Hybrid terrain-adaptive lower-extremity systems
First Claim
1. A motorized ankle prosthesis, orthosis or exoskeleton apparatus, comprising:
- an actuator operatively coupled to a joint;
at least one sensor for determining a parameter that correlates with gait speed;
a controller in communication with the at least one sensor, the controller configured to cause the actuator to deliver to the joint over a gait cycle an amount of net ankle work that increases with increasing gait speed, the controller further configured to calculate net ankle work applied to the joint over the gait cycle; and
an interface in communication with the controller, the interface configured to display information regarding the calculated net ankle work applied to the joint, to receive an input from an external source and send a signal based on the received input that causes the controller to change net ankle work over the gait cycle applied to the joint as a function of gait speed.
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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.
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Citations
28 Claims
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1. A motorized ankle prosthesis, orthosis or exoskeleton apparatus, comprising:
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an actuator operatively coupled to a joint; at least one sensor for determining a parameter that correlates with gait speed; a controller in communication with the at least one sensor, the controller configured to cause the actuator to deliver to the joint over a gait cycle an amount of net ankle work that increases with increasing gait speed, the controller further configured to calculate net ankle work applied to the joint over the gait cycle; and an interface in communication with the controller, the interface configured to display information regarding the calculated net ankle work applied to the joint, to receive an input from an external source and send a signal based on the received input that causes the controller to change net ankle work over the gait cycle applied to the joint as a function of gait speed. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18)
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19. A method of operating a motorized ankle prosthesis, orthosis or exoskeleton apparatus, comprising:
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inputting information regarding wearer need to an interface, wherein the interface is in communication with a controller, the controller configured to cause an actuator, operatively coupled to a joint, to deliver an amount of net ankle work to the joint over a gait cycle, the controller further configured to calculate net ankle work applied to the joint over the gait cycle; displaying on the interface information related to the calculated net ankle work applied to the joint; and adjusting the net ankle work over the gait cycle applied to the joint by tuning the controller based on the information input to the interface. - View Dependent Claims (20, 21, 22, 23, 24, 25, 26, 27, 28)
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Specification