Speed-adaptive and patient-adaptive prosthetic knee
First Claim
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1. A method of controlling a prosthetic knee system, comprising:
- measuring at least one characteristic of knee movement;
calculating a damping value based at least partly on the at least one measured characteristic; and
applying the damping value to control a resistance of a magnetorheological damper operating primarily in shear mode, wherein said damping is created primarily by shear forces.
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Abstract
The invention relates to an automated speed-adaptive and patient-adaptive control scheme and system for a knee prosthesis. The control scheme and system utilizes sensory information measured local to the prosthesis to automatically adjust stance and swing phase knee resistances to a particular wearer under a wide variety of locomotory activities. Advantageously, no patient-specific information needs to be pre-programmed into the prosthetic knee by a prosthetist or the patient. The system is able to adapt to various types of disturbances once the patient leaves the prosthetist'"'"'s facility because it is patient-adaptive and speed-adaptive.
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Citations
28 Claims
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1. A method of controlling a prosthetic knee system, comprising:
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measuring at least one characteristic of knee movement; calculating a damping value based at least partly on the at least one measured characteristic; and applying the damping value to control a resistance of a magnetorheological damper operating primarily in shear mode, wherein said damping is created primarily by shear forces. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A prosthetic knee system, comprising:
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a magnetorheological damper configured to provide damping to a prosthetic knee, wherein said damping is created primarily by shear forces; at least one sensor configured to measure knee motion; and a software system configured to send a control signal to the damper based at least partly on the knee motion measured by the at least one sensor. - View Dependent Claims (9, 10, 11, 12, 13, 14)
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15. A method of controlling a prosthetic joint system, comprising:
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measuring at least one characteristic of joint movement; identifying a control state from a plurality of distinct, predetermined control states based at least partly on the at least one measured characteristic of joint movement; calculating a damping value based at least partly on the control state; and applying the damping value to control a resistance of a magnetorheological damper, wherein said damping is created primarily by shear forces. - View Dependent Claims (16, 17, 18, 19, 20, 21)
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22. A prosthetic joint system, comprising:
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a magnetorheological damper configured to provide damping to a prosthetic joint, wherein said damping is created primarily by shear forces; at least one sensor configured to measure joint motion; and a software system configured to identify a control state from a plurality of distinct, predetermined control states based at least partly on the measure of joint motion and configured to send a control signal to the damper based at least partly on the control state. - View Dependent Claims (23, 24, 25, 26, 27, 28)
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Specification