ACTUATED LEG PROSTHESIS FOR ABOVE-KNEE AMPUTEES

• US 20130035769A1
• Filed: 07/02/2012
• Published: 02/07/2013
• Est. Priority Date: 08/22/2002
• Status: Abandoned Application

• Current Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Original Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Inventors: Roy, Pierre-Olivier, Bdard, Stphane
• Application Number:
  US13/540,342
• Publication Number:
  US 20130035769A1
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/644 of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6614 Feet
• 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 2002/762 for measuring dimensions, e.g. a distance
• 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 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

Claims

1. (canceled)

2. A lower-limb prosthesis comprising:

a first lower-limb member comprising;

a powered actuator positioned at a rear portion of the first lower-limb member; and

a shell-type architecture defining a space in which most of the actuator is located to form a compact arrangement with overall dimensions generally within that of a normal human limb;

a second lower-limb member rotatably coupled to the first lower-limb member such that actuation of the powered actuator affects a rotation of the first lower-limb member relative to the second lower-limb member; and

a connector connected to the first or second lower-limb member, the connector being configured to operably connect the prosthesis to a user.

3. The lower-limb prosthesis of claim 2, wherein the shell-type architecture comprises at least two spaced-apart bars.

4. The lower-limb prosthesis of claim 2, further comprising an energy absorption bumper configured to prevent out of range rotation of the first lower-limb member relative to the second lower-limb member.

5. The lower-limb prosthesis of claim 2, wherein the powered actuator is a serial-elastic actuator.

6. The lower-limb prosthesis of claim 2, wherein the powered actuator comprises a motor.

7. The lower-limb prosthesis of claim 2, wherein the connector comprises a pyramid configuration.

8. The lower-limb prosthesis of claim 2, comprising a prosthetic foot rotatable with respect to the connector.

9. A lower-limb prosthesis comprising:

a pyramid connector configured to operably connect the prosthesis to a user;

a prosthetic foot;

a shell-type architecture extending at least partially between the pyramid connector and the prosthetic foot; and

an actuator located in a rearward position with respect to the shell-type architecture, wherein actuation of the actuator causes a change in angle between the pyramid connector and the prosthetic foot.

10. The lower-limb prosthesis of claim 9, wherein the actuator is a linear actuator.

11. The lower-limb prosthesis of claim 9, wherein the actuator is a serial-elastic actuator.

12. The lower-limb prosthesis of claim 9, further comprising a sensor configured to measure torque about an axis of rotation of the lower-limb prosthesis.

13. The lower-limb prosthesis of claim 12, further comprising a controller configured to actuate the actuator based on feedback from the sensor.

14. The lower-limb prosthesis of claim 9, further comprising an energy absorption bumper configured to prevent out of range rotation of the first lower-limb member relative to the second lower-limb member.

15. A lower-limb prosthesis comprising:

a first lower-limb member comprising a connector configured to operably connect the prosthesis to a user;

a second lower-limb member rotatably coupled to the first lower-limb member;

a serial-elastic actuator configured to affect a rotation of the first lower-limb member relative to the second lower-limb member;

a sensor configured to measure a torque between the first lower-limb member and the second lower-limb member and provide feedback to a controller; and

a controller configured to adjust parameters of the prosthesis.

16. The lower-limb prosthesis of claim 15, wherein the controller uses the data from the sensor regarding torque as feedback to adjust a force provided by the actuator.

17. The lower-limb prosthesis of claim 15, wherein the controller uses the data from the sensor regarding torque to determine a joint trajectory.

18. The lower-limb prosthesis of claim 15, wherein the sensor is configured to measure torque by measuring the compression of an elastic element of the serial-elastic actuator.

19. The lower-limb prosthesis of claim 15, further comprising an energy absorption bumper configured to prevent out of range rotation of the first lower-limb member relative to the second lower-limb member.

20. The lower-limb prosthesis of claim 15, wherein the connector comprises a pyramid configuration.

21. The lower-limb prosthesis of claim 15, wherein the second lower-limb member comprises a prosthetic foot.

22. A method for controlling a lower-limb prosthesis comprising:

measuring a torque between a first lower-limb member and a second lower-limb member rotatably coupled to the first lower-limb member; and

controlling a serial-elastic actuator, the actuator being configured to affect a rotation between the first and second lower-limb members based at least on said torque.

23. The method of claim 22, wherein the step of measuring a torque further comprises measuring the compression of an elastic device.

24. The method of claim 22, further comprising determining a desired joint trajectory for the first and second lower-limb members.

25. The method of claim 22, further comprising determining a desired force to be applied to the first and second lower-limb members.

26. The method of claim 22, wherein the step of controlling the serial-elastic actuator comprises using the measured torque for feedback.

27. The method of claim 22, further comprising preventing out of range motion of the first lower-limb member relative to the second lower-limb member.

28. The method of claim 27, wherein the step of preventing comprises absorbing energy.

29. The method of claim 22, wherein the second lower-limb member comprises a prosthetic foot.