HYBRID TERRAIN-ADAPTIVE LOWER-EXTREMITY SYSTEMS
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0 Petitions
Accused Products
Abstract
Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.
38 Citations
68 Claims
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1-40. -40. (canceled)
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41. A motorized ankle prosthesis, orthosis or exoskeleton apparatus, comprising:
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an actuator operatively coupled to a joint; at least one sensor for determining a speed of a location on or coupled to the apparatus during a gait cycle; a controller in communication with the at least one sensor, the controller configured to cause the actuator to deliver to the joint during the gait cycle an amount of net positive ankle work that increases with increasing walking speed; and an interface in communication with the controller for changing net positive ankle work applied to the joint, based on wearer need. - View Dependent Claims (42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58)
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59. A method of operating a motorized ankle prosthesis, orthosis or exoskeleton apparatus, comprising:
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inputting information regarding wearer need to an interface, wherein the interface is in communication with a controller, the controller configured to cause an actuator, operatively coupled to a joint, to deliver an amount of net positive ankle work to the joint during a gait cycle; and changing net positive ankle work applied to the joint by tuning the controller based on the information input to the interface. - View Dependent Claims (60, 61, 62, 63, 64, 65, 66, 67, 68)
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Specification