Robotic Device and Method of Using a Parallel Mechanism

• US 20140074243A1
• Filed: 11/15/2013
• Published: 03/13/2014
• Est. Priority Date: 11/11/2011
• Status: Active Grant

• Current Assignee: Ossur Iceland ehf
• Original Assignee: SpringActive, Inc.
• Inventors: Holgate, Matthew A.
• Granted Patent: US 9,532,877 B2
• Time in Patent Office: Days
• US Class Current: 623/18.11
• CPC Class Codes: A61F 2/30 Joints
• CPC Class Codes: A61F 2/3094 Designing or manufacturing processes
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2002/5006 Dampers, e.g. hydraulic damper
• CPC Class Codes: A61F 2002/5072 having spring elements spring-biased locking means A61F2002/30505; for implantable joints A61F2002/30565; other elastic means A61F2002/5007
• CPC Class Codes: A61F 2002/607 Lower legs
• 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: B25J 19/0091 Shock absorbers in general F16F
• CPC Class Codes: Y10T 29/49826 Assembling or joining

Abstract

A parallel kinematically redundant device includes a base body portion and a movable portion. The movable portion includes first, second, and third joints. A first actuator is coupled to the first joint of the movable portion and to the base body portion. A second actuator is coupled in parallel with the first actuator between the second joint of the movable portion and the base body portion. A linking member is rotationally coupled to the third joint of the movable portion to provide an output for the first and second actuators. A housing is coupled to the base body portion and fits onto a user. A prosthetic joint device includes a base portion and a movable portion. An actuator is rotationally coupled to the movable portion and base portion. A compliant element is coupled in parallel with the actuator between the movable portion and base portion.

Claims

1. A method of making a prosthetic joint device, comprising:

providing a movable portion including a first joint, a second joint, and a third joint;

providing a base body portion;

disposing a first actuator between the first joint of the movable portion and the base body portion;

disposing a second actuator in parallel with the first actuator between the second joint of the movable portion and the base body portion; and

coupling a linking member to the third joint of the movable portion.

2. The method of claim 1, further including actuating the first and second actuators to move the movable portion and to move the linking member, wherein the linking member is an output of the prosthetic joint device.

3. The method of claim 1, further including providing the linking member rotationally coupled to the base body portion.

4. The method of claim 1, further including disposing a compliant member between the linking member and the movable portion.

5. The method of claim 1, further including disposing a damper between the movable portion and the base body portion.

6. The method of claim 1, further including providing a housing coupled to the base body portion, the housing configured to fit onto a user.

7. A method of making a prosthetic joint device, comprising:

providing a movable portion;

providing a base portion;

disposing a first actuator between the movable portion and the base portion; and

disposing a second actuator in parallel with the first actuator between the movable portion and the base portion.

8. The method of claim 7, further including providing a linking member rotationally coupled to the movable portion and base portion.

9. The method of claim 8, further including disposing a compliant member between the linking member and the movable portion.

10. The method of claim 7, further including disposing a compliant member between the movable portion and the base portion.

11. The method of claim 7, further including coupling a prosthetic limb to the movable portion.

12. The method of claim 7, further including providing a housing coupled to the base portion, the housing configured to fit onto a user.

13. The method of claim 7, further including disposing a damper between the movable portion and the base portion.

14. A parallel kinematically redundant device, comprising:

a movable portion;

a base portion;

a first actuator coupled to the movable portion and base portion;

a second actuator coupled in parallel with the first actuator between the movable portion and base portion; and

a linking member coupled to the movable portion to provide an output for the first and second actuators.

15. The parallel kinematically redundant device of claim 14, further including the linking member rotationally coupled to the movable portion.

16. The parallel kinematically redundant device of claim 15, wherein an output velocity of the linking member is controlled by the first and second actuators.

17. The parallel kinematically redundant device of claim 14, wherein the base portion is configured to fit onto a user.

18. The parallel kinematically redundant device of claim 14, wherein the first and second actuators are rotationally coupled to the movable portion and to the base portion.

19. The parallel kinematically redundant device of claim 14, further including prosthetic limb coupled to the movable portion.

20. A prosthetic joint device, comprising:

a movable portion;

a base portion;

an actuator coupled between the movable portion and base portion; and

a compliant member coupled in parallel with the actuator between the movable portion and base portion.

21. The prosthetic joint device of claim 20, further including a linking member rotationally coupled to the movable portion.

22. The prosthetic joint device of claim 20, wherein a stiffness of the compliant member is controlled by a position of the movable portion.

23. The prosthetic joint device of claim 20, wherein the compliant member is configured to store potential energy during a first phase of a gait cycle and release kinetic energy during a second phase of the gait cycle.

24. The prosthetic joint device of claim 23, wherein the kinetic energy released by the compliant member reduces power required by the actuator during the second phase of the gait cycle.

25. The prosthetic joint device of claim 20, wherein the actuator and the compliant member are rotationally coupled to the movable portion and to the base portion.