Transfemoral prosthetic systems and methods for operating the same

• US 8,057,550 B2
• Filed: 03/23/2009
• Issued: 11/15/2011
• Est. Priority Date: 02/12/2004
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Oddsson, Magnús, Clausen, Arinbjörn Viggo
• Primary Examiner(s): Sweet; Thomas J
• Assistant Examiner(s): Hoban; Melissa
• Application Number:
  US12/409,336
• Publication Number:
  US 20090222105A1
• Time in Patent Office: 967 Days
• Field of Search: 623/24, 623/27
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/5004 operated by electro- or magnetorheological fluids
• CPC Class Codes: A61F 2002/5006 Dampers, e.g. hydraulic damper
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/607 Lower 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 2002/705 Electromagnetic data transfer
• 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 2002/764 for measuring acceleration
• CPC Class Codes: A61F 2002/768 for measuring battery status
• CPC Class Codes: A61F 2002/7685 located on natural or sound-site limbs, e.g. comparison measuring means
• CPC Class Codes: A61F 2002/769 Displaying measured values

Abstract

Certain embodiments of the invention relate to increasing the functionality of a transfemoral prosthetic device. In one embodiment, the transfemoral prosthetic device is configured such that the prosthetic knee maintains a load consistent with a healthy knee walking on level ground, while the prosthetic ankle adjusts for the incline or decline. In certain embodiments, adjustments, such as a toe lift function, are automatically performed after about three strides of the transfemoral prosthetic device user and/or when each of the strides has a stride speed of at least about 0.55 meters/second.

Claims

1. A method of controlling a transfemoral prosthetic device, comprising:

monitoring, with at least one sensor, at least one of position and movement of a transfemoral prosthetic device, wherein the device comprises;

a foot unit,

a tibial member pivotally attached to the foot unit,

a first actuator operatively coupled to the foot unit and to the tibial member, wherein the first actuator is configured to actively adjust an ankle angle between the foot unit and the tibial member,

a femoral member pivotally attached to the tibial member, and

a second actuator operatively coupled to the tibial member and to the femoral member, wherein the second actuator is configured to adjust a knee angle between the tibial member and the femoral member;

wherein the at least one sensor is positioned on the transfemoral prosthetic device;

generating data indicative of the at least one of position and movement;

processing the data to determine a gait cycle phase;

during a swing phase of the gait cycle phase determined from processing of the data, actuating the first actuator to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle; and

during the swing phase of the gait cycle phase determined from processing of the data, actuating the second actuator to move the tibial member relative to the femoral member in a manner that substantially mimics the movement of a healthy knee joint attached to a healthy ankle joint.

2. The method of claim 1, wherein said processing comprises determining the gait cycle phase after about three strides of a user of the transfemoral prosthetic device.

3. The method of claim 2, wherein said actuating the first actuator comprises adjusting the ankle angle between the foot unit and the tibial member after said about three strides.

4. The method of claim 3, wherein said actuating the first actuator further comprises adjusting the ankle angle between the foot unit and the tibial member when each of said about three strides has a stride speed of at least between 0.40 meters per second and 0.60 meters per second.

5. The method of claim 4, wherein said actuating the first actuator further comprises adjusting the ankle angle between the foot unit and the tibial member when each of said about three strides has a stride speed of at least about 0.55 meters per second.

6. The method of claim 2, further comprising performing a toe lift function after about three strides of a user of the transfemoral prosthetic device.

7. The method of claim 6, further comprising performing the toe lift function when each of said about three strides has a stride speed of at least between 0.40 meters per second and 0.60 meters per second.

8. The method of claim 7, further comprising performing the toe lift function when each of said about three strides has a stride speed of at least about 0.55 meters per second.

9. The method of claim 7, further comprising performing the toe lift function when the foot unit is down to a gradient of about −

8 degrees to about −

12 degrees from level-ground.

10. The method of claim 9, further comprising performing the toe lift function when the foot unit is down to a gradient of about −

10 degrees from level-ground.

11. The method of claim 1, wherein the first actuator is configured to adjust the angle between the tibial member and the foot unit, and the second actuator is configured to adjust the angle between the femoral member and the tibial member to reduce a load on a physiological member.

12. The method of claim 1, wherein the first actuator actively adjusts the angle between the tibial member and the foot unit in a toe lift after about three strides of a user of the transfemoral prosthetic device.

13. The method of claim 1, wherein the first actuator communicates the ankle angle to the second actuator when the ankle angle has changed.

14. The method of claim 1, wherein the second actuator is an electronically controlled prosthetic knee.

15. The method of claim 1, further comprising transmitting data between the first actuator and the second actuator.

16. The method of claim 1, wherein the processing the data to determine a gait cycle phase is provided by multiple processors.

17. A method of controlling a transfemoral prosthetic device, comprising:

monitoring, with at least one sensor, at least one of position and movement of a transfemoral prosthetic device, wherein the device comprises;

a foot unit,

a tibial member pivotally attached to the foot unit,

a first actuator operatively coupled to the foot unit and to the tibial member, wherein the first actuator is configured to actively adjust an ankle angle between the foot unit and the tibial member,

a femoral member pivotally attached to the tibial member, and

a second actuator operatively coupled to the tibial member and to the femoral member, wherein the second actuator is configured to adjust a knee angle between the tibial member and the femoral member;

generating data indicative of the at least one of position and movement;

processing the data to determine a gait cycle phase;

during a swing phase of the gait cycle phase;

actuating the first actuator to move the foot unit relative to the tibial member in a manner that substantially mimics the movement of a healthy ankle such that the ankle angle between the foot unit and the tibial member provides for toe lift based on a gait speed of a user of the transfemoral prosthetic device; and

actuating the second actuator to move the tibial member relative to the femoral member in a manner that substantially mimics the movement of a healthy knee joint attached to a healthy ankle joint.

18. The method of claim 17, wherein the actuating of the first actuator to provide for toe lift is provided when the gait speed of the user reaches a speed of between about 0.4 m/s and about 0.6 m/s.

19. The method of claim 17, wherein said processing comprises determining the gait cycle phase within three strides of a user of the transfemoral prosthetic device.

20. The method of claim 17, wherein the actuating of the first actuator to provide for toe lift is provided within three strides.

21. The method of claim 17, wherein the processing the data to determine a gait cycle phase is provided by multiple processors.

22. The method of claim 17, wherein the actuating of the first actuator to provide for toe lift comprises adjusting the ankle angle between the foot unit and the tibial member when the gait speed of the user reaches at least about 0.55 meters per second.