System and method for motion-controlled foot unit

• US 7,637,957 B2
• Filed: 05/08/2008
• Issued: 12/29/2009
• 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:
  US12/117,633
• Publication Number:
  US 20080215161A1
• Time in Patent Office: 600 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 a prosthetic ankle device, the method comprising:

measuring, with at least one sensor, at least one of position and movement of a prosthetic ankle device, wherein the prosthetic ankle 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 angle between the foot unit and the lower limb member;

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

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

adjusting the prosthetic ankle device based on the determined gait cycle phase, wherein said adjusting comprises 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, and wherein said adjusting further comprises, during a swing phase, first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarflexion position before contacting a ground surface.

2. The method of claim 1, wherein the at least one sensor comprises an accelerometer.

3. The method of claim 1, wherein measuring the at least one of position and movement of the prosthetic ankle device comprises measuring acceleration of the prosthetic ankle device in multiple, substantially, mutually perpendicular axes.

4. The method of claim 1, wherein the data indicative of the at least one of position and movement of the prosthetic ankle device is used to determine at least one of the following:

a position of the prosthetic ankle device with respect to ground;

an inclination angle of the prosthetic ankle device;

a direction of gravity with respect to a position of the prosthetic ankle device;

information that relates to a stride of a user of the prosthetic ankle device;

information that relates to when the prosthetic ankle device contacts ground at heel strike;

information that relates to when the prosthetic ankle device is in mid-stride;

information that relates to when the prosthetic ankle device leaves the ground at toe-off;

a distance of the prosthetic ankle device from ground at a peak of a swing phase; and

a timing of a peak of a swing phase.

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

6. The method of claim 1, wherein the at least one sensor comprises at least one of a kinematic sensor, a single-axis gyroscope, a load sensor, a flex sensor, and a myoelectric sensor.

7. The method of claim 1, wherein said measuring comprises measuring an angular speed of the prosthetic ankle device with a gyroscope.

8. The method of claim 1, further comprising measuring with the at least one sensor an angle of the ground surface.

9. The method of claim 1, further comprising measuring with the at least one sensor at least one of position and movement of a natural limb of a user of the prosthetic ankle device.

10. The method of claim 1, wherein said processing comprises accessing data in memory indicative of a gait cycle phase of a user.

11. The method of claim 1, wherein the foot unit comprises a flexible prosthetic foot.

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

measuring, with at least one sensor, acceleration of a prosthetic ankle device, wherein the prosthetic ankle 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 angle between the foot unit and the lower limb member;

generating data indicative of the acceleration;

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

adjusting the prosthetic ankle device based on the determined gait cycle phase, wherein said adjusting comprises 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, and wherein said adjusting further comprises, during a swing phase, first decreasing an ankle angle of the device to a dorsiflexion position and then increasing the ankle angle of the device to a plantarflexion position before contacting ground.