POWERED LEG PROSTHESIS AND CONTROL METHODOLOGIES FOR OBTAINING NEAR NORMAL GAIT

• US 20120330439A1
• Filed: 06/29/2012
• Published: 12/27/2012
• Est. Priority Date: 04/21/2008
• Status: Active Grant

• Current Assignee: Vanderbilt University
• Original Assignee: Vanderbilt University
• Inventors: Goldfarb, Michael, Varol, Huseyin Atakan, Mitchell, Jason, Withrow, Thomas J., Sup, Frank Charles IV
• Granted Patent: US 9,180,025 B2
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/30359 Pyramidally- or frustopyramidally-shaped protrusion and recess
• CPC Class Codes: A61F 2002/5073 Helical springs, e.g. having at least one helical spring
• CPC Class Codes: A61F 2002/6642 Heels
• CPC Class Codes: A61F 2002/665 Soles
• CPC Class Codes: A61F 2002/6657 having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
• 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 2002/705 Electromagnetic data transfer
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• 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 2002/768 for measuring battery status
• CPC Class Codes: A61F 2220/0033 made by longitudinally pushing a protrusion into a complementary-shaped recess, e.g. held by friction fit

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.

Claims

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.

2. The powered leg prosthesis of claim 1, wherein the rotary element comprises a pulley and the at least one looped element comprises at least one belt.

3. The leg prosthesis of claim 2, wherein the at least one belt comprises at least one of a flat belt, a round belt, a V-belt, multi-groove belt, a ribbed belt, or a toothed belt.

4. The powered leg prosthesis of claim 1, wherein the rotary element comprises a drive gear.

5. The powered leg prosthesis of claim 4, wherein the at least one looped element comprises at least one chain.

6. The leg prosthesis of claim 1, wherein the at least one drive stage comprises a plurality of drive stages.

7. The leg prosthesis of claim 6, wherein the rotary element of a first of the plurality of drive stages and a rotary element of a second of the plurality of drive stages are different.

8. The leg prosthesis of claim 1, further comprising at least one tensioning mechanism for maintaining a tension in the at least one looped element.

9. The leg prosthesis of claim 8, wherein the at least one tensioning mechanism comprises at least one of an eccentric mount or a swing arm.

10. The leg prosthesis of claim 8, wherein the at least one tensioning mechanism is adjustable.

11. The leg prosthesis of claim 8, wherein the at least one tensioning mechanism is spring-loaded.

12. A powered leg prosthesis, comprising:

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.

13. The leg prosthesis of claim 12, wherein the at least one belt comprises one of a flat belt, a round belt, a V-belt, multi-groove belt, a ribbed belt, or a timing belt.

14. The leg prosthesis of claim 12, further comprising at least a belt tensioning mechanism for maintaining a tension in the at least one belt.

15. The leg prosthesis of claim 14, wherein the belt tensioning mechanism is adjustable.

16. The leg prosthesis of claim 14, wherein the belt tensioning mechanism is spring-loaded.

17. The leg prosthesis of claim 14, wherein the belt tensioning mechanism comprises at least one of an eccentric mount or a swing arm.

18. 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 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.

19. The leg prosthesis of claim 18, further comprising at least chain tensioning mechanism for maintaining a tension in the at least chain belt.

20. The leg prosthesis of claim 19, wherein the chain tensioning mechanism is adjustable.

21. The leg prosthesis of claim 19, wherein the chain tensioning mechanism is spring-loaded.

22. The leg prosthesis of claim 19, wherein the chain tensioning mechanism comprises at least one of an eccentric mount, a bearing mount, or a swing arm.