ВСТАВКА В ТРУБКУ СОСТОЯЩЕГО ИЗ ДВУХ ЧАСТЕЙ НЕСУЩЕГО МОДУЛЯ ПРОТЕЗА КОНЕЧНОСТИ ДЛЯ КОРРЕКЦИИ ДЛИНЫ МОДУЛЯ

Изобретение относится к медицине. Вставка в трубку состоит из двух частей несущего модуля протеза конечности для регулирования длины модуля, содержит в центральной части регулировочный элемент, имеющий вал с резьбой на одной из его частей, метку и две втулки, верхний и нижний ограничители с резьбовыми соединениями, компенсирующую пружину, 1-2 отверстия с резьбой для вкручивания фиксирующих элементов и шайбы жесткости. Две втулки выполнены соответствующими своим наружным диаметром внутреннему диаметру трубки несущего модуля, со сквозными отверстиями под вал, соответственно одно из них с резьбой, в той части вала, где нет резьбы. Между втулкой и ограничителем помещена компенсирующая пружина. При вкрученном фиксирующем элементе регулировочный элемент имеет возможность вращаться по валу внутри втулок. При повороте регулировочного элемента на 360 градусов против часовой стрелки между ним и втулкой образуется зазор, равный 1 мм, а при повороте на 360 градусов по часовой стрелке - уменьшается ...

Fußprothese mit einem einstellbaren Fußgelenk und Verfahren

Einstellbare Fußgelenkvorrichtung für eine Fußprothese, die aufweist: a) einen oberen Abschnitt, der dafür ausgelegt ist, mit einer Fassung eines Amputierten gekoppelt zu sein; und b) einen unteren Abschnitt, der einstellbar mit dem oberen Abschnitt gekoppelt ist und dafür ausgelegt ist, an dem Fußteil mit einem Absatzabschnitt und einem Zehenabschnitt angebracht zu sein; und c) eine bewegliche Kopplung, die zwischen dem oberen Abschnitt und dem unteren Abschnitt angeordnet ist und die derart beweglich ist, dass sich der untere Abschnitt bewegt: i) gleichzeitig in einer Abwärtsrichtung und einer Vorwärtsrichtung, wobei der untere Abschnitt sich gleichzeitig abwärts dreht und vorwärts bezüglich dem oberen Abschnitt versetzt wird; und ii) gleichzeitig in einer Rückwärtsrichtung und einer Aufwärtsrichtung, wobei sich der untere Abschnitt gleichzeitig nach oben dreht und rückwärts mit Bezug auf den oberen Abschnitt versetzt wird; und d) wobei der untere Abschnitt mit Bezug auf den oberen Abschnitt ...

A mechanical hand

LEG PROSTHESIS

POSITIONING OF LOWER EXTREMITIES ARTIFICIAL PROPRIOCEPTORS

CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS

The method and the control system are used for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time. Accordingly, the method comprises receiving a data signal from a plurality of main artificial proprioceptors (16), obtaining a first and a second derivative signal for each data signal, obtaining a third derivative signal for at least one of the data signals, using a set of a first state machines to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals, generating the phase of locomotion portion using the states of the main artificial proprioceptors; and using a second state machine to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals. It is particularly well adapted for the control of an actuated leg prosthesis (12) for above-knee amputees.

METHOD AND APPARATUS FOR CONTROL OF A PROSTHETIC

A prosthetic device control apparatus is disclosed. The control apparatus includes at least one sensor worn by a user. The sensor(s) determines a user's movement. Also, a control module in communication with the sensor(s). The control module communicates movement information to a prosthetic. Also, a method for controlling a prosthetic device is disclosed. The method includes sensing a user's movement, communicating the movement through a control module to a prosthetic device; and controlling the movement of a prosthetic device.

CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS

The method and the control system are used for determining a portion of locomotion and a phase of locomotion portion in view of controlling an actuated prosthesis in real time. Accordingly, the method comprises receiving a data signal from a plurality of main artificial proprioceptors (16), obtaining a first and a second derivative signal for each data signal, obtaining a third derivative signal for at least one of the data signals, using a set of a first state machines to select one state among a plurality of possible states for each artificial proprioceptor with the corresponding data and derivative signals, generating the phase of locomotion portion using the states of the main artificial proprioceptors; and using a second state machine to select the portion of locomotion among a plurality of possible portions of locomotion using events associated to the data signals. It is particularly well adapted for the control of an actuated leg prosthesis (12) for above-knee amputees.

METHOD FOR CONTROLLING A CHANGE OF DAMPING IN AN ARTIFICIAL JOINT

The invention relates to a method for controlling a change of resistance in an artificial joint of an orthosis, an exoskeleton or prosthesis of a lower extremity, wherein the artificial joint has an upper part (1) and a lower part (2) which are secured on each other so as to be pivotable about a pivot axis (4), wherein a damper unit (6) is secured between the upper part (1) and the lower part (2) in order to provide a resistance to flexion or extension of the artificial joint, and the damper unit (6) is assigned an adjusting mechanism (7) via which the resistance is changed when a sensor signal of a control unit (8) assigned to the adjusting mechanism (7) activates the adjusting mechanism (7), wherein the resistance is changed as a function of the position (fB)and/or length (LB) of the measured or calculated leg tendon (LC) and/or the time derivatives thereof.

