Power generating leg

• US 7,883,546 B2
• Filed: 03/09/2007
• Issued: 02/08/2011
• Est. Priority Date: 03/09/2006
• Status: Active Grant

• Current Assignee: Regents of the University of California (University of California)
• Original Assignee: Regents of the University of California (University of California)
• Inventors: Angold, Russdon, Harding, Nathan H., Zoss, Adam, Kazerooni, Homayoon
• Primary Examiner(s): Snow; Bruce E
• Assistant Examiner(s): HOBAN, MELISSA A
• Application Number:
  US11/716,135
• Publication Number:
  US 20070233279A1
• Time in Patent Office: 1,432 Days
• Field of Search: 623/32, 623/27
• US Class Current: 623/27
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/74 fluid , i.e. hydraulic or pneumatic
• CPC Class Codes: A61F 2/741 using powered actuators, e.g. stepper motors or solenoids
• CPC Class Codes: A61F 2/748 Valve systems
• CPC Class Codes: A61F 2002/608 Upper legs
• 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 2002/708 electrically self charging
• CPC Class Codes: A61F 2002/7625 for measuring angular position
• CPC Class Codes: A61F 2002/7635 for measuring force, pressure or mechanical tension
• CPC Class Codes: A61H 1/024 Knee A61H1/0255 takes precedence
• CPC Class Codes: A61H 2201/1215 Rotary drive
• CPC Class Codes: A61H 2201/1238 with hydraulic or pneumatic drive
• CPC Class Codes: A61H 2201/1409 Hydraulic or pneumatic means
• CPC Class Codes: A61H 2201/1623 Back
• CPC Class Codes: A61H 2201/1642 Holding means therefor
• CPC Class Codes: A61H 2201/165 Wearable interfaces
• CPC Class Codes: A61H 2201/1676 Pivoting
• CPC Class Codes: A61H 3/00 Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003
• CPC Class Codes: A61H 3/008 : using suspension devices for supporting the body in an upright walking or standing position, e.g. harnesses

Abstract

A power generating leg, configurable to be coupled to a person'"'"'s lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit. The knee mechanism is connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other. The torque generator is configured to generate torque between said shank link and said thigh link. The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque. When said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.

Claims

1. A power generating leg, configured to be coupled to a person'"'"'s lower limb, comprising:

a thigh link;

a shank link;

a knee mechanism connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other;

a hydraulic torque generator configured to generate torque between said shank link and said thigh link; and

a power unit configured to operate in both a power utilization mode and a power dissipating mode, said power unit including a first hydraulic path between a fluid reservoir and the hydraulic torque generator having a hydraulic motor rotatably coupled to an electric generator and a motor isolating valve connected in series, and a second hydraulic path between the fluid reservoir and the hydraulic torque generator including an actuated flow restricting valve;

wherein when said power unit is in a power utilization mode, said motor isolating valve is in an open position and said hydraulic motor is powered by the electric generator and actuates the hydraulic torque generator to create a torque between the thigh link and the shank link; and

wherein when said power unit is in a power dissipation mode, said motor isolating valve is in a closed position and said actuated flow restricting valve restricts fluid flow between the hydraulic torque generator and the fluid reservoir and causes the hydraulic torque generator to resist motion of the thigh link and shank link with respect to one another.

2. The power generating leg of claim 1 further comprising:

a storage device,

wherein the power unit is configured to operate in the power utilization mode, the power dissipating mode or a power regeneration mode, and

wherein when said power unit is in a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes an angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.

3. The power generating leg of claim 2 wherein when said motor isolating valve is in an open position and when said power unit is in said power regeneration mode, said hydraulic motor resists the hydraulic flow induced by the motion of said hydraulic torque generator and an electric current passes through the terminals of said electric generator indicating that electric power is being generated by said electric generator.

4. The power generating leg of claim 2 wherein when said motor isolating valve is in an open position and said power unit is in said power regeneration mode, said torque generator generates a torque that opposes the velocity of said torque generator and an electric current passes through the terminals of said electric generator indicating that electric power is being generated by said electric generator.

