Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components
First Claim
1. A prosthetic, orthotic or exoskeletal device comprising:
- a motor adapted to exert a torque about an ankle joint;
an artificial sensory system comprising at least one sensor selected from the group consisting of a position sensor, a velocity sensor, a gyroscope, an accelerometer, and a force sensor; and
an operative connection to the motor and the at least one sensor,wherein the operative connection is adapted to output a control sequence for stair or slope descent in which during a swing phase an angle of the ankle joint is reoriented for toe-first contact.
1 Assignment
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Accused Products
Abstract
An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.
19 Citations
5 Claims
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1. A prosthetic, orthotic or exoskeletal device comprising:
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a motor adapted to exert a torque about an ankle joint; an artificial sensory system comprising at least one sensor selected from the group consisting of a position sensor, a velocity sensor, a gyroscope, an accelerometer, and a force sensor; and an operative connection to the motor and the at least one sensor, wherein the operative connection is adapted to output a control sequence for stair or slope descent in which during a swing phase an angle of the ankle joint is reoriented for toe-first contact. - View Dependent Claims (2, 3, 4, 5)
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Specification