Controlled-brake orthosis
First Claim
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1. A controlled brake orthosis for providing controlled limb movement comprising:
- a stimulator for stimulating a muscle of a limb to cause the limb to move;
an orthosis capable of being worn on the limb comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; and
a lower brake coupled to the lower joint for controlling the rotation of the lower joint to assist the muscle in providing controlled movement of the limb, the lower brake being a variable resistance brake;
a sensor coupled to the lower joint for providing a signal indicative of the rotational position of the lower joint; and
a computer responsive to the sensor signal for controlling the level of resistance provided by the lower brake throughout the rotation of the lower joint such that the lower brake is capable of guiding the movement of the limb by regulating power applied to the lower joint throughout the rotation of the lower joint, the computer also controlling the stimulator.
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Accused Products
Abstract
A controlled-brake orthosis for providing controlled limb movement includes a stimulator for stimulating an individual'"'"'s leg muscles which causes the legs to move. An orthosis worn on the legs to support the legs include lower links rotatably coupled to upper links with lower rotatable joints. Brackets are rotatably coupled to the upper links with upper rotatable joints. The joints are located adjacent to the hip and knee joints of the individual and brakes are coupled to the joints for controlling the rotation of the joints. By controlling the stimulator and brakes with a computer, movement of the legs can be controlled to produce walking.
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Citations
28 Claims
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1. A controlled brake orthosis for providing controlled limb movement comprising:
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a stimulator for stimulating a muscle of a limb to cause the limb to move; an orthosis capable of being worn on the limb comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; and a lower brake coupled to the lower joint for controlling the rotation of the lower joint to assist the muscle in providing controlled movement of the limb, the lower brake being a variable resistance brake; a sensor coupled to the lower joint for providing a signal indicative of the rotational position of the lower joint; and a computer responsive to the sensor signal for controlling the level of resistance provided by the lower brake throughout the rotation of the lower joint such that the lower brake is capable of guiding the movement of the limb by regulating power applied to the lower joint throughout the rotation of the lower joint, the computer also controlling the stimulator. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A controlled brake orthosis for providing controlled limb movement comprising:
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a stimulator for stimulating a muscle of a first limb and a muscle of a second limb to cause the first and second limbs to move; a first orthosis portion capable of being worn on the first limb for supporting the first limb, and comprising; a lower link rotatably coupled to an upper link by a lower rotatable joint; and a lower brake coupled to the lower joint for controlling the rotation of the lower joint to assist the muscle of the first limb in providing controlled movement of the first limb, the lower brake being a variable resistance brake; and a second orthosis portion capable of being worn on the second limb for supporting the second limb and comprising; a lower link rotatably coupled to an upper link by a lower rotatable joint; and a lower brake coupled to the lower joint for controlling the rotation of the lower joint to assist the muscle of the second limb in providing controlled movement of the second limb, the lower brake being a variable resistance brake; first and second sensors coupled to respective lower joints for providing signals indicative of the rotational positions of the lower joints; and a computer responsive to the sensor signals for controlling the level of resistance provided by the lower brakes throughout the rotation of the lower joints such that the lower brakes are capable of guiding the movement of the limbs by regulating power applied to the lower joints throughout the rotation of the lower joints, the computer also controlling the stimulator. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16)
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17. A method for providing controlled limb movement comprising the steps of:
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stimulating a muscle of a limb with a stimulator to cause the limb to move; supporting the limb with an orthosis, the orthosis capable of being worn on the limb and comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; providing a signal indicative of the rotational position of the lower joint with a sensor coupled to the lower joint; and controlling the rotation of the lower joint with a lower brake coupled to the lower joint to assist the muscle in providing controlled movement of the limb, the lower brake being a variable resistance brake, a computer responding to the sensor signal for controlling the level of resistance provided by the lower brake throughout the rotation of the lower joint such that the lower brake guides the movement of the limb by regulating power applied to the lower joint throughout the rotation of the lower joint, the computer also controlling the stimulator. - View Dependent Claims (18, 19, 20)
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21. A method for providing controlled limb movement comprising the steps of:
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electrically stimulating a muscle of a first limb and a muscle of a second limb with a stimulator to cause the first and second limbs to move; supporting the first limb with a first orthosis portion, the first orthosis portion capable of being worn on the first limb and comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; providing a first signal indicative of the rotational position of the first orthosis portion lower joint with a first sensor coupled to the first orthosis portion lower joint; controlling the rotation of the first orthosis portion lower joint with a first orthosis portion lower brake coupled to the first orthosis portion lower joint to assist the muscle of the first limb in providing controlled movement of the first limb, the first orthosis portion lower brake being a variable resistance brake, a computer responding to the first orthosis portion lower sensor signal for controlling the level of resistance provided by the first orthosis portion lower brake throughout the rotation of the first orthosis portion lower joint such that the first orthosis portion lower brake guides the movement of the first limb by regulating power applied to the first orthosis portion lower joint throughout the rotation of the first orthosis portion lower joint; supporting the second limb with a second orthosis portion, the second orthosis portion capable of being worn on the second limb and comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; providing a second signal indicative of the rotational position of the second orthosis portion lower joint with a sensor coupled to the second orthosis portion lower joint; and controlling the rotation of the second orthosis portion lower joint with a second orthosis portion lower brake coupled to the second orthosis portion lower joint to assist the muscle of the second limb in providing controlled movement of the second limb, the second orthosis portion lower brake being a variable resistance brake, the computer responding to the second orthosis portion lower sensor signal for controlling the level of resistance provided by the second orthosis portion lower brake throughout the rotation of the second orthosis portion lower joint such that the second orthosis portion lower brake guides the movement of the second limb by regulating power applied to the second orthosis portion lower joint throughout the rotation of the second orthosis portion lower joint, the computer also controlling the stimulator. - View Dependent Claims (22, 23, 24, 25, 26)
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27. A controlled brake orthosis for providing controlled limb movement comprising:
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a stimulator for stimulating a muscle of a limb to cause the limb to move; an orthosis capable of being worn on the limb comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; a lower brake coupled to the lower joint for controlling the rotation of the lower joint to assist the muscle in providing controlled movement of the limb, the lower brake being a variable resistance brake; a sensor associated with the lower joint for providing a signal indicative of the rotational position of the joint; and a computer for controlling the stimulator and the brake, the computer responding to the sensor signal for controlling the level of resistance provided by the brake throughout the rotation of the lower joint such that the lower brake is capable of guiding the movement of the limb by regulating power applied to the lower joint throughout the rotation of the lower joint.
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28. A method for providing controlled limb movement comprising the steps of:
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stimulating a muscle of a limb with a stimulator to cause the limb to move; supporting the limb with an orthosis, the orthosis capable of being worn on the limb and comprising a lower link rotatably coupled to an upper link by a lower rotatable joint; providing a signal indicative of the rotational position of the lower joint with a sensor coupled to the lower joint; controlling the rotation of the lower joint with a lower brake coupled to the lower joint to assist the muscle in providing controlled movement of the limb, the lower brake being a variable resistance brake, a computer responding to the sensor signal for computing a control algorithm for controlling the level of resistance provided by the brake throughout the rotation of the lower joint such that the lower brake guides the movement of the limb by regulating power applied to the lower joint throughout the rotation of the lower joint; and controlling the stimulator with the computer.
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Specification