Biomimetic joint actuators

• US 9,872,782 B2
• Filed: 06/09/2015
• Issued: 01/23/2018
• Est. Priority Date: 03/11/2011
• Status: Active Grant

• Current Assignee: Otto Bock HealthCare LP (Nader Holding GmbH & Co. KG)
• Original Assignee: BionX Medical Technologies, Inc. (Ottobock SE & Co. KGaA)
• Inventors: Herr, Hugh Miller, Weber, Jeff Anthony, Casler, Richard James
• Primary Examiner(s): Sweet, Thomas J
• Assistant Examiner(s): Bahena, Christie
• Application Number:
  US14/734,662
• Publication Number:
  US 20150265427A1
• Time in Patent Office: 959 Days
• CPC Class Codes: A61F 2/605 Hip joints
• CPC Class Codes: A61F 2/64 Knee joints
• CPC Class Codes: A61F 2/66 Feet; Ankle joints
• CPC Class Codes: A61F 2/6607 Ankle joints
• CPC Class Codes: A61F 2/70 electrical
• CPC Class Codes: A61F 2002/6664 Dual structures made of two connected cantilevered leaf springs
• CPC Class Codes: A61F 2002/6809 acoustic
• CPC Class Codes: A61F 2002/6836 Gears specially adapted therefor, e.g. reduction gears
• 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 2002/7625 for measuring angular position

Abstract

In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)². The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.

Claims

1. A method for augmenting joint function using a powered human augmentation device, the method comprising:

energizing a motor in the human augmentation device to apply torque to a joint of the human augmentation device during a phase of a gait cycle to modulate at least one of joint augmentation torque, joint impedance, or joint equilibrium during the phase of the gait cycle, the applied torque normalized by weight to be between −

2.8 Nm/kg to 2.8 Nm/kg, the motor coupled directly to a transmission, the transmission being serially coupled to an elastic element, the elastic element coupled to the joint; and

shorting leads of the motor to exert a viscous damping torque on the motor proportional to a motor dissipation constant given by R/k₁², where R refers to a stator winding resistance and k₁ refers to a motor torque constant, the dissipation constant being less than 50 W/(Nm)².

2. The method of claim 1, the dissipation constant being about 10 W/(Nm)².

3. The method of claim 1, the transmission comprising a gear ratio, the gear ratio less than 80:

1.

4. The method of claim 1, further comprising energizing the motor to apply stiffness to the joint, the elastic element configured to store energy and to release the stored energy as power, the motor applying power to augment the power of the elastic element to achieve a positive torque feedback response.

5. The method of claim 1, comprising:

energizing the motor to apply the torque to achieve a desired joint equilibrium position; and

shorting leads of the motor during a stance phase of the gait cycle to substantially maintain the joint equilibrium position during a portion of the stance phase.

6. The method of claim 1, comprising:

measuring angular displacement of a rotor of the motor with respect to a stator of the motor;

measuring angular displacement of a structure with respect to the joint;

determining, using a hardware controller of the powered human augmentation device, a state of the elastic element based, at least in part, on both the angular displacement of the rotor and the angular displacement of the structure;

computing, based at least in part on the state of the elastic element and the angular displacement on the motor, a torque contribution of the motor using the hardware controller; and

adjusting the modulating, based at least in part on the computed contribution of the motor torque.