POWERED PROSTHESIS WITH TORQUE DENSE, LOW RATIO ACTUATION

• US 20190328551A1
• Filed: 04/30/2019
• Published: 10/31/2019
• Est. Priority Date: 04/30/2018
• Status: Active Grant

• Current Assignee: Board of Regents of the University of Texas System (University of Texas System)
• Original Assignee: Board of Regents of the University of Texas System (University of Texas System)
• Inventors: Gregg, Robert D., Elery, Toby B., Nesler, Christopher R., Rezazadeh, Siavash
• Granted Patent: US 11,707,366 B2
• Time in Patent Office: Days
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/76 Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• 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
• CPC Class Codes: A61F 2002/768 for measuring battery status

Abstract

Disclosed herein are embodiments of a powered prosthesis. In one embodiment, the powered prosthesis may include a first joint actuator; a second joint actuator; a connector to connect the first joint actuator with the second joint actuator; and a power source connected with both the first and second joint actuator; wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source. In some embodiments, the first motor is at least a high output torque motor. In other embodiments, the second motor is at least a high output torque motor.

Claims

1. A powered prosthesis, comprising:

a first joint actuator;

a second joint actuator;

a connector to connect the first joint actuator with the second joint actuator; and

a power source connected with both the first and second joint actuator;

wherein the first joint actuator and the second joint actuator are both at least backdrivable and configured such that when one of the first or second joint actuator is drawing power from the power source, the other of the first or second joint actuator may be generating power for the power source.

2. The powered prosthesis according to claim 1, further including an adapter for connecting the prosthesis with a human body and an inertial measurement unit (IMU) positioned adjacent the first joint actuator.

3. The powered prosthesis according to claim 1, further including a controller, the controller including at least a microprocessor.

4. The powered prosthesis according to claim 1, wherein the first joint actuator further includes a first housing having a first motor and first transmission positioned co-axially therein.

5. The powered prosthesis according to claim 4, wherein the first motor has a peak output torque of at least about 1.0 Nm.

6. The powered prosthesis according to claim 4, wherein the first transmission includes a plurality of planetary gears.

7. The powered prosthesis according to claim 1, wherein the second joint actuator includes a second housing having a second motor and a second transmission positioned co-axially therein.

8. The powered prosthesis according to claim 7, wherein the second motor has a peak output torque of at least about 1.0 Nm.

9. The powered prosthesis according to claim 7, wherein the second joint actuator further includes a link system connecting the second joint actuator with a joint plate, and a 6-axis load cell coupled with the joint plate.

10. The powered prosthesis according to claim 7, wherein the second transmission includes a plurality of planetary gears.

11. The powered prosthesis according to claim 1, wherein at least one of the first and second joint actuators is very backdrivable.

12. The powered prosthesis according to claim 1, wherein at least one of the first and second joint actuators is excessively backdrivable

13. A powered prosthesis, comprising:

a first joint actuator, the first joint actuator including a first motor and a first transmission axially aligned with the first motor, wherein the first motor is at least a high output torque motor;

a second joint actuator, the second joint actuator including a second motor and a second transmission axially aligned with the second motor, wherein the second motor is at least a high output torque motor;

a connector to connect the first joint actuator with the second joint actuator; and

a power source connected with both the first and second joint actuator.

14. The powered prosthesis according to claim 13, further including an adapter for connecting the prosthesis with a human body, an inertial measurement unit (IMU) positioned above the first joint actuator, and a controller, the controller including at least a microprocessor.

15. The powered prosthesis according to claim 13, wherein the first joint actuator is a quasi-direct drive actuator having a transmission gear ratio of less than or equal to 24 to 1.

16. The powered prosthesis according to claim 13, wherein the at least one of the first motor and the second motor is a very high output torque motor.

17. The powered prosthesis according to claim 13, wherein the at least one of the first motor and the second motor is an extremely high output torque motor.

18. The powered prosthesis according to claim 13, wherein the second joint actuator is a quasi-direct drive actuator having a transmission gear ratio of less than or equal to 24 to 1.

19. The powered prosthesis according to claim 13, wherein at least one of the first transmission and the second transmission has a transmission gear ratio of less than or equal to 22 to 1.

20. The powered prosthesis according to claim 13, wherein at least one of the first and second joint actuators is backdrivable.