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Hybrid terrain-adaptive lower-extremity systems

  • US 9,211,201 B2
  • Filed: 03/15/2013
  • Issued: 12/15/2015
  • Est. Priority Date: 09/04/2008
  • Status: Active Grant
First Claim
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1. A method for a lower extremity prosthesis or orthosis, the lower extremity prosthesis or orthosis comprising a foot member, a lower leg member, and an ankle joint for connecting the foot member to the lower leg member, the method comprising:

  • receiving, from an accelerometer coupled to the lower leg member, an accelerometer signal;

    receiving, from an inertial measurement unit coupled to the lower leg member, an inertial pose misalignment signal;

    determining at least one velocity error contribution when the ankle joint is substantially stationary during a walking cycle based in part on the accelerometer signal; and

    determining at least one velocity error contribution when the ankle joint is substantially stationary during the walking cycle based in part on the inertial pose misalignment signal and a world frame-referenced ankle joint parameter, the world frame-referenced ankle joint parameter to include an indication of at least one of a velocity of the ankle joint or a position of the ankle joint.

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