POWERED LEG PROSTHESIS AND CONTROL METHODOLOGIES FOR OBTAINING NEAR NORMAL GAIT
First Claim
1. A powered leg prosthesis, comprising:
- 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 comprises at least one drive stage, the at least one drive stage comprising a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.
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Accused Products
Abstract
A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including 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 controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.
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Citations
22 Claims
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1. 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 comprises at least one drive stage, the at least one drive stage comprising a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A powered leg prosthesis, comprising:
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a powered knee comprising a knee joint and a knee motor unit for delivering power to the knee joint; a powered ankle 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 utilizes at least one drive stage for transferring power from a motor to a joint to be actuated, the drive stage comprising at least one belt and a pulley. - View Dependent Claims (13, 14, 15, 16, 17)
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18. 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 utilizes at least one drive stage for transferring power from a motor to a joint to be actuated, the at least one drive stage comprising at least one chain and a sprocket. - View Dependent Claims (19, 20, 21, 22)
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Specification