Powered joint orthosis
First Claim
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1. A powered device for augmenting a joint function of a human during a gait cycle, the powered device comprising:
- a powered actuator for supplying an augmentation torque and an impedance to a joint; and
a controller programmed to modulate the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response, wherein the controller is programmed to;
compute a normalized biomimetic torque for the phase of the gait cycle, the normalized biomimetic torque according to a speed of ambulation, a terrain, or both a speed of ambulation and a terrain;
retrieve a state-specific attenuation factor for the phase of the gait cycle;
scale the normalized biomimetic torque based on the state-specific attenuation factor to determine the augmentation torque; and
add the augmentation torque to a wearer torque response to approximate the biomimetic response.
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Abstract
A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint, and a controller that modulates the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer'"'"'s activity, regardless of speed and terrain.
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Citations
29 Claims
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1. A powered device for augmenting a joint function of a human during a gait cycle, the powered device comprising:
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a powered actuator for supplying an augmentation torque and an impedance to a joint; and a controller programmed to modulate the augmentation torque, the impedance, and a joint equilibrium according to a phase of the gait cycle to provide at least a biomimetic response, wherein the controller is programmed to; compute a normalized biomimetic torque for the phase of the gait cycle, the normalized biomimetic torque according to a speed of ambulation, a terrain, or both a speed of ambulation and a terrain; retrieve a state-specific attenuation factor for the phase of the gait cycle; scale the normalized biomimetic torque based on the state-specific attenuation factor to determine the augmentation torque; and add the augmentation torque to a wearer torque response to approximate the biomimetic response. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29)
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