PROSTHETIC DEVICE AND CONNECTING SYSTEM USING VACUUM

A prosthetic device comprises a connecting portion for connecting to a person using vacuum; and a control structure for controlling an amount of vacuum used to connect the connecting portion to the person, wherein the control structure includes: a vacuum pump (502) in fluid communication with the connecting portion for controlling an amount of vacuum used to connect the connecting portion to the person, a vacuum sensing mechanism (506) configured to provide signals indicating the amount of vacuum in the connecting portion, a movement sensing mechanism (509) configured to provide signals indicating at least one of acceleration of the prosthetic device, orientation of the prosthetic device, force experienced by the prosthetic device, and a direction of force experienced by the prosthetic device, and a controller configured to receive signals from the vacuum sensing mechanism (506) and the movement sensing mechanism (509), and to control the vacuum pump (502).

POSITIONING OF LOWER EXTREMITIES ARTIFICIAL PROPRIOCEPTORS

The method is used for controlling an actuating mechanism (16) of a prosthesis (14) provided on one side of the lower body of an individual (10), the individual (10) having a healthy leg (12) on the other side. Accordingly, the method comprises providing a plurality of artificial proprioceptors (20), at least one of the artificial proprioceptors (20) being on the side of the healthy leg (12), and at least one of the artificial proprioceptors (20) being on provided with the prosthesis (14), generating data signals in real time at the artificial proprioceptors (20), and generating control signals in real time for controlling the actuating mechanism (16) in response to the data signals.

PROSTHETIC FOOT WITH AN ADJUSTABLE ANKLE AND METHOD

A prosthetic foot (10-10e) with an adjustable ankle (14-,14e) includes a Lipper portion (54-54e) coupled to a socket of an amputee. A lower portion (58-58e) is adjustably coupled to the upper portion, and is attached to a foot member (18) with heel and toe sections. A movable coupling is disposed between the upper and lower portions, and includes a displacement member slidably coupled to a displacement track. The movable coupling allows the toe section to pivot downward and the heel section to simultaneously displace forward. The adjustable ankle can be adjusted with a motor (170) coupled to a tractor bolt (160) coupled between the upper and lower portions. A level sensor (182) can sense the orientation of the upper portion and send a signal to operate the motor to vertically orient the upper portion or level the foot.

Coordinated control for an arm prosthesis

A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.

Prosthetic manipulator and method therefor

Various aspects of the present disclosure characterize apparatuses and/or methods as may be implemented with a variety of prosthetic components and applications. As may be consistent with one or more embodiments described herein, respective manipulators are operable and/or operate to manipulate a prosthetic foot component about respective (e.g., separate) axes. A sensor circuit senses movement characteristics of the prosthetic foot component (e.g., movement, surroundings, and/or load applied due to movement). The manipulators operate with the sensor circuit to manipulate the prosthetic foot component about the axes in response to the sensed movement characteristics indicating that the prosthetic foot component is elevated over a surface.

ROBUST SWING LEG CONTROLLER UNDER LARGE DISTURBANCES

Local swing leg control was developed that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics. Alternatively, a detailed neuromuscular model of the human swing leg was developed to embody the control with local muscle reflexes. The resulting reflex control robustly places the swing leg into a wide range of landing points observed in human walking and running, and it generates similar patterns of joint torques and muscle activations. The results suggest an alternative to existing swing leg controls in humanoid and rehabilitation robotics which does not require central processing. 1. A model-based limb controller for a limb comprising at least one robotic limb joint , the controller comprising:a non-neuromuscular model including a swing leg model and dynamic equations, wherein the non-neuromuscular model is configured to receive feedback data relating to a measured state of the limb and, using the feedback data and the swing leg model and the dynamic equations to determine at least one torque command to be applied to the at least one robotic limb joint; anda torque control system in communication with the non-neuromuscular model, wherein the torque control system receives the at least one torque command from the non-neuromuscular model for controlling the at least one robotic limb,whereby motion of the at least one robotic limb joint is determined without enforcing reference trajectories of the at least one robotic limb joint.2. The controller of claim 1 , further comprising at least one sensor mounted in proximity of the at least one robotic limb joint to provide the feedback data to the at least one robotic limb joint.3. The controller of claim 1 , wherein the at least one ...

SYSTEM, METHOD AND APPARATUS FOR CONTROL OF A PROSTHETIC DEVICE

MEASURING DEVICE FOR THIGH STUMP

Positioning of lower extremities artificial proprioceptors

Actuated prosthesis for amputees

PROSTHETIC AND ORTHOTIC DEVICES AND METHODS AND SYSTEMS FOR CONTROLLING THE SAME

Prosthetic and/or orthotic devices (PODS), control systems for PODS and methods for controlling PODS are provided. As part of the control system, an inference layer collects data regarding a vertical and horizontal displacement of the POD, as well as an angle of the POD with respect to gravity during a gait cycle of a user of the POD. A processor analyzes the data collected to determine a locomotion activity of the user and selects one or more control parameters based on the locomotion activity. The inference layer may be situated between a reactive layer control module and a learning layer control module of the control system architecture.

