Active ankle foot orthosis
First Claim
1. An autonomous motorized assistance device comprising:
- a motor mechanically coupled with a spring to a portion of the device, the motor powered by a power supply and applying torque about a joint to power the joint and assist a user;
at least one sensor mounted to the device; and
a controller receiving feedback from the sensor and controlling the motor for changing at least one of an impedance and a torque of the joint during at least one phase of a walking gait cycle comprising sequentially controlled plantarflexion, controlled dorsiflexion, powered plantarflexion, and a swing phase, thereby powering the joint and assisting the user.
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Accused Products
Abstract
An Active Ankle Foot Orthosis (AAFO) is provided where the impedance of an orthotic joint is modulated throughout the walking cycle to treat ankle foot gait pathology, such as drop foot gait. During controlled plantar flexion, a biomimetic torsional spring control is applied where orthotic joint stiffness is actively adjusted to minimize forefoot collisions with the ground. Throughout late stance, joint impedance is minimized so as not to impede powered plantar flexion movements, and during the swing phase, a torsional spring-damper (PD) control lifts the foot to provide toe clearance. To assess the clinical effects of variable-impedance control, kinetic and kinematic gait data were collected on two drop foot participants wearing the AAFO. It has been found that actively adjusting joint impedance reduces the occurrence of slap foot, allows greater powered plantar flexion, and provides for less kinematic difference during swing when compared to normals.
297 Citations
18 Claims
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1. An autonomous motorized assistance device comprising:
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a motor mechanically coupled with a spring to a portion of the device, the motor powered by a power supply and applying torque about a joint to power the joint and assist a user; at least one sensor mounted to the device; and a controller receiving feedback from the sensor and controlling the motor for changing at least one of an impedance and a torque of the joint during at least one phase of a walking gait cycle comprising sequentially controlled plantarflexion, controlled dorsiflexion, powered plantarflexion, and a swing phase, thereby powering the joint and assisting the user. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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10. A method of controlling an autonomous motorized assistance device, the method comprising:
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receiving feedback from a sensor mounted to the device; and controlling a motor mechanically coupled with a spring to a portion of the device, the motor powered by a power supply and applying torque about a joint to power the joint to assist a user and to change at least one of an impedance and a torque of the joint during at least one phase of a walking gait cycle comprising sequentially controlled plantarflexion, controlled dorsiflexion, powered plantarflexion, and a swing phase, in order to power the joint and assist the user. - View Dependent Claims (11, 12, 13, 14, 15, 16, 17, 18)
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Specification