
• CPC Class Codes: A61F 2002/5007 having elastic means different from springs, e.g. including an elastomeric insert
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping
• CPC Class Codes: A61F 2002/5079 Leaf springs A61F2002/6657 takes precedence
• CPC Class Codes: A61F 2002/5087 Sound-damping or noise-reducing means
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• 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 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• 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 2002/7665 : for measuring temperatures
• CPC Class Codes: A61F 2005/0155 : with actuating means
• CPC Class Codes: A61F 2005/0169 : with damping means
• CPC Class Codes: A61H 1/0266 : Foot
• CPC Class Codes: A61H 2003/001 : on steps or stairways
• CPC Class Codes: A61H 3/00 : Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: G01L 5/0028 : Force sensors associated with force applying means G01L5/0052, G01L5/0057, G01L5/0061 take precedence
• CPC Class Codes: G01L 5/0061 : Force sensors associated with industrial machines or actuators for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21
• CPC Class Codes: G01P 21/00 : Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: H02K 7/06 : Means for converting reciprocating motion into rotary motion or vice versa
• CPC Class Codes: H02K 7/116 : with gears

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.

Claims

1. An active knee orthosis, comprising:

a thigh member attachable to a thigh of a wearer;

a lower leg member attachable to a lower leg of the wearer;

a knee joint for connecting the thigh member to the lower leg member;

a rotary motor comprising a motor shaft output;

a motor drive transmission assembly coupled to the motor shaft output to translate rotational motion of the motor shaft output to a linear motion at an output of the motor drive transmission assembly;

a drive transmission assembly coupled to the output of the motor drive transmission, an output of the drive transmission assembly is coupled to the lower leg member for applying torque to the knee joint to rotate the lower leg member with respect to the thigh member;

a motor angle sensor for determining motor position;

a controller for controlling the rotary motor for modulating impedance, position or torque of the of the orthosis throughout a walking cycle of the orthosis based on the motor position.

2. The orthosis of claim 1, comprising an angle sensor for determining position of a drum of the drive transmission assembly relative to the output of the motor drive transmission assembly and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the position.

3. The orthosis of claim 1, comprising a displacement sensor for measuring displacement of a series spring in the motor drive transmission assembly for determining force on the series spring and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the force on the spring.

4. The orthosis of claim 1, comprising an inertial measurement unit coupled to the thigh member or lower leg member for determining an inertial pose trajectory of the lower leg member and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the inertial pose.

5. The orthosis of claim 1, comprising a sensor for determining the force applied to at least one of the lower leg member and thigh member by the drive transmission assembly and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the torque applied to the lower leg member.

6. The orthosis of claim 1, comprising an angle sensor for determining an angle between the thigh member and lower leg member and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the angle between the thigh member and lower leg member.

7. The orthosis of claim 1, wherein the drive transmission is selected from the group consisting of a belt drive transmission, band drive transmission and cable drive transmission.

8. The orthosis of claim 1, comprising a cuff coupled to the thigh member for attaching the orthosis to the thigh of the wearer.

9. The orthosis of claim 1, comprising a cuff coupled to the lower leg member for attaching the orthosis to the lower leg of the wearer.

10. The orthosis of claim 1, wherein the orthosis augments lower extremity functions of the wearer.

11. The orthosis of claim 1, wherein the orthosis treats a lower extremity pathology of the wearer.

12. The orthosis of claim 1, wherein the controller is configured to vary assistance provided by the orthosis to the wearer during rehabilitation of a lower extremity pathology of the wearer.

13. An active knee orthosis, comprising:

a thigh member attachable to a thigh of a wearer;

a lower leg member attachable to a lower leg of the wearer;

a knee joint for connecting the thigh member to the lower leg member;

a rotary motor comprising a motor shaft output;

a screw transmission assembly coupled to the motor shaft output for converting the rotary motion of the motor shaft output to a linear motion output by the screw transmission assembly;

a belt, band or cable drive transmission assembly coupled to the output of the screw transmission assembly to convert a linear motion output by the screw transmission assembly to a rotary motion for applying torque to the knee joint to rotate the lower leg member with respect to the thigh member;

a motor angle sensor for determining motor position; and

a controller for controlling the rotary motor for modulating impedance, position or torque of the of the orthosis throughout a walking cycle of the orthosis based on the motor position.