5. The power generating leg of claim 4 wherein said power unit is configured to operate into a in the power regeneration mode when said power generating leg is in a stance phase.

6. The power generating leg of claim 4 wherein said power unit is configured to operate in the power regeneration mode when said power generating leg is in a stance phase and is flexing.

7. The power generating leg of claim 4 wherein said power unit is configured to operate in the power regeneration mode when said power generating leg is in a stance phase and is descending slopes and stairs.

8. The power generating leg of claim 4 wherein said power unit is configured to operate in the power regeneration mode when said power generating leg is in a stance phase and is walking on level grounds.

9. The power generating leg of claim 4 wherein said power unit is configured to operate in the power regeneration mode when said power generating leg is in a swing phase.

10. The power generating leg of claim 2, further comprising a third hydraulic path including a second electric generator rotatably coupled to a second hydraulic motor;

and

wherein when said power unit is in said power regeneration mode, at least one of said first or second hydraulic motors resists the hydraulic flow induced by the motion of said hydraulic torque generator and an electric current passes through the terminals of the corresponding first or second electric generator such that electric power is generated by said first or second electric generator.

11. The power generating leg of claim 10 wherein said third hydraulic path further comprises a motor isolating valve located in series with said second hydraulic motor.

12. The power generating leg of claim 10 wherein said power unit further comprises a fourth hydraulic path between said torque generator and said reservoir, said fourth hydraulic path comprising a one way valve allowing for minimum resistance flow from said reservoir to said torque generator at all times.

13. The power generating leg of claim 10 wherein said torque generator is coupled to another knee mechanism of another power generating leg.

14. The power generating leg of claim 10 wherein said reservoir comprises a cavity on the opposite side of a piston or vane of said hydraulic torque generator.

15. The power generating leg of claim 10 wherein said torque generator is coupled to the knee mechanism of a robotic exoskeleton.

16. The power generating leg of claim 15 wherein said torque generator is a hydraulic cylinder.

17. The power generating leg of claim 15 wherein said first electric generator is used in the power regeneration mode when said power generating leg is in stance phase and descending a stair or slope.

18. The power generating leg of claim 15 wherein said second electric generator is used in the power regeneration mode when said power generating leg is walking on level ground.

19. The power generating leg of claim 15 wherein said first electric generator is used as an electric motor in the power utilization mode when said power generating leg is in a stance phase and ascending a stair or slope.

20. The power generating leg of claim 15 wherein:

said first electric generator is used in the power regeneration mode when said power generating leg is in a stance phase and descending a stair or slope and is used as an electric motor in the power utilization mode when said power generating leg is in a stance phase and ascending a stair or slope; and

said second electric generator is used in the power regeneration mode when said power generating leg is walking on level ground.

21. The power generating leg of claim 1 wherein said storage device is one or more capacitors.

22. The power generating leg of claim 1 wherein said knee mechanism comprises it least one rotary joint and allows for rotary flexion and extension movements of said thigh link and said shank link relative to each other.

23. The power generating leg of claim 1 wherein said thigh link is configurable to be in contact with a person'"'"'s thigh so it can be moved by said person'"'"'s thigh.

24. The power generating leg of claim 1 wherein said thigh link is configurable to be connected to a person'"'"'s thigh.

25. The power generating leg of claim 1 wherein said power generating leg comprises a thigh strap configurable to be connected to a person'"'"'s thigh and causes said thigh link to move when said person'"'"'s thigh moves.

26. The power generating leg of claim 25 wherein said thigh strap comprises compliant materials wrapped around said person'"'"'s thigh.

27. The power generating leg of claim 25 wherein said thigh strap comprises a bracket formed to partially embrace said person'"'"'s thigh.

28. The power generating leg of claim 1 wherein said shank link is configurable to be in contact with said person'"'"'s shank so it can be moved by said person'"'"'s shank.

29. The power generating leg of claim 1 wherein said shank link is configurable to be connected to a person'"'"'s shank.

30. The power generating leg of claim 1 wherein said power generating leg comprises a shank strap configurable to be connected to a person'"'"'s shank and causes said shank link to move when said person'"'"'s shank moves.

