System and method for motion-controlled foot unit

• US 20050197717A1
• Filed: 02/11/2005
• Published: 09/08/2005
• Est. Priority Date: 02/12/2004
• Status: Active Grant

• Current Assignee: Ossur hf
• Original Assignee: Ossur hf
• Inventors: Ragnarsdottir, Heidrun G., Jonsson, Helgi, Thorhallsdottir, Hjordis, Clausen, Arinbjorn V.
• Granted Patent: US 7,811,334 B2
• Time in Patent Office: Days
• US Class Current: 623/24
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/68 Operating or control means
• CPC Class Codes: A61F 2/72 Bioelectric control, e.g. myoelectric
• CPC Class Codes: A61F 2002/5018 for adjusting angular orientation
• CPC Class Codes: A61F 2002/5073 Helical springs, e.g. having at least one helical spring
• CPC Class Codes: A61F 2002/6642 Heels
• CPC Class Codes: A61F 2002/6685 S-shaped
• 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 2002/705 Electromagnetic data transfer for implantable prostheses A61F2250/0002
• 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 2013/00455 for protection of suture stitches protection of the body or articulation A61F2013/00272; safety barrier for protection of the operator A61F2013/00297; skin protection A61F2013/00387; protection of wound surround A61F2013/00825

Abstract

A system and method associated with the movement of a limb. In one example, the system, such as a prosthetic or orthotic system, includes an actuator that actively controls, or adjusts, the angle between a foot unit and a lower limb member. A processing module may control movement of the actuator based on data obtained from a sensor module. For instance, sensing module data may include information relating to the gait of a user and may be used to adjust the foot unit to substantially mimic the movement of a natural, healthy ankle. The system may further accommodate, for example, level ground walking, traveling up/down stairs, traveling up/down sloped surfaces, and various other user movements. In addition, the processing module may receive user input or display output signals through an external interface. For example, the processing module may receive a heel height input from the user.

Claims

1. A system associated with the movement of a limb, the system comprising:

a foot unit;

an attachment member having an upper end and a lower end, wherein the lower end is pivotably attached to a first location on the foot unit; and

an actuator operatively coupled to the foot unit and to the attachment member, wherein the actuator is configured to actively adjust an angle between the attachment member and the foot unit.

2. The system of claim 1, wherein the actuator comprises a linear actuator.

3. The system of claim 2, wherein the linear actuator comprises a screw motor.

4. The system of claim 1, wherein the actuator comprises a rotary actuator.

5. The system of claim 1, further comprising at least one sensor configured to monitor motion of the system.

6. The system of claim 5, wherein the at least one sensor comprises an accelerometer.

7. The system of claim 5, wherein the at least one sensor comprises a gyroscope.

8. The system of claim 1, further comprising a power source configured to power movement of the actuator.

9. The system of claim 1, further comprising an attachment portion, wherein the attachment portion is configured to facilitate coupling of the attachment member to a stump of an amputee.

10. The system of claim 1, further comprising an attachment portion, wherein the attachment portion is configured to facilitate coupling of the attachment member to a pylon member.

11. The system of claim 1, wherein the foot unit comprises an orthosis.

12. The system of claim 1, wherein the foot unit comprises a prosthesis.

13. The system of claim 1, wherein the first location on the foot unit is positioned at a natural ankle location of the foot unit.

14. A prosthetic system for mimicking the natural movement of an ankle, the prosthetic system comprising:

a prosthetic foot;

a pivot assembly attached to a first location on the prosthetic foot, wherein the first location is near a natural ankle location of the prosthetic foot;

a lower limb member extending in a tibial direction, the lower limb member having an upper end and a lower end, wherein the lower end of the lower limb member is operatively coupled to the pivot assembly; and

an actuator operatively coupled to the prosthetic foot and to the lower limb member, wherein the actuator is configured to actively adjust an angle between the lower limb member and the prosthetic foot about the pivot assembly.

15. The prosthetic system of claim 14, wherein the actuator comprises a linear actuator.

16. The prosthetic system of claim 14, wherein the actuator is located in a posterior position with respect to the elongated limb member.

17. The prosthetic system of claim 14, wherein the actuator is located in an anterior position with respect to the lower limb member.

18. The prosthetic system of claim 14, further comprising at least one sensor configured to measure dynamics of the prosthetic system.

19. The prosthetic system of claim 18, wherein the at least one sensor comprises an accelerometer.

20. The prosthetic system of claim 14, further comprising a rechargeable battery configured to supply power to the actuator.

21. The prosthetic system of claim 14, wherein the actuator is configured to adjust the angle between the lower limb member and the prosthetic foot to at least ten degrees more than the angle at a neutral position.

22. The prosthetic system of claim 21, wherein the actuator is configured to adjust the angle between the lower limb member and the prosthetic foot to at least twenty degrees less than the angle at the neutral position.

23. The prosthetic system of claim 14, wherein the actuator comprises a first end and a second end, wherein the first end of the actuator is coupled to a second location on the prosthetic foot, and wherein the second end of the actuator is coupled to the lower limb member.