Actuated leg prosthesis for above-knee amputees

• US 7,314,490 B2
• Filed: 06/17/2003
• Issued: 01/01/2008
• Est. Priority Date: 08/22/2002
• Status: Expired due to Term

• Current Assignee: Victhom Laboratory Inc (Ergoresearch Ltd.)
• Original Assignee: Victhom Human Bionics Inc. (Ergoresearch Ltd.)
• Inventors: Bédard, Stéphane, Roy, Pierre-Olivier
• Primary Examiner(s): Willse; David H.
• Application Number:
  US10/463,495
• Publication Number:
  US 20040111163A1
• Time in Patent Office: 1,659 Days
• Field of Search: 623 24- 26, 623 39- 46
• US Class Current: 623/24
• CPC Class Codes: A61F 2/644 of the single-bar or multi-bar linkage type
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/607 Lower legs
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/701 operated by electrically controlled means, e.g. solenoids or torque motors
• CPC Class Codes: A61F 2002/704 computer-controlled, e.g. robotic control
• CPC Class Codes: A61F 2002/705 Electromagnetic data transfer for implantable prostheses A61F2250/0002
• CPC Class Codes: A61F 2002/762 for measuring dimensions, e.g. a distance
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61F 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

Claims

1. An actuated leg prosthesis for above-knee amputees, the prosthesis comprising:

a knee member;

first means for connecting a socket over the knee member;

an elongated trans-tibial member having an upper end and a bottom end, the trans-tibial member defining a main longitudinal axis;

second means for connecting an artificial foot under the bottom end of the trans-tibial member;

a linear actuator having an upper end and a bottom end, the linear actuator including a motor coupled with a mechanism to impart a linear motion to the bottom end of the actuator with respect to the upper end of the actuator, thereby inducing extension or retraction of the linear actuator;

third means for operatively connecting the trans-tibial member to the knee member;

fourth means for operatively connecting the upper end of the actuator to the knee member; and

fifth means for operatively connecting the bottom end of the actuator to the bottom end of the trans-tibial members;

wherein extension or retraction of the linear actuator induces a corresponding rotation of the knee member relative to the elongated trans-tibial member.

2. The prosthesis according to claim 1, wherein:

the third means comprise a first pivot assembly defining a first pivot axis that is perpendicular to the main longitudinal axis;

the fourth means comprise a second pivot assembly defining a second pivot axis that is substantially parallel to the first pivot axis, the second pivot axis being spaced apart from the first pivot axis and the main longitudinal axis; and

the fifth means comprise a third pivot assembly defining a third pivot axis that is substantially parallel to and spaced apart from the first pivot axis.

3. The prosthesis according to claim 1, wherein the trans-tibial member has a middle section comprising at least two spaced-apart bars, the bars generally defining a space in which most of the actuator is located.

4. The prosthesis according to claim 1, further comprising an artificial foot attached under the bottom end of the trans-tibial member, the artificial foot defining a front side and a rear side of the prosthesis.

5. The prosthesis according to claim 4, wherein the upper end of the actuator is connected to the front side of the prosthesis.

6. The prosthesis according to claim 5, wherein the trans-tibial member comprises a back plate extending between the upper end and the bottom end of the trans-tibial member.

7. The prosthesis according to claim 4, wherein the upper end of the actuator is connected to the rear side of the prosthesis.

8. The prosthesis according to claim 7, wherein the trans-tibial member has a middle section comprising at least two spaced-apart bars, the bars generally defining a space in which most of the actuator is located.

9. The prosthesis according to claim 4, further comprising a socket attached over the knee member.

10. The prosthesis according to claim 1, further comprising sixth means for controlling the actuator.

11. The prosthesis according to claim 10, wherein the sixth means comprise a controller outputting control signals in response to input signals from proprioceptors.

12. The prosthesis according to claim 11, wherein the controller has an output connected to a power drive, the power drive supplying electrical energy to the actuator, coming from a power source, in response to the control signals.

13. The prosthesis according to claim 11, wherein the input signals further comprise signals from sensors mounted on the prosthesis and located outside the prosthesis.