SYSTEM AND METHOD FOR USING A DIGIT TO POSITION A PROSTHETICOR ORTHOTIC DEVICE

A method and system for determining a grip or grasp pattern of a prosthet ic terminal device or other orthotic device using the position of the thumb or other digit as the initial determination of the grasping function. The sy stem comprising sensors, an electronic control system and a motor drive.

PROSTHETIC HAND SYSTEM

A prosthetic hand structure (100) comprises at least one mechanical finger (110a-e) comprising in turn a metacarpal support (111) and a proximal stiff link (112) connected to the metacarpal, support (111) by a proximal cylindrical joint (113). The mechanical finger (110a-e) also comprises a transmission member (116, 117) connected to the proximal stiff link (112). The transmission member (116, 117) is adapted to actuate the proximal stiff link and a flexible rack (117) having a first end portion (117a), pivotally connected to the metacarpal support (111), and a second end portion (117b) arranged to engage with the threaded profile of the worm screw (116).

Method for controlling a change of damping in an artificial joint

MODULAR ACTIVE PROSTHESIS FOR ARM AND FRONT ARMLEVER

DEVICE OF MEASUREMENT FOR FEMORAL STUB

Femoral stump perimeter measuring device, has closed loop shaped belt slidably mounted along direction in guiding element that is slidably mounted along another direction of strip and including graduations which correspond to its perimeter

Un dispositif de mesure (10) pour moignon fémoral comporte un mât télescopique (11) possédant des graduations correspondant à la distance entre ses première et deuxième extrémités (11a, 11b), une réglette (15) ayant une extrémité liée au mât télescopique (11) par une articulation proche de la première extrémité (11a) dudit mât (11) et possédant des graduations dont l'origine coïncide avec la première extrémité (11 a) du mât (11), et une ceinture (16) en boucle fermée à périmètre réglable, montée à coulissement le long de la réglette (15) et possédant des graduations correspondant à son périmètre.

의지 내에 장착되는 선형 구동 시스템

... 선형 구동 시스템에 있어서, 고정 프레임, 동력원, 너트, 스크류 제한기 및 스크류를 포함하고, 동력원은 고정 프레임에 설치되고, 너트는 고정 프레임에 설치되어 동력원에 연결됨으로써, 너트가 동력원에 의해 구동되어 제자리 회전하도록 하고, 스크류 제한기는 고정 프레임에 설치된 제한 슬라이딩 레일과 제한 슬라이딩 레일에 위치이동 가능하게 설치된 제한 슬라이더를 포함함으로써, 너트가 스크류 제한기의 제한을 받으면서 너트의 제자리 회전에 의해 너트의 축 방향을 따라 왕복 위치 이동할 수 있도록 하고, 이와 같이 너트를 응용하여 스크류를 구동시킬 경우, 선형 구동 시스템이 차지하는 의지 내부의 수용 공간을 줄이는 효과에 도달할 수 있다.

A DEVICE RESEMBLING A PART OF THE HUMAN BODY WHICH IS ABLE TO BE ACTUATED

The present invention consists of a mechanical hand resembling the appearance and function of a human hand. The hand can be used for upper-limb amputees, and is able to fit wrist disarticulation, trans-radial and trans- humeral amputees. The hand includes an articulating thumb having a hinge at the carpo-metacarpal, metacarpophalangeal and distal interphalangeal joints. Similarly the hand has four articulating fingers, each having a knuckle-shaped hinge at both the metacarpophalangeal and proximal inter-phalangeal joints. Each finger has the option of being actuated. The wrist has an actuator connected to it which articulates the wrist in an up / down movement. Further aspect of the present invention comprises a mechanical finger resembling the appearance and function of a human finger. The finger is able to have the metacarpal and proximal joints actuated. The metacarpal joints are able to be deviated sideways; the elasticity of the skin returns the fingers to the straight position after ...

Stirling engine

To provide a Stirling engine and a control unit for a Stirling engine capable of disposing a displacer unit and a power cylinder unit separately from each other, thereby increasing the degree of freedom of layout thereof. A displacer unit and a power cylinder unit of a Stirling engine E are disposed separately from each other. A compression chamber of the displacer unit is connected to an operation chamber of the power cylinder unit via a pressure conduit. A control actuator capable of arbitrarily controlling the displacer piston of the displacer unit is connected to the displacer piston.

SYSTEM FOR CONTROL OF A PROSTHETIC DEVICE

A control system for control of a prosthetic device having a plurality of actuators receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.

CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS

TELEMETRICALLY CONTROLLED BAND FOR REGULATING FUNCTIONING OF A BODY ORGAN OR DUCT

CONDUCTIVE HUMAN INTERFACE

An electrode is supported on a prosthetic liner to communicate electrically with a residual limb. A housing is fixed to the liner, and is receivable in a socket in an installed position. A processor is installed in the housing in communication with the electrode. Electrical signal contacts are exposed at a distal end of the housing for contacting electrical signal contacts in the socket. The housing defines a ground current path that communicates with a ground contact in the socket.

СПОСОБ ПРОВЕРКИ КЕРАМИЧЕСКИХ ШАРОВИДНЫХ ГОЛОВОК ДЛЯ ПРОТЕЗОВ ТАЗОБЕДРЕННОГО СУСТАВА

... 1. Способ проверки керамических шаровидных головок (3) для протезов тазобедренного сустава, имеющих приемное пространство (8) с конической боковой поверхностью с углом зажимного конуса γ и коническим входом (7), при этом для проверки на некоторые участки приемного объема (8) оказывается давление, отличающийся тем, что радиальное усилие, направленное перпендикулярно продольной оси шаровидной головки (3), оказывает воздействие исключительно на область конического входа (7).2. Способ по п. 1, отличающийся тем, что для проверки в приемное пространство (8) вдавливают коническую втулку (1) с углом раствора конуса α, причем угол раствора конуса α больше, чем угол раствора зажимного конуса γ.3. Способ по п. 2, отличающийся тем, что угол раствора конуса α выбирают в пределах от 7 до 30°, предпочтительно 18°, а разность между углом раствора зажимного конуса γ и углом раствора конуса α следует выбирать между минимальным значением 2° и максимальным - 25°.4. Способ по п. 2, отличающийся тем, что образующая ...

УСТРОЙСТВО ДЛЯ ПОДБОРА ПАРАМЕТРОВ ПРОТЕЗА НИЖНЕЙ КОНЕЧНОСТИ

Использование: изобретение относится к медицинской технике, конкретно к приспособлениям для сборки, установки и проверки протезов нижних конечностей. Существо изобретения: устройство содержит протез-прибор 20 с механизмом линейной регулировки протез-прибора в горизонтальной плоскости в двух взаимно перпендикулярных направлениях и два основания, одно из которых снабжено приводом 3 вертикального перемещения с датчиком 4 перемещения и соединено с платформой 8, выполненной в виде двух жестко соединенных друг с другом пластин; нижней и верхней, между которыми установлены датчики контроля силовой нагрузки. Устройство дополнительно содержит механизм независимой угловой регулировки протез-прибора в двух плоскостях, перпендикулярных друг к другу и к горизонтальной плоскости, датчик 46 углового положения приемной гильзы протеза, вторую платформу, аналогичную упомянутой и соединенную со вторым основанием, механизм регулировки позы человека в горизонтальной плоскости, ортопедический пояс 47 с датчиком ...

БАНДАЖ С ДИСТАНЦИОННЫМ УПРАВЛЕНИЕМ ДЛЯ РЕГУЛИРОВАНИЯ РАБОТЫ ВНУТРЕННЕГО ОРГАНА ИЛИ КАНАЛА, А ТАКЖЕ СПОСОБЫ ЕГО ИЗГОТОВЛЕНИЯ, ИМПЛАНТАЦИИ И ИСПОЛЬЗОВАНИЯ

... 1. Устройство для регулирования работы органа или канала пациента, содержащее: удлиненный элемент, имеющий первый конец и вторые концы, причем этот удлиненный элемент имеет сжимающуюся вентральную поверхность и, по существу, жесткую дорсальную периферию; зажим, расположенный на первом конце удлиненного элемента, выполненный с возможностью зацепления со вторым концом удлиненного элемента, в результате которого удлиненный элемент образует петлю вокруг органа или канала; гибкий элемент, установленный с возможностью скольжения внутри удлиненного элемента, причем этот гибкий элемент имеет спиральную винтовую резьбу; и дистанционно управляемый приводной механизм, расположенный на втором конце удлиненного элемента, причем приводной механизм входит в зацепление со спиральной винтовой резьбой, и гибкий элемент установлен с возможностью затягивания петли на органе или канале пациента под воздействием этого приводного механизма. 2. Устройство по п.1, выполненное с возможностью лапароскопического введения ...

Adaptive prosthesis control system

An adaptive control system for an artificial limb has a piston and cylinder assembly 18 for controlling knee joint flexion, an electronically driven motorised valve 18D for varving the damping effect of the assembly, a proximity sensor 24A, 24B for sensing knee flexion, and a processor circuit 22 for mounting on the limb. The system also has a radio receiver connected to the processor circuit and an operator control unit for remote transmission of command signals to the receiver. In a teach mode, the system allows an operator to increment the valve opening by remote control to optimism operation of the limb, and to cause the processor circuit to record selected valve openings in conjunction with average step period values which are produced automatically by the system during use of the limb. Recording a new selected valve opening causes the processor circuit on the limb automatically to calculate a set of control data relating valve openings to walking speed ranges. This set of control ...

