PROSTHETIC ANKLE AND METHOD OF CONTROLLING SAME BASED ON ADAPTATION TO SPEED

• US 20140277586A1
• Filed: 03/12/2014
• Published: 09/18/2014
• Est. Priority Date: 03/14/2013
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Clausen, Arinbjorn
• Granted Patent: US 9,707,104 B2
• Time in Patent Office: Days
• US Class Current: 623/47
• 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 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• 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 2002/7625 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

Abstract

Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device using different ankle angles depending on, for example, a user'"'"'s gait speed. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on gait speed. For example, the prosthetic ankle device can provide for relatively more dorsiflexion at relatively slower gait speeds and relatively more plantarflexion at relatively faster gait speeds.

Claims

1. A method of controlling a prosthetic ankle device comprising a foot unit and a lower limb member configured to move relative to the foot unit and defining an angle therebetween, comprising:

at a gait speed less than a first threshold speed, operating the prosthetic ankle device using a neutral ankle angle;

at a gait speed at or above the first threshold speed and below a second threshold speed, operating the prosthetic ankle device using a speed adaptive ankle angle that is less than the neutral ankle angle so that the prosthetic ankle device is relatively more dorsiflexed than when the prosthetic ankle device is operating using the neutral ankle angle; and

at a gait speed at or above the second threshold speed, operating the prosthetic ankle device using a speed adaptive ankle angle that is more than the neutral ankle angle so that the prosthetic ankle device is relatively more plantarflexed than when the prosthetic ankle device is operating using the neutral ankle angle.

2. The method of claim 1, wherein, at a gait speed at or above the first threshold speed, the speed adaptive ankle angle used to operate the prosthetic ankle device increases as the gait speed increases.

3. The method of claim 2, wherein, at a gait speed at or above the second threshold speed, the speed adaptive ankle angle used to operate the prosthetic ankle device increases as the gait speed increases.

4. The method of claim 3, wherein, at a gait speed at or above a third threshold speed, the speed adaptive ankle angle used to operate the prosthetic ankle device remains constant as the gait speed increases.

5. The method of claim 2, wherein the speed adaptive ankle angle increases linearly as the gait speed increases.

6. The method of claim 1, wherein the prosthetic ankle device is operatively connected to a transtibial amputee.

7. The method of claim 1, wherein the prosthetic ankle device is operatively connected to a transfemoral amputee.

8. The method of claim 7, wherein the prosthetic ankle device is operated in combination with a prosthetic knee.

9. The method of claim 8, wherein the prosthetic knee is an actuatable prosthetic knee.

10. The method of claim 1, wherein the prosthetic ankle device comprises an actuator configured to affect the angle between the foot unit and the lower limb member.

11. The method of claim 10, wherein the prosthetic ankle device comprises an active actuator configured to provide movement between the foot unit and the lower limb member.

12. The method of claim 10, wherein the prosthetic ankle device comprises a dampening mechanism configured to control the angle between the foot unit and the lower limb member.

13. The method of claim 10, wherein, at a gait speed at or above the first threshold speed, operating the actuator to adjust the angle between the foot unit and the lower limb member over at least a portion of the gait cycle comprises using the speed adaptive ankle angle as a starting angle.

14. The method of claim 1, further comprising using one or more sensors on the prosthetic ankle device to determine gait speed.

15. A prosthetic system, comprising:

a prosthetic ankle device comprising a foot unit and a lower limb member configured to move relative to the foot unit and defining an angle therebetween; and

a controller configured to;

at a gait speed less than a first threshold speed, operate the prosthetic ankle device using a neutral ankle angle;

at a gait speed at or above the first threshold speed and below a second threshold speed, operate the prosthetic ankle device using a speed adaptive ankle angle that is less than the neutral ankle angle so that the prosthetic ankle device is relatively more dorsiflexed than when the prosthetic ankle device is operating using the neutral ankle angle; and

at a gait speed at or above the second threshold speed, operate the prosthetic ankle device using a speed adaptive ankle angle that is more than the neutral ankle angle so that the prosthetic ankle device is relatively more plantarflexed than when the prosthetic ankle device is operating using the neutral ankle angle.

16. The prosthetic system of claim 15, further comprising an actuator configured to affect the angle between the foot unit and the lower limb member.

17. The prosthetic system of claim 16, wherein the controller is configured to control the actuator to adjust the angle between the foot unit and the lower limb member.

18. The prosthetic system of claim 15, further comprising one or more sensors to measure one or more variables indicative of a user'"'"'s gait speed.

19. The prosthetic system of claim 15, further comprising a prosthetic knee.

20. A method of controlling a prosthetic ankle device comprising a foot unit and a lower limb member configured to move relative to the foot unit and defining an angle therebetween, comprising:

determining that a user of the prosthetic ankle device is in a standing or stopped position and has shifted a majority of body weight to a sound leg; and

causing or allowing the prosthetic ankle device to dorsiflex or plantarflex to allow for a more natural stance.

21. The method of claim 20, wherein determining that the user is in a standing or stopped position and has shifted a majority of body weight to the sound leg comprises detecting or determining vertical lift of and/or a reduced load on the prosthetic ankle device with substantially no forward movement for a predetermined period of time.

22. The method of claim 20, wherein determining that the user is in a standing or stopped position and has shifted a majority of body weight to the sound leg comprises detecting or determining an increased load on the sound leg with substantially no forward movement for a predetermined period of time.

23. The method of claim 20, further comprising:

determining a knee angle of the leg including the prosthetic ankle device;

if the knee angle is less than a threshold angle, causing or allowing the prosthetic ankle device to dorsiflex; and

if the knee angle is greater than the threshold angle, causing or allowing the prosthetic ankle device to plantarflex.

24. A prosthetic system, comprising:

a prosthetic ankle device comprising a foot unit and a lower limb member configured to move relative to the foot unit and defining an angle therebetween; and

a controller configured to;

determine if a user of the prosthetic ankle device is in a standing or stopped position and has shifted a majority of body weight to a sound leg; and

cause or allow the prosthetic ankle device to dorsiflex or plantarflex to allow for a more natural stance.

25. The prosthetic system of claim 24, further comprising at least one sensor configured to measure one or more variables indicative of a knee angle of the leg including the prosthetic ankle device.

26. The prosthetic system of claim 24, wherein the controller is configured to:

determine a knee angle of the leg including the prosthetic ankle device;

if the knee angle is less than a threshold angle, cause or allow the prosthetic ankle device to dorsiflex; and

if the knee angle is greater than the threshold angle, cause or allow the prosthetic ankle device to plantarflex.