Artificial Joints Using Agonist-Antagonist Actuators

  • US 20100241242A1
  • Filed: 10/29/2009
  • Published: 09/23/2010
  • Est. Priority Date: 03/31/2005
  • Status: Active Grant
First Claim
Patent Images

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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