Powered ankle-foot prothesis

• US 8,512,415 B2
• Filed: 06/12/2008
• Issued: 08/20/2013
• Est. Priority Date: 03/31/2005
• Status: Active Grant

• Current Assignee: Massachusetts Institute of Technology
• Original Assignee: Massachusetts Institute of Technology
• Inventors: Herr, Hugh M., Weber, Jeff A., Au, Samuel K., Deffenbaugh, Bruce Wayne, Magnusson, Lee Harris, Aisen, Benjamin B., Hofmann, Andreas G.
• Primary Examiner(s): Snow, Bruce E
• Assistant Examiner(s): DUKERT, BRIAN AINSLEY
• Application Number:
  US12/157,727
• Publication Number:
  US 20110257764A1
• Time in Patent Office: 1,895 Days
• Field of Search: 623/24, 623/27, 623/44, 623/46, 623/47, 623/53
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/605 Hip joints
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/68 Operating or control means
• CPC Class Codes: A61F 2002/5004 operated by electro- or magnetorheological fluids
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping
• CPC Class Codes: A61F 2002/5075 Multiple spring systems including two or more helical springs
• CPC Class Codes: A61F 2002/6818 for braking
• 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 2002/7625 for measuring angular position
• 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 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: B25J 19/0008 Balancing devices

Abstract

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Claims

1. A device comprising:

a) a mechanical ankle joint that is a rotational joint bearing axis which joint defines an angle between two structures that are joined by the joint, which angle can vary over a first range of angles during normal operation of the device;

b) a controllable actuator comprising a motor connected to a series spring for imparting a first torque about the joint; and

c) a parallel spring connected in parallel with the actuator, for imparting a second torque about the joint only when the angle is within a second range of angles, the second range being a subset of, and not identical to, the first range.

2. The device of claim 1, wherein the first range of angles includes a maximum dorsiflexion angle of about 15 degrees and a maximum plantar flexion angle of about 25 degrees.

3. The device of claim 1, wherein the motor modulates compression of the series spring.

4. The device of claim 1, wherein the actuator modulates joint stiffness.

5. The device of claim 4, wherein the actuator has a first stiffness during controlled plantar flexion and a second stiffness during controlled dorsiflexion.

6. The device of claim 1, wherein the actuator provides stiffness and torque from the start of powered plantar flexion to toe off.

7. The device of claim 1, wherein the actuator provides active push-off during powered plantar flexion.

8. The device of claim 1, wherein the actuator imparts a peak torque of about 140 Nm.

9. The device of claim 1, wherein the actuator provides a large force bandwidth that is about 3.5 Hz.

10. The device of claim 1, wherein the parallel spring has a parallel spring stiffness, the device provides an offset stiffness during controlled dorsiflexion, and the offset stiffness is greater than or equal to the parallel spring stiffness.

11. The device of claim 1, wherein the parallel spring reduces a load borne by the actuator.

12. The device of claim 1, wherein the two structures comprise a foot structure and a shin structure, respectively, and each angle in the second range of angles is not more than 90 degrees.

13. The device of claim 1 further comprising a linear potentiometer adapted to measure deflection of the series spring.

14. The device of claim 1 further comprising a prosthetic foot coupled to the joint.

15. The device of claim 1, wherein the device provides shock absorption during foot strike, energy storage during mid-stance period, and energy return in a late stance period.

16. The device of claim 1, wherein the device modifies its net work according to walking speed.

17. The device of claim 1, wherein the device adjusts joint spring equilibrium position in a swing phase according to at least one of walking speed and surface terrain.

18. The device of claim 1, wherein the device adjusts stiffness of the joint in real time for terrain variations.

19. The device of claim 1, wherein the actuator provides a torque bandwidth of about 9 Hz.

20. The device of claim 1, further including an artificial sensory system comprising at least one sensor selected from the group consisting of an ankle angle sensor, an ankle torque sensor, a heel contact sensor, a toe contact sensor, a foot contact sensor, a potentiometer measuring joint torque, an inertial measurement unit, and an electromyographic sensor.

21. The device of claim 20, wherein the inertial measurement unit includes a three-axis accelerometer and from one to three ceramic gyroscopes.

22. The device of claim 20, further including an operative connection to the motor and the at least one sensor, wherein the motor stores elastic energy in the series spring during ankle-controlled dorsiflexion, and wherein the series and parallel springs release elastic energy during ankle-powered flexion.

23. A device, comprising:

a) a mechanical ankle joint, which joint defines an angle between two structures that are joined by the joint, which angle can vary over a first range of angles during normal operation of the device;

b) a controllable actuator including a motor connected to a series spring for imparting a first torque about the joint;

c) a parallel spring connected in parallel with the actuator, for imparting a second torque about the joint only when the angle is within a second range of angles, the second range being a subset of, and not identical to, the first range;

d) an artificial sensory system including at least one sensor selected from the group consisting of a position sensor, a velocity sensor, and a force sensor; and

e) an operative connection to the motor and the at least one sensor, wherein the motor is adapted to store elastic energy in the series spring during ankle-controlled dorsiflexion, wherein the series and parallel springs release elastic energy during ankle-powered plantar flexion.