Actuator assembly for prosthetic or orthotic joint
First Claim
1. A device configured to be attached to a limb, comprising:
- a first portion;
a second portion, the first and second portions pivotable relative to each other to mimic a natural human joint; and
an actuator comprising;
a motor comprising stator windings,at least one magnet,a first threaded member that extends along a longitudinal axis of the actuator and operatively connects to the first portion, the first threaded member having a first threaded portion and configured to move along the longitudinal axis relative to the motor, anda second threaded member that extends along the longitudinal axis of the actuator and operatively connects to the second portion, the second threaded member having a second threaded portion and configured to move along the longitudinal axis relative to the motor, the first and second threaded members extending from opposite sides of the motor and configured to move relative to each other,wherein the motor is disposed circumferentially about at least a portion of the magnet and the magnet is disposed circumferentially about at least a portion of the first and second threaded members, the motor configured to axially displace outer ends of one or both of the first and second threaded members to adjust an angle between the first portion and the second portion, wherein a pitch of the threads of one or both of the first and second threaded members is configured to resist a change in an axial length of the actuator when an axial load is applied to at least one of the first and second threaded members, and wherein the first and second threaded portions threadingly engage and a locking force is generated between the threads of the first and second threaded portions.
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Accused Products
Abstract
A system and method associated with the movement of a limb. In one example, the system, such as a prosthetic or orthotic system, includes an actuator that actively controls, or adjusts, the angle between a foot unit and a lower limb member. The actuator preferably selectively locks during a desired phase in a gait cycle of the limb and minimizes friction against a rotor of the actuator. A processing module may control movement of the actuator based on data obtained from a sensor module. For instance, sensing module data may include information relating to the gait of a user and may be used to adjust the foot unit to substantially mimic the movement of a natural, healthy ankle. The system may further accommodate, for example, level ground walking, traveling up/down stairs, traveling up/down sloped surfaces, and various other user movements. In addition, the processing module may receive user input or display output signals through an external interface. For example, the processing module may receive a heel height input from the user.
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Citations
14 Claims
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1. A device configured to be attached to a limb, comprising:
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a first portion; a second portion, the first and second portions pivotable relative to each other to mimic a natural human joint; and an actuator comprising; a motor comprising stator windings, at least one magnet, a first threaded member that extends along a longitudinal axis of the actuator and operatively connects to the first portion, the first threaded member having a first threaded portion and configured to move along the longitudinal axis relative to the motor, and a second threaded member that extends along the longitudinal axis of the actuator and operatively connects to the second portion, the second threaded member having a second threaded portion and configured to move along the longitudinal axis relative to the motor, the first and second threaded members extending from opposite sides of the motor and configured to move relative to each other, wherein the motor is disposed circumferentially about at least a portion of the magnet and the magnet is disposed circumferentially about at least a portion of the first and second threaded members, the motor configured to axially displace outer ends of one or both of the first and second threaded members to adjust an angle between the first portion and the second portion, wherein a pitch of the threads of one or both of the first and second threaded members is configured to resist a change in an axial length of the actuator when an axial load is applied to at least one of the first and second threaded members, and wherein the first and second threaded portions threadingly engage and a locking force is generated between the threads of the first and second threaded portions. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A device configured to be attached to a limb, comprising:
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a first portion; a second portion, the first and second portions pivotable relative to each other to mimic a natural human joint; and an actuator comprising; a motor comprising stator windings; an elongated rotor, the motor disposed circumferentially about at least a portion of the rotor, the rotor comprising a first member that extends along a longitudinal axis of the actuator and operatively connects to the first portion, the first member having a first threaded portion and configured to move along the longitudinal axis relative to the motor; and a second member that extends along the longitudinal axis of the actuator and connects to the second portion, the second member having a second threaded portion and configured to move along the longitudinal axis relative to the motor, the first and second threaded members extending from opposite sides of the motor and configured to move relative to each other; wherein the rotor is disposed circumferentially about at least a portion of the second member, the motor configured to axially displace outer ends of one or both of the first and second members to adjust an angle between the first portion and the second portion. - View Dependent Claims (10, 11, 12, 13, 14)
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Specification