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Powered artificial knee with agonist-antagonist actuation

  • US 9,149,370 B2
  • Filed: 08/05/2013
  • Issued: 10/06/2015
  • Est. Priority Date: 03/31/2005
  • Status: Active Grant
First Claim
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1. An artificial knee component, comprising:

  • a) a mechanical knee joint;

    b) a first rotary actuator;

    c) a first linear ball screw connected to the first rotary actuator;

    d) a link between the linear screw and the mechanical knee joint, the link including a first ball-nut threadably engaged with the first linear screw, whereby actuation of the first rotary actuator rotates the first linear screw which, in turn, causes the link to move linearly along a major longitudinal axis of the first linear screw and rotate the mechanical knee joint, thereby converting linear force on the link by the first linear screw to torque about the mechanical knee joint;

    e) a second rotary actuator; and

    f) a second linear screw connected to the second rotary actuator, whereby the second rotary actuator rotates the second linear screw which, in turn, causes linear movement of the link along a major longitudinal axis of the second linear screw and rotation of the mechanical knee joint in a direction opposite that of the first rotary actuator, thereby converting linear force of the second linear screw to torque about the mechanical knee joint.

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