Hybrid terrain-adaptive lower-extremity systems

• US 9,351,856 B2
• Filed: 09/24/2013
• Issued: 05/31/2016
• Est. Priority Date: 09/04/2008
• Status: Active Grant

• Current Assignee: Otto Bock HealthCare LP (Nader Holding GmbH & Co. KG)
• Original Assignee: iWalk Incorporated (Ottobock SE & Co. KGaA)
• Inventors: Herr, Hugh Miller, Casler, Richard J. Jr., Han, Zhixiu
• Primary Examiner(s): Willse, David H
• Application Number:
  US14/034,956
• Publication Number:
  US 20140081424A1
• Time in Patent Office: 980 Days
• US Class Current: 1/1
• CPC Class Codes: A61F 2/60 Artificial legs or feet or parts thereof
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/5003 having damping means, e.g. shock absorbers
• CPC Class Codes: A61F 2002/5007 having elastic means different from springs, e.g. including an elastomeric insert
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/503 for adjusting elasticity, flexibility, spring rate or mechanical tension
• CPC Class Codes: A61F 2002/5033 for adjusting damping
• CPC Class Codes: A61F 2002/5079 Leaf springs A61F2002/6657 takes precedence
• CPC Class Codes: A61F 2002/5087 Sound-damping or noise-reducing means
• CPC Class Codes: A61F 2002/6614 Feet
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• 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 2002/763 for measuring spatial position, e.g. global positioning system [GPS]
• 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: A61F 2002/7665 : for measuring temperatures
• CPC Class Codes: A61F 2005/0155 : with actuating means
• CPC Class Codes: A61F 2005/0169 : with damping means
• CPC Class Codes: A61H 1/0266 : Foot
• CPC Class Codes: A61H 2003/001 : on steps or stairways
• CPC Class Codes: A61H 3/00 : Appliances for aiding patients or disabled persons to walk about apparatus for helping babies to walk A47D13/04 ; applying electrical currents by contact electrodes for stimulating motor muscles, e.g. walking assistance A61N1/36003
• CPC Class Codes: B25J 9/0006 : Exoskeletons, i.e. resembling a human figure
• CPC Class Codes: G01L 5/0028 : Force sensors associated with force applying means G01L5/0052, G01L5/0057, G01L5/0061 take precedence
• CPC Class Codes: G01L 5/0061 : Force sensors associated with industrial machines or actuators for the specific machine or actuator involved see relevant class, e.g. F01, F04, F16, B66, E21
• CPC Class Codes: G01P 21/00 : Testing or calibrating of apparatus or devices covered by the preceding groups
• CPC Class Codes: H02K 7/06 : Means for converting reciprocating motion into rotary motion or vice versa
• CPC Class Codes: H02K 7/116 : with gears

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.

Claims

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.

2. The apparatus of claim 1, wherein the controller is configured to apply torque to the joint based on a signal from the interface, the applied torque comprising at least one of a joint impedance, a joint equilibrium, a joint damping and an ankle reflex response.

3. The apparatus of claim 2, wherein the ankle reflex response comprises at least one of a positive torque feedback response and a positive velocity feedback response.

4. The apparatus of claim 3, wherein the torque applied is represented by the following relationships:

Γ

=−

(k(θ

−

θ

₀)+b{dot over (θ

)}+j{umlaut over (θ

)})+Γ

_reflex(α

)

Γ

_{re flex}(α

)=Γ

_{Torque reflex}(α

)+Γ

_{Velocity reflex}(α

)

where Γ

=torque applied, k=joint impedance, θ

₀=joint equilibrium, b=joint damping, j=joint inertia, Γ

_reflex(α

)=ankle reflex response, Γ

_{Torque re flex}(α

)=positive torque feedback response, Γ

_{Velocity reflex}(α

)=positive velocity feedback response, and α

=one or more parameters that defines a torque response.

5. The apparatus of claim 4, wherein a comprises an exponential parameter such that the positive torque feedback response relates exponentially to a measured torque, and the positive velocity feedback response relates exponentially to an angular velocity.

6. The apparatus of claim 1, wherein the speed of a point located on or coupled to the apparatus is at least one of a translational speed and an angular speed.

7. The apparatus of claim 1, wherein the joint is a mechanical joint or a biological joint.

8. The apparatus of claim 1, wherein the controller is configured to adjust ankle stiffness based on an indication from the interface, during at least part of a stance or swing phase.

9. The apparatus of claim 1, wherein the interface is in wireless communication with the controller.

10. The apparatus of claim 1, wherein the interface is configured to tune the controller such that an ankle joint response conforms to a biomimetic norm determined by a biomechanical data collection.

11. The apparatus of claim 10, wherein the biomimetic norm comprises at least one of a biological level of net work, stiffness, damping, and power.

12. The apparatus of claim 11, wherein the biomimetic norm is a function of walking speed.

13. The apparatus of claim 1, wherein the interface is configured to tune the controller to cause the actuator to adjust at least one of a Controlled Plantar Flexion stiffness, a Controlled Dorsiflexion stiffness and power delivered during Powered Plantar Flexion.

14. The apparatus of claim 1, wherein the at least one sensor comprises at least one of an angular rate sensor, an accelerometer, a displacement sensor and a sensor for determining an inertial pose of a portion of the apparatus.

15. The apparatus of claim 1, wherein the controller is configured to cause the actuator to decrease stiffness of the joint with increasing walking speed during the gait cycle.

16. The apparatus of claim 1, further comprising a spring operatively coupled to the actuator and the joint.

17. The apparatus of claim 1, wherein the controller is configured to cause the actuator to deliver net positive ankle work to the joint based on a signal from the interface during the gait cycle.

18. The apparatus of claim 1, further comprising an inertial measurement unit, for determining at least one of ambulation speed of the wearer and underlying terrain.

19. A method of operating a motorized ankle prosthesis, orthosis or exoskeleton apparatus, comprising:

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.

20. The method of claim 19, wherein net ankle work is adjusted across gait speed.

21. The method of claim 19, wherein tuning the controller comprises wireless communication between the interface and the controller.

22. The method of claim 19, wherein the information input to the interface tunes the controller such that an ankle response conforms to a biomimetic norm determined by a biomechanical data collection.

23. The method of claim 22, wherein the biomimetic norm comprises at least one of a biological level of net positive work, stiffness, damping and power.

24. The method of claim 23, wherein the biomimetic norm is adjusted as a function of walking speed.

25. The method of claim 19, wherein tuning the controller comprises adjusting a response of the actuator to achieve at least one of a Controlled Plantar Flexion stiffness, a Controlled Dorsiflexion stiffness and power delivered during Powered Plantar Flexion.

26. The method of claim 19, further comprising sensing at least one of a translational and angular speed of a location on or coupled to the apparatus during the gait cycle.

27. The method of claim 26, wherein the location coupled to the apparatus comprises a location on a wearer coupled to the apparatus.

28. The method of claim 27, further comprising determining an inertial pose trajectory comprising at least one of a) an orientation component of at least one location on or coupled to the apparatus, b) a translation component of the at least one location on or coupled to the apparatus, and c) a velocity component of the at least one location on or coupled to the apparatus.