Actuated prosthesis for amputees
First Claim
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1. An actuated knee joint prosthesis, the knee joint prosthesis comprising:
- a proximal connection member configured to operatively connect the knee joint prosthesis to an amputee;
an actuator assembly comprising a first end, a second end, a powered actuator, and a mechanical elastic member spaced from the powered actuator, the powered actuator and the mechanical elastic member being positioned in series between the first and second ends, the actuator assembly being operatively connected to the proximal connection member at the first end at a position generally corresponding to that of a knee joint, the mechanical elastic member configured for shock absorption caused by the motion of the knee joint prosthesis, the mechanical elastic member and the powered actuator being located distally from the knee joint;
a tibial member operatively connected to the second end of the actuator assembly and rotatably connected to the proximal connection member at least by the actuator assembly; and
at least one torque sensor configured to measure a torque exerted by the actuator assembly,wherein movement of the actuator causes a corresponding relative rotation between the proximal connection member and the tibial member, andwherein there is only one powered actuator between the proximal connection member and the tibial member.
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Abstract
The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.
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Citations
47 Claims
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1. An actuated knee joint prosthesis, the knee joint prosthesis comprising:
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a proximal connection member configured to operatively connect the knee joint prosthesis to an amputee; an actuator assembly comprising a first end, a second end, a powered actuator, and a mechanical elastic member spaced from the powered actuator, the powered actuator and the mechanical elastic member being positioned in series between the first and second ends, the actuator assembly being operatively connected to the proximal connection member at the first end at a position generally corresponding to that of a knee joint, the mechanical elastic member configured for shock absorption caused by the motion of the knee joint prosthesis, the mechanical elastic member and the powered actuator being located distally from the knee joint; a tibial member operatively connected to the second end of the actuator assembly and rotatably connected to the proximal connection member at least by the actuator assembly; and at least one torque sensor configured to measure a torque exerted by the actuator assembly, wherein movement of the actuator causes a corresponding relative rotation between the proximal connection member and the tibial member, and wherein there is only one powered actuator between the proximal connection member and the tibial member. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19)
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20. An actuated prosthesis, the prosthesis comprising:
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a connector configured to operatively connect the actuated prosthesis to an amputee; a first member operatively connected to the connector; an actuator assembly comprising a first end, a second end, a powered actuator, and a mechanical elastic member spaced from the powered actuator, the powered actuator and the mechanical elastic member being positioned in series between the first and second ends, the actuator assembly being operatively connected to the first member at the first end, the mechanical elastic member configured to store energy during use of the actuated prosthesis independent of rotary movement of the powered actuator; a second member operatively connected to the second end of the actuator assembly and rotatably connected to the first member at least by the actuator assembly and a first pivot assembly such that the first member and the second member rotate relative to each other about a first pivot axis, the second member also rotatably connected to the first member by a second pivot assembly independent of the actuator assembly; at least one torque sensor configured to measure a torque exerted by the actuator assembly; and a controller configured to control the powered actuator based at least in part on signals from the at least one torque sensor; wherein rotary movement of the powered actuator causes a corresponding relative rotation between the first member and the second member about a second pivot axis associated with the second pivot assembly, and the relative rotation is affected at least in part by the controller by way of the powered actuator, and wherein the relative rotation is affected by only one powered actuator. - View Dependent Claims (21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37)
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38. An actuated prosthesis to replace the knee joint of an amputee, the prosthesis comprising:
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a proximal male pyramid connector; a first prosthetic member connected to the proximal male pyramid connector; a second prosthetic member pivotally connected to the first prosthetic member to provide relative rotation between the first and second prosthetic members; an actuator assembly comprising a motor primarily powered by electricity, and an elastic member in series with and spaced from the motor, the actuator assembly configured to affect the relative rotation between the first and second prosthetic members at a position corresponding to a natural knee joint, the elastic member and the powered actuator being positioned distally from the knee joint; and a controller configured to control the actuator assembly in response to input signals from one or more sensors, at least one of said one or more sensors configured to measure compression of the elastic member while the actuator is actuated, wherein the at least one sensor configured to measure compression of the elastic member is configured to provide an estimate of torque on the prosthesis while the actuator is actuated. - View Dependent Claims (39, 40, 41, 42, 43, 44, 45, 46, 47)
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Specification