Leg length correction in hip replacement surgery

A method, that may be computer implemented, is provided for selecting prefabricated components of a hip prosthesis comprising a femoral stem 1, a femoral head 2 and an acetabular cup component 3 for use in hip replacement surgery. The method includes determining a planned leg length correction pre-operatively from measurements and image data (e.g. x-rays) and identifying a suitable prosthetic implant assembly for achieving the planned leg length correction. A measured vertical height of a resected femoral head of a patient's femur is determined in the vertical direction and the diameter of a suitable acetabular cup component is determined following the preparation of a receiving acetabular site. The measured vertical height b is deducted from a predetermined prosthetic implant assembly height a to provide a calculated leg length correction, and the planned leg length correction is compared with the calculated leg length correction. The calculated leg length correction may be recalculated with alternative components if the difference between the two components exceeds a threshold value (e.g. 2 to 6mm).

A mechanical hand

OPERATED PROSTHESIS FOR AMPUTIERTE

TELEMETERICALLY CONTROLLING VOLUME FOR THE ADJUSTMENT OF THE FUNCTION OF A BODY ORGAN OR COURSE

Prosthetic arm with adaptive grip

An upper extremity prosthesis (10) may include a prosthetic hand (300) including a prosthetic thumb (330) having a base and a tip, and a prosthetic index finger (360a) having a base and a tip. Actuators may be coupled to the upper extremity prosthesis. Prosthetic flexion tendons may have first ends operably coupled to the actuators and second ends coupled to the tips of the thumb and the index finger. Biasing systems may be operably coupled to the prosthetic thumb and the index finger. Upon actuation of the actuators in a first direction, the prosthetic flexion tendons cause the thumb and index finger to flex. Upon actuation of the linear actuators in a second direction opposite the first direction, the biasing systems cause the thumb and index finger to extend.

A MECHANICAL FINGER

The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot.

REACTIVE LAYER CONTROL SYSTEM FOR PROSTHETIC AND ORTHOTIC DEVICES

A variable gain impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint The controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input for receiving a signal indicative of the torque at the joint and a variable gain scheduler in communication with the sensor input so as to receive data therefrom thereby providing a variable torque gain. The variable gain impedance controller adjusts its control on the apparatus based on the variable torque gain and the indicated torque so as to a) increase the joint resistance to motion when the signal received from the sensor input indicates an interaction between the apparatus and the ground and b) decrease the joint resistance to motion when the signal received from the sensor input indicates an absence of interaction between the apparatus and the ground.

SYSTEM AND APPARATUS FOR ORIENTATION CONTROL

A system (7010) for control of a device (7012) includes at least one sensor module (7015) detecting orientation of a user's body part. The at least one sensor module is in communication with a device module configured to command an associated device. The at least one sensor module detects orientation of the body part. The at least one sensor module sends output signals related to orientation of the user's body part to the device module and the device module controls the associated device based on the signals from the at least one sensor module.

PROSTHETIC HAND SYSTEM

A prosthetic hand structure (100) comprises at least one mechanical finger (110a-e) comprising in turn a metacarpal support (111) and a proximal stiff link (112) connected to the metacarpal, support (111) by a proximal cylindrical joint (113). The proximal stiff link (112) is arranged to carry out a rotation of predetermined amplitude (φ) with respect to the metacarpal support (111) about an axis (113') of the proximal cylindrical joint (113). The mechanical finger (110a-e) also comprises a transmission member (116, 117) connected to the proximal stiff link (112). The transmission member (116, 117) is adapted to actuate the proximal stiff link (112) for causing the above described rotation of predetermined amplitude (φ). In particular, the transmission member (116, 117) comprises a worm screw (116) integral to the proximal stiff link (112) and is arranged for carrying out a rotation about a longitudinal axis (116') of the worm screw (116). The transmission member (116, 117) comprises also ...

MODEL-BASED NEUROMECHANICAL CONTROLLER FOR A ROBOTIC LEG

A model-based neuromechanical controller for a robotic limb having at least one joint includes a finite state machine configured to receive feedback data relating to the state of the robotic limb and to determine the state of the robotic limb, a muscle model processor configured to receive state information from the finite state machine and, using muscle geometry and reflex architecture information and a neuromuscular model, to determine at least one desired joint torque or stiffness command to be sent to the robotic limb, and a joint command processor configured to command the biomimetic torques and stiffnesses determined by the muscle model processor at the robotic limb joint. The feedback data is preferably provided by at least one sensor mounted at each joint of the robotic limb. In a preferred embodiment, the robotic limb is a leg and the finite state machine is synchronized to the leg gait cycle.

Actuated prosthesis for above-knee amputees

An actuated leg prosthesis for above-knee amputees comprises a knee member (12), an elongated trans-tibial member (14) operatively connected to the knee member to allow relative rotation, and a serial elastic actuator (16) set between the knee member and the trans-tibial member to cause a relative rotation between the knee member and the trans-tibial member. The serial elastic actuator comprises a motor coupled with an elastic device ...

