Stance Controller and Related Methods
First Claim
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1. A method for operating a joint of a prosthesis during a phase of stance, comprising:
- a. determining a joint angle of the joint;
b. determining a walking speed of the prosthesis;
c. retrieving a torque value from a lookup table stored in a memory, on the basis of the joint angle and the walking speed; and
d. initiating a signal to apply a torque to the joint of the prosthesis in an amount based on the torque value.
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Abstract
Systems and methods are disclosed for operating a joint of a prosthesis during a phase of stance. In an embodiment, a method for such operation comprises determining a joint angle of the joint, determining a walking speed of the prosthesis, retrieving a torque value from a lookup table stored in a memory, on the basis of the joint angle and the walking speed, and initiating a signal to apply a torque to the joint of the prosthesis in an amount based on the torque value.
13 Citations
20 Claims
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1. A method for operating a joint of a prosthesis during a phase of stance, comprising:
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a. determining a joint angle of the joint; b. determining a walking speed of the prosthesis; c. retrieving a torque value from a lookup table stored in a memory, on the basis of the joint angle and the walking speed; and d. initiating a signal to apply a torque to the joint of the prosthesis in an amount based on the torque value. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14)
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15. A method for operating a joint of a prosthesis, comprising:
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a. setting the prosthesis to a first stance phase, and while the prosthesis is in the first stance phase, determining a first joint angle of the joint; determining a first walking speed of the prosthesis; retrieving a first torque value from a lookup table stored in a memory, on the basis of the first joint angle and the first walking speed; and initiating a first signal to apply a torque to the joint in an amount based on the first torque value; b. setting the prosthesis to a second stance phase and while the prosthesis is in the second stance phase, determining a second joint angle of the joint; determining a second walking speed of the prosthesis; retrieving a second torque value from a lookup table stored in a memory, on the basis of the second joint angle and the second walking speed; and initiating a second signal to apply a torque to the joint in an amount based on the second torque value. - View Dependent Claims (16, 17, 18, 19)
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20. A method for operating a prosthesis during a phase of stance, comprising determining an amount of torque to apply to at least one joint of the device, wherein the amount is stored in a lookup table stored in a memory and is determined at least in part on the basis of a joint angle and a walking speed of the prosthesis.
Specification