Prosthetic ankle and method of controlling same based on adaptation to speed
First Claim
1. A method of controlling a prosthetic ankle device, comprising:
- providing the prosthetic ankle device, the prosthetic ankle device comprising a foot unit, a lower limb member configured to move relative to the foot unit, the foot unit and lower limb member defining an ankle angle therebetween, and an actuator configured to affect the ankle angle defined between the foot unit and the lower limb member, wherein the actuator comprises an active actuator configured to provide the movement between the foot unit and the lower limb member;
determining gait speed based on data provided by one or more sensors on the prosthetic ankle device; and
operating the active actuator of the prosthetic ankle device based on the determined gait speed, wherein;
at gait speeds less than a first threshold speed, the active actuator of the prosthetic ankle device is operated using a neutral ankle angle curve, wherein the neutral ankle angle curve represents a relationship between percent of completion of a stride of a user of the prosthetic ankle device and number of degrees of the ankle angle, wherein the first threshold speed is greater than zero;
at gait speeds at or above the first threshold speed and below a second threshold speed and traversed across a level surface, the active actuator of the prosthetic ankle device is operated using a first speed adaptive ankle angle curve that is shifted relative to the neutral ankle angle curve so that, for each percent of completion of the stride corresponding to a same percent completion of the stride on the neutral ankle angle curve, the prosthetic ankle device is more dorsiflexed than when the active actuator of the prosthetic ankle device is operated using the neutral ankle angle curve; and
at gait speeds at or above the second threshold speed and traversed across the level surface, the active actuator of the prosthetic ankle device is operated using a second speed adaptive ankle angle curve that is shifted relative to the neutral ankle angle curve so that, for each percent of completion of the stride corresponding to a same percent completion of the stride on the neutral ankle angle curve, the prosthetic ankle device is more plantarflexed than when the active actuator of the prosthetic ankle device is operated using the neutral ankle angle curve.
1 Assignment
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Accused Products
Abstract
Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device using different ankle angles depending on, for example, a user'"'"'s gait speed. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on gait speed. For example, the prosthetic ankle device can provide for relatively more dorsiflexion at relatively slower gait speeds and relatively more plantarflexion at relatively faster gait speeds.
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Citations
21 Claims
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1. A method of controlling a prosthetic ankle device, comprising:
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providing the prosthetic ankle device, the prosthetic ankle device comprising a foot unit, a lower limb member configured to move relative to the foot unit, the foot unit and lower limb member defining an ankle angle therebetween, and an actuator configured to affect the ankle angle defined between the foot unit and the lower limb member, wherein the actuator comprises an active actuator configured to provide the movement between the foot unit and the lower limb member; determining gait speed based on data provided by one or more sensors on the prosthetic ankle device; and operating the active actuator of the prosthetic ankle device based on the determined gait speed, wherein; at gait speeds less than a first threshold speed, the active actuator of the prosthetic ankle device is operated using a neutral ankle angle curve, wherein the neutral ankle angle curve represents a relationship between percent of completion of a stride of a user of the prosthetic ankle device and number of degrees of the ankle angle, wherein the first threshold speed is greater than zero; at gait speeds at or above the first threshold speed and below a second threshold speed and traversed across a level surface, the active actuator of the prosthetic ankle device is operated using a first speed adaptive ankle angle curve that is shifted relative to the neutral ankle angle curve so that, for each percent of completion of the stride corresponding to a same percent completion of the stride on the neutral ankle angle curve, the prosthetic ankle device is more dorsiflexed than when the active actuator of the prosthetic ankle device is operated using the neutral ankle angle curve; and at gait speeds at or above the second threshold speed and traversed across the level surface, the active actuator of the prosthetic ankle device is operated using a second speed adaptive ankle angle curve that is shifted relative to the neutral ankle angle curve so that, for each percent of completion of the stride corresponding to a same percent completion of the stride on the neutral ankle angle curve, the prosthetic ankle device is more plantarflexed than when the active actuator of the prosthetic ankle device is operated using the neutral ankle angle curve. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A prosthetic system, comprising:
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a prosthetic ankle device comprising a foot unit, a lower limb member configured to move relative to the foot unit, the foot unit and lower limb member defining an ankle angle therebetween, and an actuator configured to affect the ankle angle defined between the foot unit and the lower limb member, wherein the actuator comprises an active actuator configured to provide the movement between the foot unit and the lower limb member; and a controller configured to; at gait speeds less than a first threshold speed, operate the active actuator of the prosthetic ankle device using a neutral ankle angle curve, wherein the neutral ankle angle curve represents a relationship between percent of completion of a stride of a user of the prosthetic ankle device and number of degrees of the ankle angle, wherein the first threshold speed is greater than zero; at gait speeds at or above the first threshold speed and below a second threshold speed and traversed across a level surface, operate the active actuator of the prosthetic ankle device using a first speed adaptive ankle angle curve that is shifted relative to the neutral ankle angle curve so that, for each percent of completion of the stride corresponding to a same percent of completion of the stride on the neutral ankle angle curve, the prosthetic ankle device is more dorsiflexed than when the active actuator of the prosthetic ankle device is operated using the neutral ankle angle curve; and at gait speeds at or above the second threshold speed and traversed across the level surface, operate the active actuator of the prosthetic ankle device using a second speed adaptive ankle angle curve that is shifted relative to the neutral ankle angle curve so that, for each percent of completion of the stride corresponding to a same percent completion of the stride on the neutral ankle angle curve, the prosthetic ankle device is more plantarflexed than when the active actuator of the prosthetic ankle device is operated using the neutral ankle angle curve. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20, 21)
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Specification