СПОСОБ УПРАВЛЕНИЯ ИЗМЕНЕНИЕМ АМОРТИЗАЦИИ У ИСКУССТВЕННОГО СУСТАВА

Изобретение относится к медицине, а именно к способу управления изменением сопротивления у искусственного сустава ортеза, экзоскелета или протеза нижней конечности. Искусственный сустав имеет верхнюю часть и нижнюю часть, которые закреплены друг на друге с возможностью поворота вокруг оси поворота. Между верхней частью и нижней частью закреплен блок сопротивления для предоставления сопротивления против сгибания или разгибания искусственного сустава. С блоком сопротивления согласовано регулировочное устройство, при помощи которого изменяется сопротивление, если сигнал датчика согласованного с регулировочным устройством блока управления активирует регулировочное устройство. Сопротивление изменяется в зависимости от угла и/или длины измеренной или рассчитанной хорды ноги и/или их производных по времени. В качестве хорды ноги используют соединительную линию между точкой поворота тазобедренного сустава и точкой стопы. Изобретение обеспечивает возможность адаптации к различным ситуациям во время ...

Verfahren zum Prüfen von keramischen Kugelköpfen für Hüftgelenksprothesen

Die Erfindung betrifft ein Verfahren zum Prüfen von keramischen Kugelköpfen (3) für Hüftgelenksprothesen, die über einen Aufnahmeraum (8) mit einer konischen Seitenfläche mit einem Klemmkonuswinkel und einem Konuseingang (7) verfügen und zur Prüfung Bereiche des Aufnahmeraums (8) mit einem Druck beaufschlagt werden. Damit alle geprüften Kugelköpfe (3) auch in-vivo relevanten, schrägen Belastungssituationen ohne Schaden zu nehmen funktionsbereit bleiben, wird vorgeschlagen, dass ausschließlich der Bereich des Konuseingangs (7) mit einer zur Längsachse des Kugelkopfes (3) senkrecht verlaufenden radialen Kraft beauftragt wird.

Prosthetic apparatus and method

A mechanical hand

Apparatus for supporting a mechanical hand, comprising a support member 200 pivotally coupled to a mounting member by a hinge pin, and at least one leaf spring 707 configured to resist movement of the support member about the hinge axis 604. The leaf spring may comprise a first and second leaf springs configured to resist motion about the hinge in first and second directions respectively. The leaf springs may bias the support member toward a neutral position. The leaf spring may comprise a plurality of unconnected layers. Apparatus for supporting a mechanical hand comprising a lock 750 to lock the position of a support member about a hinge that couples it to a mounting member, the lock actuated by a locking button. The lock may comprise a cam member coupled to a locking element, the cam member being constrained by a rail element along which it may translate.

CONTROL SYSTEM AND PROCEDURE FOR THE CONTROLLING OF A ACTIVIERTEN PROSTHESIS

Telemetrically controlled band for regulating functioning of a body organ or duct, and methods of making, implantation and use

ACTUATED PROSTHESIS FOR AMPUTEES

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

METHODS FOR DETERMINING THE SIZE OF BODY PARTS AS PART OF COMPRESSION THERAPY PROCEDURES

Methods are disclosed for measuring the size of body parts treated by a compression therapy device. Either the volume or circumference of the body part may be measured. The methods may include evacuating an inflatable compression sleeve to a known pressure, inserting the body part into the compression sleeve, inflating the sleeve to a pre-set condition, and measuring one or more inflation related parameters. The pre-set conditions may include a pre-determined pressure or volume of the inflatable cells comprising the sleeve. The inflation related parameters may include the time to fill the cell to a pre-set pressure or the pressure attained after a pre-set time of inflation. The methods may also include deflating the cells from the known inflation state to a second inflation state and measuring similar parameters.

Prosthesis

Actuated Prosthesis for amputees

SYSTEM AND METHOD FOR DETERMINING TERRAIN TRANSITIONS

A prosthetic or orthotic system including a sensor module and a processing module usable to determine a terrain variable, such as a terrain transition. In certain examples, the system is capable of anticipating a terrain transition prior to the user experiencing the terrain transition, which may include, for instance, a transition from level ground walking to walking on stairs or may include a change in a slope of the ground surface. In certain embodiments, the system advantageously monitors a posture and/or movement of the patient to anticipate the terrain transition. Furthermore, the system may control an actuator to appropriately adjust the prosthetic or orthotic device to encounter the anticipated terrain transition.

PROPRIOCEPTION ENHANCEMENT DEVICE

A system and method for improving proprioception in a patient having a feedback site are disclosed. The method includes affixing to the feedback site a sensor adapted to provide a sensor signal indicative of a sensed parameter, providing to the patient a signaler adapted to generate a manual signal in response to actuation by the patient, providing a microprocessor programmed to receive the sensor signal and the manual signal and to generate a system output based on the sensor signal and the manual signal, causing the patient to actuate the signaler on the basis of sensation at the feedback site, and causing the microprocessor to generate a system output based on the sensor signal and the manual signal.

Device for moving and holding of a finger tip

A method for movement of at least a finger limb whereby, in order to maintain a position of the finger limb, the electric motor is supplied with a current. In order to maintain a position of the finger limb, the electric motor is supplied the with less energy than the current which is supplied to the electric motor for moving the finger limb.