14. The orthosis of claim 13, comprising a displacement sensor for measuring displacement of a series spring in the belt, band or cable drive transmission for determining force on the series spring and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the force on the spring.

15. The orthosis of claim 13, comprising an inertial measurement unit coupled to the thigh member or lower leg member for determining, within a gait cycle, an inertial pose trajectory of the lower leg member and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the inertial pose trajectory during the gait cycle.

16. The orthosis of claim 13, comprising a torque sensor for determining torque applied to the lower leg member by the belt, band or cable drive transmission and wherein the controller controls the rotary motor for modulating impedance, position or torque within the gait cycle based on the force applied to the lower leg member.

17. The orthosis of claim 13, comprising an angle sensor for determining an angle between the thigh member and lower leg member and wherein the controller controls the rotary motor for modulating impedance, position or torque based on the angle between the thigh member and lower leg member within the gait cycle.

18. The orthosis of claim 13, wherein the belt, band or cable drive transmission comprises at least two drive transmissions, wherein a first of the at least two drive transmissions is configured to convert a first direction of a linear motion output by the screw transmission assembly to a first rotary motion for applying torque to the knee joint to rotate the lower leg member with respect to the thigh member and wherein a second of the at least two transmissions is configured to convert an opposite direction of a linear motion output by the screw transmission assembly to an opposite rotary motion for applying torque to the knee joint to rotate the lower leg member with respect to the thigh member.

19. A method for determining a level of assistance desired for a lower-extremity orthotic or exoskeleton apparatus to apply to a wearer wearing the apparatus, the method comprising,

specifying a physical therapy protocol defining a level of assistance performed by the apparatus on the wearer over a period of time;

and

reducing the level of assistance performed by the apparatus on the wearer to assist in rehabilitation of the limb pathology.

20. The method of claim 19, wherein the level of assistance by the apparatus is reduced based on impedance and torque contribution of the wearer to the apparatus.

21. The method of claim 20, wherein the impedance and torque contribution of the wearer is determined based on a biomechanical model of the wearer and apparatus and measurements of the wearer during operation of the apparatus.

22. The method of claim 21, wherein the measurements of the wearer comprise at least one of rotation and acceleration of at least one joint of the apparatus.

23. The method of claim 22, wherein the at least one joint of the apparatus comprises at least one of:

a) an ankle joint that connects a foot member of the apparatus to a lower leg member of the apparatus;

b) a knee joint for connecting a thigh member of the apparatus to the lower leg member of the apparatus;

or

c) a hip joint for connecting a torso member of the apparatus to the thigh member of the apparatus.

24. A method for rehabilitation of a wearer with a limb pathology using a lower-extremity orthotic or exoskeleton apparatus worn by a wearer, the method comprising:

estimating impedance and torque contribution of the wearer to at least one joint of the apparatus based on a biomechanical model of the wearer and apparatus and measurements of the wearer during operation of the apparatus; and

providing a signal to an actuator of the apparatus that commands the actuator to provide additional torque to at least one joint of the apparatus such that a predetermined level of torque is achieved in the apparatus during operation.

25. The method of claim 24, wherein the measurements of the wearer comprise at least one of rotation and acceleration of at least one joint of the apparatus.

26. The method of claim 25, wherein the at least one joint of the apparatus comprises at least one of:

a) an ankle joint that connects a foot member of the apparatus to a lower leg member of the apparatus;

b) a knee joint for connecting a thigh member of the apparatus to the lower leg member of the apparatus;

or

c) a hip joint for connecting a torso member of the apparatus to the thigh member of the apparatus.