Hybrid terrain-adaptive lower-extremity systems

• US 8,900,325 B2
• Filed: 09/24/2013
• Issued: 12/02/2014
• Est. Priority Date: 09/04/2008
• Status: Active Grant

• Current Assignee: Otto Bock HealthCare LP (Nader Holding GmbH & Co. KG)
• Original Assignee: iWalk Incorporated (Ottobock SE & Co. KGaA)
• Inventors: Herr, Hugh Miller, Casler, Richard J. Jr., Han, Zhixiu
• Primary Examiner(s): Willse, David H
• Application Number:
  US14/034,907
• Publication Number:
  US 20140081421A1
• Time in Patent Office: 434 Days
• Field of Search: None
• US Class Current: 623/24
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• 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 2002/5003 having damping means, e.g. shock absorbers for implantable joints A61F2002/30563
• CPC Class Codes: A61F 2002/5007 having elastic means different from springs, e.g. including an elastomeric insert elastic coating A61F2002/3007; springs A61F2002/5072; plate-like springs for feet A61F2002/6657
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping damping means A61F2002/5003
• CPC Class Codes: A61F 2002/5079 Leaf springs A61F2002/6657 takes precedence
• CPC Class Codes: A61F 2002/5087 Sound-damping or noise-reducing means
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• 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 2002/763 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 2002/7645 for measuring torque, e.g. hinge or turning moment, moment of force
• CPC Class Codes: A61F 2002/7665 : for measuring temperatures
• CPC Class Codes: A61F 2005/0155 : with actuating means
• CPC Class Codes: A61F 2005/0169 : with damping means
• CPC Class Codes: A61H 1/0266 : Foot
• CPC Class Codes: A61H 2003/001 : on steps or stairways
• CPC Class Codes: A61H 3/00 : Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04; orthopaedic devices for correcting deformities of, or supporting, limbs A61F5/0102; exercising apparatus for the feet or toes A63B23/10; stairways or ramps E04F11/00
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: G01L 5/0028 : Force sensors associated with force applying means G01L5/0052, G01L5/0057, G01L5/0061 take precedence
• CPC Class Codes: G01L 5/0061 : Force sensors associated with industrial machines or actuators for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21
• CPC Class Codes: G01P 21/00 : Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: H02K 7/06 : Means for converting reciprocating motion into rotary motion or vice versa
• CPC Class Codes: H02K 7/116 : with gears

Abstract

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Claims

1. A motorized prosthesis, orthosis or exoskeleton apparatus, comprising:

a motor operatively coupled to a lower extremity joint;

a power supply for supplying power to the motor; and

a controller, connected via motor leads to the motor, for controlling the motor, wherein the controller is configured to short the motor leads upon detection of a loss of power to the motor so as to introduce damping behavior to the lower extremity joint within a range of motion between end-of-travel limits of the lower extremity joint.

2. The apparatus of claim 1, wherein the motor is adapted to provide torque to the joint.

3. The apparatus of claim 1, wherein the joint is at least one of a mechanical joint and a biological joint.

4. The apparatus of claim 1, wherein the motor is a rotary motor or a linear motor.

5. The apparatus of claim 1, wherein the joint comprises at least one of an ankle, knee and hip.

6. The apparatus of claim 1, further comprising at least one motor shunt transistor operatively coupled to the controller, wherein the controller is configured to short the motor leads by activating the at least one motor shunt transistor to connect the motor leads together at a common connection point.

7. The apparatus of claim 6, wherein the common connection point is a power supply terminal.

8. The apparatus of claim 6, wherein the common connection point is a power supply ground.

9. The apparatus of claim 6, wherein the at least one motor shunt transistor comprises a Field-Effect Transistor.

10. The apparatus of claim 6, further comprising an energy supply for activating the at least one motor shunt transistor, the energy supply located adjacent to the at least one motor shunt transistor.

11. The apparatus of claim 10, wherein the energy supply for activating the at least one motor shunt transistor comprises a bank of capacitors or a battery.

12. The apparatus of claim 11, wherein the controller is configured to short the motor leads based on a hardware event comprising at least one of a short-circuit fault in an electrical subsystem, a motor short-circuit fault, loss of power in an electrical subsystem, low power supply voltage, controller malfunction, controller over-temperature, motor over-temperature, power amplifier over-temperature, controller under-voltage, loss of motor position feedback, loss of joint position feedback and motor drive transmission fault.

13. The apparatus of claim 11, wherein the controller is configured to short the motor leads based on a software event comprising at least one of a controller malfunction and detection of a non-active state.

14. The apparatus of claim 11, wherein the controller is configured to control torque provided by the motor based upon a detected motor temperature.

15. The apparatus of claim 14, wherein the detected motor temperature comprises an in situ measurement of motor winding resistance.

16. The apparatus of claim 1, wherein upon shorting of the motor leads, damping of the joint increases.

17. The apparatus of claim 1, wherein the controller is configured to short the motor leads of the motor resulting in the motor behaving as a mechanical dampening device.

18. The apparatus of claim 1, wherein the controller is configured to short the motor leads of the motor resulting in a lack of power supplied from the power supply to the motor.

19. The apparatus of claim 1, wherein the range of motion between end-of-travel limits of the lower extremity joint includes a range of motion between maximum dorsiflexion and maximum plantarflexion.

20. The apparatus of claim 1, wherein the damping behavior of the lower extremity joint is bidirectional.

21. A method of operating a motorized prosthesis, orthosis or exoskeleton apparatus, comprising:

controlling a motor operatively coupled to a lower extremity joint through a controller, the controller connected to the motor via motor leads;

detecting a loss of power to the motor; and

shorting the motor leads of the motor based on the detecting of the loss of power to the motor so as to introduce damping behavior to the lower extremity joint within a range of motion between end-of-travel limits of the lower extremity joint.

22. The method of claim 21, wherein the motor is adapted to provide torque to the joint.

23. The method of claim 21, wherein shorting the motor leads comprises connecting the motor leads together at a common connection point.

24. The method of claim 23, wherein the common connection point is a power supply terminal.

25. The method of claim 21, wherein shorting the motor leads of the motor is based on a hardware event or a software event comprising at least one of a short-circuit fault in an electrical subsystem, a motor short-circuit fault, battery removal, loss of power in an electrical subsystem, low power supply voltage, controller malfunction, controller over-temperature, motor over-temperature, power amplifier over-temperature, controller under-voltage, loss of motor position feedback, loss of joint position feedback, motor transmission fault, and detection of a non-active state.

26. The method of claim 21, wherein shorting the motor leads of the motor comprises increasing damping of the joint.

27. The method of claim 21, wherein shorting the motor leads of the motor results in disabling control, by the controller, of torque provided by the motor.

28. The method of claim 21, wherein the range of motion between end-of-travel limits of the lower extremity joint includes a range of motion between maximum dorsiflexion and maximum plantarflexion.

29. The method of claim 21, wherein the damping behavior of the lower extremity joint is bidirectional.