COMBINED ACTIVE AND PASSIVE LEG PROSTHESIS SYSTEM AND A METHOD FOR PERFORMING A MOVEMENT WITH SUCH A SYSTEM
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Abstract
A lower limb prosthesis system and a method of controlling the prosthesis system to replace a missing lower extremity of an individual and perform a gait cycle are disclosed. The prosthesis system has a controller, one or more sensors, a prosthetic foot, and a movable ankle joint member coupled to the prosthetic foot. The movable ankle joint member comprises a hydraulic damping system that provides the ankle joint member damping resistance. The controller varies the damping resistance by providing volumetric flow control to the hydraulic damping system based on sensor data. In one embodiment, the hydraulic damping system comprises a hydraulic piston cylinder assembly, hydraulic fluid, and a valve to regulate the fluid. In one embodiment, the controller alters the damping resistance by modulating the valve to vary the hydraulic fluid flow within the hydraulic piston cylinder assembly of the movable ankle joint member based on sensor data.
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Citations
24 Claims
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1. (canceled)
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2. A lower limb prosthesis for replacing a missing lower extremity of an individual, said lower limb prosthesis comprising:
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a prosthetic foot member; a lower limb member; and an ankle module interposed between the prosthetic foot member and the lower limb member, the ankle module comprising a hydraulic assembly comprising a hydraulic cylinder and a piston configured to move axially within the hydraulic cylinder as the prosthetic foot member moves relative to the lower limb member such that movement of the piston within the cylinder adjusts an angle of the prosthetic foot relative to the lower limb member, wherein the hydraulic assembly imparts a force onto the piston during a swing phase in gait to thereby dorsiflex the prosthetic foot relative to the lower limb member. - View Dependent Claims (3, 4, 5, 6, 7)
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8. A lower limb prosthesis for replacing a missing lower extremity of an individual, said lower limb prosthesis comprising:
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a prosthetic foot member; and an ankle module coupled to the prosthetic foot member, the ankle module having a proximal portion movably coupled to a distal portion thereof that is coupled to the prosthetic foot member, the ankle module comprising a hydraulic assembly comprising a hydraulic cylinder and a piston configured to move axially within the hydraulic cylinder as the prosthetic foot member moves relative to the proximal portion such that movement of the piston within the cylinder adjusts an angular orientation of the prosthetic foot relative to the proximal portion, wherein the hydraulic assembly imparts a force onto the piston during a swing phase in gait, thereby causing the prosthetic foot and the proximal portion to move toward each other during said swing phase. - View Dependent Claims (9, 10, 11, 12)
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13. A hydraulic prosthetic ankle module for use with a prosthetic foot member, comprising:
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a body having a proximal portion and a distal portion, where the proximal portion is configured to move relative to a distal portion to change an angular orientation of said proximal portion relative to the distal portion; and a hydraulic assembly housed in the body comprising a hydraulic cylinder and a piston configured to move axially within the hydraulic cylinder as the distal portion move relative to the proximal portion such that movement of the piston within the cylinder adjusts an angle of the proximal portion relative to the distal portion, wherein the hydraulic assembly imparts a force onto the piston during a swing phase in gait of the prosthetic foot member such that the proximal portion and distal portions move toward each other during said swing phase. - View Dependent Claims (14, 15, 16)
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17. A prosthetic foot member, comprising.
a prosthetic foot member; -
a movable ankle joint member coupled to the prosthetic foot member, the ankle joint member comprising a hydraulic assembly comprising a hydraulic cylinder, a piston configured to move axially within a hydraulic chamber in the hydraulic cylinder, and a hydraulic actuator configured to impart a hydraulic force on the piston, causing the piston to move within the hydraulic cylinder to dorsiflex the prosthetic foot member during at least a portion of a swing phase of ambulation. - View Dependent Claims (18, 19, 20)
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21. A prosthetic foot member, comprising.
a prosthetic foot member; -
a movable ankle joint member coupled to the prosthetic foot member, the ankle joint member comprising a hydraulic assembly comprising a hydraulic cylinder, a piston configured to move axially within a hydraulic chamber in the hydraulic cylinder, a valve selectively actuatable to regulate hydraulic fluid flow in and out of the hydraulic chamber; and a hydraulic actuator configured to impart a hydraulic force on the piston, causing the piston to move within the hydraulic cylinder to vary the angular orientation of at least a portion of the ankle joint member relative to the prosthetic foot member during at least a portion of a phase in a gait cycle; one or more sensors configured to sense one or more parameters associated with the motion of the prosthetic foot; and a controller configured to receive input data from the one or more sensors corresponding to the one or more sensed parameters, the controller configured to control the operation of the valve to selectively actuate the valve to allow a change in said angular orientation of the ankle joint member based at least in part on the one or more sensed parameters. - View Dependent Claims (22, 23, 24)
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Specification