POWERED LEG PROSTHESIS AND CONTROL METHODOLOGIES FOR OBTAINING NEAR NORMAL GAIT
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Abstract
A powered leg prosthesis includes powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint. The prosthesis also includes a prosthetic lower leg having a socket interface coupled to the knee joint and a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle, joint and an ankle motor unit to deliver power to the ankle joint. The prosthesis further includes a prosthetic foot coupled to the ankle joint, at least one sensor for measuring a real-time input, and at least one controller for controlling movement of the prosthesis based on the real-time input.
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Citations
44 Claims
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1-25. -25. (canceled)
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26. A powered leg prosthesis, comprising:
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a powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint; a powered ankle joint coupled to the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint; a prosthetic foot coupled to the ankle joint; a plurality of sensors for measuring a real-time input; and at least one controller for controlling movement of the prosthesis based on the real-time input, wherein at least one of the knee motor unit or the ankle motor unit is configured to deliver power to a corresponding one of the knee joint and the ankle joint using at least one of a cable drive or a friction drive. - View Dependent Claims (27, 28, 29, 30, 31, 32)
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33. A powered leg prosthesis, comprising:
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a powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint; a prosthetic lower leg having a socket interface above the knee joint; a powered ankle joint coupled to the lower leg opposite the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint; a prosthetic foot including a ball and a heel; a plurality of sensors for providing a sagittal plane moment, and ground interaction forces at the ball and at the heel, and at least one controller coupled to the plurality of sensors for extracting real-time input from the user based on data from the plurality of sensors for controlling movement of the prosthesis, wherein at least one of the knee motor unit or the ankle motor unit delivers power to a corresponding one of the knee joint and the ankle joint using at least one of a cable drive or a friction drive. - View Dependent Claims (34, 35, 36, 37, 38, 39)
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40. A powered leg prosthesis, comprising:
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a powered knee joint comprising a knee joint and a knee motor unit for delivering power to the knee joint; a powered ankle joint coupled to the knee joint comprising an ankle joint and an ankle motor unit to deliver power to the ankle joint; a prosthetic foot coupled to the ankle joint; a plurality of sensors for measuring a real-time input; and at least one controller for controlling movement of the prosthesis based on the real-time input, wherein at least one of the knee motor unit or the ankle motor unit is configured to deliver power to a corresponding one of the knee joint and the ankle joint using at least one cable drive and at least one friction drive. - View Dependent Claims (41, 42, 43, 44)
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Specification