System and method for motion-controlled foot unit

• US 7,431,737 B2
• Filed: 02/11/2005
• Issued: 10/07/2008
• 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.
• Primary Examiner(s): SNOW, BRUCE EDWARD
• Application Number:
  US11/057,391
• Publication Number:
  US 20050192677A1
• Time in Patent Office: 1,334 Days
• Field of Search: 623/24, 623/26, 623 47- 50, 901 9- 11
• 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 method for controlling an ankle device associated with the movement of a limb, the method comprising:

monitoring, with at least one sensor, at least one of position and movement of an ankle device associated with a limb throughout at least one gait cycle, wherein the device comprises a foot unit, a lower limb member, and at least one actuator;

generating data indicative of the at least one of position and movement throughout the at least one gait cycle;

processing the data with a processing module to determine if the data corresponds to one of a plurality of defined gait patterns or events, wherein information defining said plurality of gait patterns or events is stored in a memory of the device;

determining ankle-angle adjustments corresponding to a determined gait pattern or event; and

adjusting the device based on the determined ankle-angle adjustments corresponding to the determined gait pattern or event, wherein the adjusting comprises actuating the at least one actuator to move the lower limb member relative to the foot unit in a manner substantially mimicking movement of a healthy ankle, said ankle-angle adjustments being applied over a swing phase of subsequent gait cycles until a state transition is detected from the determined gait pattern or event to a different gait pattern or event.

2. The method of claim 1, wherein the device comprises an orthotic device.

3. The method of claim 1, wherein the device comprises a prosthetic device.

4. The method of claim 1, additionally comprising determining a security factor, wherein the actuating occurs only if the security factor exceeds a determined threshold.

5. The method of claim 1, additionally comprising substantially locking the device in a fixed position when a battery power level drops below a determined threshold.

6. The method of claim 1, wherein the at least one sensor is located on the device.

7. The method of claim 1, wherein the actuating comprises at least one of the following:

extending and contracting the at least one actuator.

8. The method of claim 1, additionally comprising adjusting a heel height of the device.

9. The method of claim 1, wherein the at least one sensor is located on the limb.

21. The method of claim 1, wherein the device associated with a limb is a device attachable to a limb.

22. The method of claim 1, wherein the plurality of defined gait patterns or events comprises at least one of the following:

stance, level ground walking, ascending stairs, descending stairs, incline, decline, sitting down, sitting, standing up, adjust heel height, off, heel height calibration, sensor calibration, neutral, relax, and pants.

26. The method of claim 1, comprising using the data to generate a waveform that portrays the gait of the limb.

27. The method of claim 1, further comprising sampling data over at least one stride before determining if the data corresponds to one of a plurality of gait patterns or events.

31. The method of claim 1, wherein said ankle-angle adjustments being applied over a swing phase of subsequent gait cycles until the state transition is detected comprises repeatedly actuating the at least one actuator during swing phases of subsequent gait cycles until the state transition is detected, said ankle-angle adjustments during swing phases comprising first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarfiexion position before contacting ground.

32. The method of claim 1, wherein said ankle-angle adjustments being applied over a swing phase of subsequent gait cycles until the state transition is detected comprises actuating the at least one actuator during swing phases of subsequent gait cycles until the state transition is detected, wherein ankle-angle adjustments are not applied during stance phases of subsequent gait cycles.

33. The method of claim 1, wherein a gait cycle comprises one full stride of a user.

34. The method of claim 1, wherein the determined ankle-angle adjustments comprise at least one of the following:

toe clearance;

user set point;

set heel height;

relax ankle;

a desired degree of dorsiflexion;

a desired degree of plantarfiexion;

ten degrees of dorsiflexion;

five degrees of dorsiflexion;

seven and a half degrees of dorsiflexion;

20 degrees of plantarfiexion;

an ankle angle associated with an incline angle threshold level;

an ankle angle associated with a decline angle threshold level;

an ankle angle associated with an incline angle of five degrees;

an ankle angle with an incline angle of two and a half degrees;

an ankle angle associated with a decline angle of five degrees; and

an ankle angle associated with a decline angle of two and a half degrees.

10. A method for controlling a prosthetic ankle device, the method comprising:

monitoring, with at least one sensor, at least one of position and movement of a prosthetic ankle device, wherein the at least one sensor generates data indicative of the at least one of position and movement of the prosthetic ankle device, and wherein the prosthetic ankle device comprises a foot unit, a lower limb member, and at least one actuator;

receiving and processing the data with a control module to determine if the data corresponds to one of a plurality of defined gait patterns or events, wherein information defining the plurality of gait patterns or events is stored in a memory of the device;

outputting with the control module at least one control signal based on a determined gait pattern or event; and

adjusting the prosthetic ankle device based at least upon the control signal, wherein said adjusting comprises actuating the at least one actuator to move the lower limb member relative to the foot unit in a manner substantially mimicking movement of a healthy ankle, said actuating occurring as the prosthetic ankle device is operated during a swing phase of the device, and wherein said actuating does not occur during a stance phase of the ankle device, and said adjusting being applied at least until a new gait pattern or event is determined.

