Artificial Joints Using Agonist-Antagonist Actuators
First Claim
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1. An artificial limb comprising, in combination:
- first and second members connected for movement relative to one another at a joint;
an extendable flexion actuator connected between the first and second members, the extendable flexion actuator comprising the series combination of a first motor and a first elastic element drawing the first and second members together to reduce the angle between the first and second members at the joint;
an extension actuator connected between the first and second members, the extension actuator comprising the series combination of a second motor and a second elastic element for urging the first and second members apart to increase the angle between the first and second members at the joint; and
a controller for independently energizing the first motor and the second motor at different times to control the movement of the artificial limb.
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Abstract
Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.
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1 Claim
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1. An artificial limb comprising, in combination:
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first and second members connected for movement relative to one another at a joint; an extendable flexion actuator connected between the first and second members, the extendable flexion actuator comprising the series combination of a first motor and a first elastic element drawing the first and second members together to reduce the angle between the first and second members at the joint; an extension actuator connected between the first and second members, the extension actuator comprising the series combination of a second motor and a second elastic element for urging the first and second members apart to increase the angle between the first and second members at the joint; and a controller for independently energizing the first motor and the second motor at different times to control the movement of the artificial limb.
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Specification