31. The power generating leg of claim 30 wherein said shank strap comprises compliant materials wrapped around said person'"'"'s shank.

32. The power generating leg of claim 30 wherein said shank strap comprises a bracket formed to partially embrace said person'"'"'s shank.

33. The power generating leg of claim 1 wherein said thigh link comprises a socket configurable to be attached to an amputee'"'"'s remaining thigh and therefore said power generating leg functions as an above knee prosthetic device.

34. The power generating leg of claim 33 wherein said shank link further comprises an artificial foot.

35. The power generating leg of claim 1 wherein said hydraulic torque generator is a hydraulic piston and cylinder, wherein said piston slides relative to said cylinder.

36. The power generating leg of claim 1 wherein said hydraulic torque generator is a rotary hydraulic actuator.

37. The power generating leg of claim 1 wherein said electric generator comprises an element or combination of elements selected from a group consisting of AC generators, brush-type DC generators, brushless DC generators, electronically commutated motors, and combinations thereof.

38. The power generating leg of claim 1 wherein said fluid reservoir comprises a cavity on the opposite side of a piston or vane of said hydraulic torque generator.

39. The power generating leg of claim 1 where said power unit further comprises a one-way valve coupled to said torque generator and said fluid reservoir creating a third hydraulic path between said hydraulic torque generator and said fluid reservoir providing minimum resistance hydraulic flow from said fluid reservoir to said torque generator at all times.

40. The power generating leg of claim 1 wherein said power unit is configured to operate in the power utilization mode when said power generating leg is in a stance phase and is extending.

41. The power generating leg of claim 1 wherein said power unit is configured to operate in the power utilization mode when said power generating leg is in a stance phase and is ascending slopes and stairs.

42. The power generating leg of claim 1 wherein said power unit comprises a signal processor.

43. The power generating leg of claim 42 wherein said power generating leg comprises at least one knee angle sensor, wherein said knee angle sensor produces a knee angle signal representing the angle between said shank link and said thigh link.

44. The power generating leg of claim 43 wherein said signal processor generates command signals for components of said power unit from said knee angle signal.

45. The power generating leg of claim 42 wherein said power generating leg comprises at least a stance sensor, wherein said stance sensor produces a stance signal identifying if said power generating leg is in a stance phase or in a swing phase.

46. The power generating leg of claim 45 wherein said signal processor generates command signals for components of said power unit from said stance signal.

47. The power generating leg of claim 42 wherein said signal processor comprises an element or combination of elements selected from a group consisting of analog devices;

analog computation modules;

digital devices including, without limitation, small-, medium-, and large-scale integrated circuits, application specific integrated circuits, programmable gate arrays, and programmable logic arrays; and

digital computation modules including, without limitation, microcomputers, microprocessors, microcontrollers, and programmable logic controllers.

48. The power generating leg of claim 42 wherein said signal processor comprises an element or combination of elements selected from a group consisting of electromechanical relays or metal oxide semiconductor field effect transistors switches.

49. The power generating leg of claim 1, wherein the flow restrictive valve is adjustable to allow a desired resistance of the fluid flow between the torque generator and the fluid reservoir.

50. A power generating prosthetic leg, comprising:

a thigh link configured to be coupled to an above-knee amputee'"'"'s remaining limb;

a shank link;

a knee mechanism connected to said thigh link and said shank link, and

configured to allow flexion and extension movements of said thigh link and said shank link relative to each other;

a hydraulic torque generator configured to generate torque between said shank link and said thigh link; and

a power unit configured to operate in both a power utilization mode and a power dissipating mode, said power unit including a first hydraulic path between a fluid reservoir and the hydraulic torque generator having a hydraulic motor rotatably coupled to an electric generator and a motor isolating valve connected in series, and a second hydraulic path between the fluid reservoir and the hydraulic torque generator including an actuated flow restricting valve;

wherein when said power unit is in a power utilization mode, said motor isolating valve is in an open position and say hydraulic motor is powered by the electric generator and actuates the hydraulic torque generator to create a torque between the thigh link and the shank link; and

wherein when said power unit is in a power dissipation mode, said motor isolating valve is in a closed position and said actuated flow restricting valve restricts fluid flow between the hydraulic torque generator and the fluid reservoir and causes the hydraulic torque generator to resist motion of the thigh link and shank link with respect to one another.

