TERRAIN ADAPTIVE POWERED JOINT ORTHOSIS
First Claim
33. A powered human augmentation device for assisting a person walking on a surface, the device comprising:
- a powered actuator for supplying to a joint at least one of an augmentation torque and an impedance comprising a linear spring component and a damping component; and
a controller for (i) determining a phase of a gait cycle, (ii) estimating within the gait cycle a slope of the surface, and (iii) modulating the augmentation torque and the impedance based on the phase of the gait cycle and the estimated slope to provide at least a biomimetic response.
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Accused Products
Abstract
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer'"'"'s activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.
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Citations
62 Claims
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33. A powered human augmentation device for assisting a person walking on a surface, the device comprising:
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a powered actuator for supplying to a joint at least one of an augmentation torque and an impedance comprising a linear spring component and a damping component; and a controller for (i) determining a phase of a gait cycle, (ii) estimating within the gait cycle a slope of the surface, and (iii) modulating the augmentation torque and the impedance based on the phase of the gait cycle and the estimated slope to provide at least a biomimetic response. - View Dependent Claims (1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62)
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61-1. The device of claim 59, wherein the series-elastic actuator comprises a buckled beam.
Specification