Actuated prosthesis for above-knee amputees

MECHANICAL HAND

Prothesensteuerungssystem

Verfahren zur Steuerung einer Dämpfungsveränderung bei einem künstlichen Gelenk

Verfahren zur Steuerung einer Widerstandsänderung bei einem künstlichen Gelenk einer Orthese, eines Exoskelettes oder Prothese einer unteren Extremität, wobei das künstliche Gelenk ein Oberteil (1) und ein Unterteil (2) aufweist, die um eine Schwenkachse (4) schwenkbar aneinander befestigt sind, wobei eine Widerstandseinheit (6) zwischen dem Oberteil (1) und dem Unterteil (2) befestigt ist, um einen Widerstand gegen eine Einbeugung oder Streckung des künstlichen Gelenks bereitzustellen und der Widerstandseinheit (6) eine Verstelleinrichtung (7) zugeordnet ist, über die der Widerstand verändert wird, wenn ein Sensorsignal einer der Verstelleinrichtung (7) zugeordneten Steuereinheit (8) die Verstelleinrichtung (7) aktiviert, dadurch gekennzeichnet, dass der Widerstand in Abhängigkeit von der Lage (φB) und/oder Länge (LB) der gemessenen oder berechneten Beinsehne (LC) und/oder deren zeitlichen Ableitungen verändert wird.

Verfahren und Vorrichtung zum Durchführen eines Prothesenaufbaus

Verfahren zum Durchführen eines statischen Prothesenaufbaus einer Prothese (1), wobei mehrere Komponenten (2) aneinander angeordnet werden, wobei das Verfahren folgende Schritte aufweist:a) Bereitstellen wenigstens einer Markierung (12) auf oder an wenigstens einer Komponente (2),b) Anordnen verschiedener Komponenten (2) aneinander,c) Erfassen einer Position und/oder einer Orientierung der wenigstens einen Markierung (12) der aneinander angeordneten Komponenten (2) mittels wenigstens eines Sensors,d) Ermitteln der Ist-Position und/oder der Ist-Orientierung der aneinander angeordneten Komponenten (2) relativ zu einander anhand der erfassten Position und/oder Orientierung der wenigstens einen Markierung (12),e) Vergleichen der ermittelten Ist-Position und/oder Ist-Orientierung mit einer Soll-Position und/oder Soll-Orientierung.

PROSTHETIC HAND SYSTEM

A prosthetic hand structure (100) comprises at least one mechanical finger (110a-e) comprising in turn a metacarpal support (111) and a proximal stiff link (112) connected to the metacarpal, support (111) by a proximal cylindrical joint (113). The mechanical finger (110a-e) also comprises a transmission member (116, 117) connected to the proximal stiff link (112). The transmission member (116, 117) is adapted to actuate the proximal stiff link and a flexible rack (117) having a first end portion (117a), pivotally connected to the metacarpal support (111), and a second end portion (117b) arranged to engage with the threaded profile of the worm screw (116).

REACTIVE LAYER CONTROL SYSTEM FOR PROSTHETIC AND ORTHOTIC DEVICES

A variable gain impedance controller for use in a control system for cont rolling a motorized prosthetic or orthotic apparatus provided with a joint T he controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input f or receiving a signal indicative of the torque at the joint and a variable g ain scheduler in communication with the sensor input so as to receive data t herefrom thereby providing a variable torque gain. The variable gain impedan ce controller adjusts its control on the apparatus based on the variable tor que gain and the indicated torque so as to a) increase the joint resistance to motion when the signal received from the sensor input indicates an intera ction between the apparatus and the ground and b) decrease the joint resista nce to motion when the signal received from the sensor input indicates an ab sence of interaction between the apparatus and the ground.

Actuated Leg Prosthesis for Above-knee Amputees

본 발명의 무릎부재(12), 무릎부재(12) 상에 구비되는 소켓 커넥터(22), 그 아래에 인공 발(20)이 연결되는 저단부(14C)가 구비된 연장된 하퇴부재(14), 및 직선 작동체(16)를 포함하여 구성되는 작동 의족에 관한 것이다. 하퇴부재(14)를 무릎부재(12)에 구동적으로 연결하는 것은 제1 피봇부(30)에 의해 구현된다. 작동체(16)의 상단부(16A)를 무릎부재(12)에 구동적으로 연결하는 것은 제2 피봇부(80)에 의해 구현된다. 작동체(16)의 저단부(16B)를 하퇴부재(14)의 저단부(14C)에 구동적으로 연결하는 것은 제3 피봇부(100)에 의해 구현된다. 의족(10)은 전면 작동체식 구성 또는 후면 작동체식 구성중 어느 것으로도 제공될 수 있다. Extended lower retracting member 14 provided with a knee member 12 of the present invention, a socket connector 22 provided on the knee member 12, a lower end 14C connected to the artificial foot 20 thereunder And a linear actuator 16. Drivenly connecting the lower member 14 to the knee member 12 is implemented by the first pivot portion 30. Drivenly connecting the upper end 16A of the actuator 16 to the knee member 12 is implemented by the second pivot 80. Drivenly connecting the lower end 16B of the actuator 16 to the lower end 14C of the lowering member 14 is implemented by the third pivot portion 100. The foot 10 may be provided in either a front operated configuration or a back operated configuration.