51. A method of using an artificial leg comprising:

coupling a power generating leg to a person'"'"'s lower limb, said power generating leg comprising;

a thigh link;

a shank link;

a knee mechanism connected to said thigh link and said shank link, and configured to allow flexion and extension movements of said thigh link and said shank link relative to each other;

a hydraulic torque generator configured to generate torque between said shank link and said thigh link; and

a power unit coupled to said hydraulic torque generator, and configured to cause said hydraulic torque generator to generate torque, the power unit including a fluid reservoir in fluid communication with a hydraulic motor and the hydraulic torque generator; and

operating said power unit in a power regeneration mode, wherein when said power unit is in said power regeneration mode, and hydraulic fluid flows between the hydraulic torque generator and the fluid reservoir to cause the hydraulic motor to turn, a voltage is generated as a function of an angular velocity of the thigh link and shank link relative to each other, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link relative to each other and said power unit converts a portion of the power associated with the product of said torque and said angular velocity of said shank link and thigh link relative to each other into electrical power to be stored in a storage device.

52. The method of claim 51, wherein the power unit further comprises a motor isolating valve connected in series with the hydraulic motor in a first hydraulic path between the fluid reservoir and the hydraulic actuator, the method further comprising:

operating said power unit in a power utilization mode, wherein said motor isolating valve is in an open position and said hydraulic motor is powered by the electric generator and actuates the hydraulic torque generator to create a torque between the thigh link and the shank link.

53. The method of claim 52, wherein the power unit further comprises an actuated flow restricting valve in a second hydraulic path between the torque generator and the fluid reservoir, the method further comprising:

operating said power unit in a power dissipation mode, wherein said motor isolating valve is in a closed position and said actuated flow restricting valve resists motion of hydraulic fluid between the hydraulic torque generator and said fluid reservoir to resist the motion of the shank link with respect to the thigh link.

54. The method of claim 53, further comprising:

selecting a preference for operating the power generating leg in a power dissipation mode or a power regeneration mode;

sensing that the power generating leg is in a stance phase and is on level ground; and

signaling the power unit to operate in one of the power dissipation mode or power utilization mode based on the mode selected.

55. The method of claim 54, further comprising:

selecting a preference for operating the power generating leg in a power dissipation mode or a power utilization mode;

sensing that the power generating leg is in a swing phase; and

signaling the power unit to operate in one of the power dissipation mode or power utilization mode based on the mode selected.

56. A method of powering a hydraulic torque generator to generate torque between two links of a power generating leg, said power unit including a first hydraulic path between a fluid reservoir and said hydraulic torque generator having a hydraulic motor rotatably coupled to an electric generator, and a motor isolating valve connected in series, a second hydraulic path between said fluid reservoir and the hydraulic torque generator including an actuated flow restricting valve, said method comprising:

opening said motor isolating valve, powering said hydraulic motor by said electric generator and actuating the hydraulic torque generator to create a torque when said power unit is in a power utilization mode; and

closing said motor isolating valve and operating said actuated flow restricting valve to restrict the fluid flow between said hydraulic torque generator and said fluid reservoir causing said hydraulic torque generator to resist motion of said links with respect to one another when said power unit is in a power dissipation mode.

57. The method of claim 56 further comprising:

opening said power isolating valve and causing said hydraulic motor to resist a hydraulic fluid flow induced by a motion of said hydraulic torque generator and causing an electric current to pass through the terminals of said electric generator indicating that electric power is being generated by said electric generator when said power unit is in a power regeneration mode.

58. The method of claim 57, further comprising:

sensing that said power generating leg is in a stance phase and descending a stair or a slope; and

signaling said power unit to operate in said power regeneration mode.

59. The method of claim 57, further comprising:

sensing that said power generating leg is in a stance phase; and

signaling said power unit to operate in said power regeneration mode.

60. The method of claim 56, further comprising:

sensing that the power generating leg is in a stance phase and ascending a stair or a slope; and

signaling the power unit to operate in said power utilization mode.