11. The method of claim 10, additionally comprising receiving and processing data indicative of at least one terrain variable.

12. The method of claim 10, wherein the adjusting comprises movement of the prosthetic ankle device within the range of approximately ten degrees dorsiflexion to approximately twenty degrees plantarfiexion.

13. The method of claim 10, wherein the at least one sensor is positioned on the prosthetic ankle device.

14. The method of claim 13, wherein the at least one sensor comprises at least one accelerometer.

15. The method of claim 10, wherein the monitoring comprises monitoring acceleration of the prosthetic ankle device in multiple different axes.

16. The method of claim 10, additionally comprising providing dampening to counteract unwanted movements of the prosthetic ankle device.

17. The method of claim 10, additionally comprising substantially locking the prosthetic ankle device at a fixed angle when a power source associated with the prosthetic ankle device falls below a particular threshold power level.

18. The method of claim 10, additionally comprising receiving from a user a second signal indicative of a heel height adjustment.

19. The method of claim 10, wherein adjusting the prosthetic ankle device comprises causing rotation about a pivot point of the prosthetic ankle device.

20. The method of claim 11, wherein the at least one terrain variable includes data indicative of a slope of the ground surface.

28. The method of claim 10, wherein the plurality of defined gait patterns or events comprises at least one of the following:

standing, level ground walking, ascending stairs, descending stairs, walking up an incline, walking down a decline, sitting down, sitting, standing up, adjusting heel height, neutral, relaxing, and putting on pants.

29. The method of claim 10, wherein the data is generated according to an adjustable sampling rate.

30. The method of claim 29, wherein the sampling rate is 100 hertz (Hz) or more.

35. The method of claim 10, wherein said adjusting being applied at least until a new gait pattern or event is determined comprises actuating the at least one actuator, during a swing phase, to create an ankle angle between the lower limb member and the foot unit, wherein the ankle angle is not adjusted during stance phases of subsequent strides.

36. The method of claim 10, wherein said adjusting being applied at least until a new gait pattern or event is determined includes repeatedly actuating the at least one actuator during swing phases of subsequent strides until a state transition is detected to the new gait pattern or event, said actuating comprising first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarfiexion position before contacting ground.

23. A method for controlling a prosthetic ankle device, the method comprising:

monitoring, with at least one sensor, at least one of position and movement of a prosthetic ankle device, wherein the device comprises a foot unit, a single lower limb member pivotally attached to the foot unit and at least one actuator having a first end connected to the foot unit and a second end connected to the lower limb member, the at least one actuator configured to adjust an ankle angle between the foot unit and the lower limb member;

generating data indicative of the at least one of position and movement;

processing the data with a processing module to determine a gait cycle phase;

during stance phases, not adjusting the ankle angle of the device; and

during swing phase, actuating the at least one actuator to move the foot unit relative to the lower limb member in a manner that substantially mimics movement of a healthy ankle by first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarfiexion position.

24. The method of claim 23, wherein the device comprises a single actuator.

25. The method of claim 23, wherein the at least one actuator is configured to adjust the angle between the foot unit and the lower limb member in only a substantially vertical plane.

37. The method of claim 23, wherein a gait cycle comprises one full stride of a user.

38. The method of claim 23, wherein not adjusting the ankle angle of the device comprises locking the device into a neutral position.

39. The method of claim 23, wherein the dorsiflexion position is at least 5 degrees from a neutral position, and wherein the ankle angle of the device in the dorsiflexion position is less than the ankle angle of the device in the neutral position.

40. The method of claim 23, wherein the plantarfiexion position is up to twenty degrees from a neutral position, and wherein the ankle angle of the device in the plantarfiexion position is greater than the ankle angle of the device in the neutral position.

41. The method of claim 23, wherein, during the swing phase, the ankle angle of the device is first adjusted from a neutral position to the dorsiflexion position, is then adjusted from the dorsiflexion position to the plantarfiexion position, and is then adjusted from the plantarfiexion position back to the neutral position.

42. The method of claim 23, wherein the stance phase is approximately sixty percent of a stride of a user of the device.

43. The method of claim 23, wherein the swing phase is approximately forty percent of a stride of a user of the device.