Artificial human limbs and joints employing actuators, springs, and variable-damper elements

• US 9,333,097 B2
• Filed: 06/28/2011
• Issued: 05/10/2016
• 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., Paluska, Daniel Joseph, Dilworth, Peter
• Primary Examiner(s): SNOW, BRUCE EDWARD
• Application Number:
  US13/171,307
• Publication Number:
  US 20110264230A1
• Time in Patent Office: 1,778 Days
• Field of Search: 623/24, 623 43- 46, 623 47- 55
• US Class Current: 1/1
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/604 Joints for artificial legs A61F2/605, A61F2/64, A61F2/6607 take precedence
• 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 2/70 electrical
• 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 damping means A61F2002/5003
• CPC Class Codes: A61F 2002/5072 having spring elements spring-biased locking means A61F2002/30505; for implantable joints A61F2002/30565; other elastic means A61F2002/5007
• 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
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence

Abstract

Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.

Claims

1. A prosthetic, orthotic or exoskeletal device comprising:

a mechanical ankle joint;

a motor adapted to impart a torque on the ankle joint; and

a spring arranged in parallel with the motor;

wherein the spring only engages when the ankle joint rotates past a predetermined position, wherein the predetermined position is an ankle angle of 90°

or less, within the range of angles of the ankle joint where the ankle is in a position of dorsiflexion, and wherein energy stored in the spring during dorsiflexion is released to cause the ankle joint to rotate and propel powered plantarflexion.

2. The device of claim 1, wherein the spring is adapted, when engaged, to lower a peak motor torque requirement for biologically realistic dynamic behavior.

3. The device of claim 1, wherein the motor and spring are configured to provide biologically realistic dynamic behavior.

4. The device of claim 1 further comprising at least one elastic element in series with the motor.

5. The device of claim 4, wherein at least one of the spring and the elastic element is adapted to store energy in one phase of the gait cycle and to release energy in a subsequent phase of the gait cycle.

6. The device of claim 1 further comprising a transmission operatively connected to an output of the motor.

7. The device of claim 1 further comprising a motor parallel damper.

8. The device of claim 7, wherein the motor parallel damper is adapted to be locked at certain times.

9. The device of claim 7, wherein the motor parallel damper is selected from the group consisting of a rotary magnetorheological (MR) variable damper and a rotary hysteresis variable damper.