14. An actuated leg prosthesis for above-knee amputees, the prosthesis comprising:

a knee member;

a socket connected over the knee member;

an elongated trans-tibial member having an upper end and a bottom end, the trans-tibial member defining a main longitudinal axis;

an artificial foot connected under the bottom end of the trans-tibial member, the artificial foot defining a front side and a rear side of the prosthesis;

a linear actuator having an upper end and a bottom end, the linear actuator including a motor coupled with a mechanism to impart a linear motion to the bottom end of the linear actuator with respect to the upper end of the linear actuator, thereby inducing extension or retraction of the linear actuator;

a first pivot assembly to operatively connect the trans-tibial member to the knee member, the first pivot assembly defining a first pivot axis that is perpendicular to the main longitudinal axis;

a second pivot assembly to operatively connect the upper end of the actuator to the knee member, the second pivot assembly defining a second pivot axis that is substantially parallel to the first pivot axis, the second pivot axis being spaced apart from the first pivot axis and the main longitudinal axis; and

a third pivot assembly to operatively connect the bottom end of the actuator to the bottom end of the trans-tibial member, the third pivot assembly defining a third pivot axis that is substantially parallel to and spaced apart from the first pivot axis;

wherein extension or retraction of the linear actuator induces a corresponding rotation of the knee member relative to the elongated trans-tibial member.

15. The prosthesis according to claim 14, wherein the trans-tibial member has a middle section comprising at least two spaced-apart bars, the bars generally defining a space in which most of the actuator is located.

16. The prosthesis according to claim 14, wherein the upper end of the actuator is connected to the front side of the prosthesis.

17. The prosthesis according to claim 16, wherein the trans-tibial member comprises a back plate extending between the upper end and the bottom end of the trans-tibial member.

18. The prosthesis according to claim 14, wherein the upper end of the actuator is connected to the rear side of the prosthesis.

19. The prosthesis according to claim 18, wherein the trans-tibial member has a middle section comprising at least two spaced-apart bars, the bars generally defining a space in which most of the actuator is located.

20. The prosthesis according to claim 14, further comprising a controller to control the actuator, the controller outputting control signals in response to input signals from proprioceptors.

21. The prosthesis according to claim 20, wherein the controller has an output connected to a power drive, the power drive supplying electrical energy to the actuator, coming from a power source, in response to the control signals.

22. The prosthesis according to claim 20, wherein the input signals further comprise signals from sensors mounted on the prosthesis and located outside the prosthesis.

23. An actuated leg prosthesis for above-knee amputees, the prosthesis comprising:

a knee member;

a socket connected over the knee member;

an elongated trans-tibial member having an upper end and a bottom end, the trans-tibial member defining a main longitudinal axis;

an artificial foot connected under the bottom end of the trans-tibial member, the artificial foot defining a front side and a rear side of the prosthesis;

a linear actuator having an upper end and a bottom end, the linear actuator including an electrical motor coupled with a mechanism to transfer the rotational motion of the electrical motor into linear motion of the bottom end of the linear actuator with respect to the upper end of the linear actuator, thereby inducing extension or retraction of the linear actuator;

a first pivot assembly to operatively connect the trans-tibial member to the knee member, the first pivot assembly defining a first pivot axis that is perpendicular to the main longitudinal axis;

a second pivot assembly to operatively connect the upper end of the actuator to the knee member, the second pivot assembly defining a second pivot axis that is substantially parallel to the first pivot axis, the second pivot axis being spaced apart from the first pivot axis and the main longitudinal axis; and

a third pivot assembly to operatively connect the bottom end of the actuator to the bottom end of the trans-tibial member, the third pivot assembly defining a third pivot axis that is substantially parallel to and spaced apart from the first pivot axis;

wherein extension or retraction of the linear actuator induces a corresponding rotation of the knee member relative to the elongated trans-tibial member.

24. The prosthesis according to claim 23, wherein the mechanism includes a screw engaged to a follower at the bottom end of the linear actuator and wherein rotation of the electrical motor rotates the screw in or out of the follower causing a relative rotation between the knee member and the trans-tibial member.