ACTUATED PROSTHESIS FOR AMPUTEES

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

Prosthetic apparatus and control method

The invention provides a prosthetic apparatus (10) and method of operating the same. The prosthetic apparatus (10) includes an upper limb prosthesis (12) comprising at least one mechanically operable digit (14) and at least one sensor configured to be disposed on the user. The at least one sensor being operative to sense a path described by the sensor during movement thereof by the user and to provide a sensed path output in dependence upon the path. The apparatus (10) also includes a processor (24) operative to provide for actuation of the at least one digit (14) in dependence on the sensed path output having a predetermined characteristic and such that the at least one digit (14) moves in a predetermined fashion.

Actuated leg prosthesis for above-knee amputees

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

Minimum jerk swing control for assistive device

We present a novel swing phase control module for powered transfemoral prostheses based on minimum jerk theory. The control module allows physiologically appropriate swing movement at any walking speed, regardless of the stance controller action. Preliminary validation in a transfemoral amputee subject demonstrates that the control module provides physiological swing timing, without speed or patient-specific tuning.

PROSTHETIC AND ORTHOTIC DEVICES AND METHODS AND SYSTEMS FOR CONTROLLING THE SAME

METHOD FOR CHECKING CERAMIC BALL HEADS FOR HIP-JOINT PROSTHESES

СПОСОБ ПРОВЕРКИ КЕРАМИЧЕСКИХ ШАРОВИДНЫХ ГОЛОВОК ДЛЯ ПРОТЕЗОВ ТАЗОБЕДРЕННОГО СУСТАВА

FIELD: medicine. SUBSTANCE: method to check the strength of conical input of the ceramic modular spherical heads for hip prostheses, having a reception space with a conical side surface with the clamping cone angle γ and a conical input includes pressure application to the receiving volume portions. The radial force directed perpendicular to the longitudinal axis of the spherical head affects only the conical input area. A device to implement the above method includes a supporting bearing, a conical bushing and a punch. They are all located on one common longitudinal axis. The bushing and the punch are adapted to shear along the longitudinal axis. The bushing is placed between the punch and the supporting bearing. The span angle of the cone α is greater than the span angle of the clamping cone γ of the spherical head subject to inspection. EFFECT: invention provides the readiness of all inspected spherical heads to work without damage, as well as under biased load in vivo. 10 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 628 654 C2 (51) МПК A61F 2/36 (2006.01) A61F 2/46 (2006.01) G01N 3/08 (2006.01) G01N 3/10 (2006.01) A61F 2/76 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21)(22) Заявка: 2014137184, 13.02.2013 (24) Дата начала отсчета срока действия патента: 13.02.2013 Дата регистрации: (72) Автор(ы): ФЛОР Маркус (DE), УПМАНН Карстен (DE), БЕРТМАРИНГ Хендрик (DE) Приоритет(ы): (30) Конвенционный приоритет: (56) Список документов, цитированных в отчете о поиске: WO2009068234 A1, 04.06.2009. RU 16.02.2012 DE 102012202372.0 (45) Опубликовано: 21.08.2017 Бюл. № 24 2181600C2, 27.04.2002. US2008262626 A1, 23.10.2008. USRE37964 E, 07.01.2003. DE4411508 A1, 10.05.1995. JP2007307011 A, 29.11.2007. (85) Дата начала рассмотрения заявки PCT на национальной фазе: 16.09.2014 (86) Заявка PCT: EP 2013/052890 (13.02.2013) (87) Публикация заявки PCT: 2 6 2 8 6 5 4 (43) Дата публикации заявки: 10.04.2016 Бюл. № 10 R U (73) ...

УСТРОЙСТВО ДЛЯ АВТОМАТИЗИРОВАННОГО АНАЛИЗА КУЛЬТИ ПАЦИЕНТА

Изобретение относится к медицине, а именно к устройствам для автоматизированного анализа культи пациента. Устройство включает измерительное кольцо. Измерительное кольцо состоит из пластины с центральным отверстием, размещающей по меньшей мере восемь измерительных модулей, содержащих шаговый двигатель, коробку передач, состоящую из по меньшей мере трех шевронных шестеренок, передачу винт-гайка, опоры с радиальными подшипниками для передачи винт-гайка, по меньшей мере одного контактного датчика для создания системы позиционирования во время перемещения измерительного штока, тензометрический датчик для фиксации создаваемых усилий на измерительном штоке, алюминиевый шток с контактным датчиком, по меньшей мере двух латунных направляющих для параллельного перемещения гайки и штока, корпусные крепления, переходной платы управления измерительного узла, микроконтроллера, драйвера управления шаговым двигателем, аналогово-цифрового преобразователя сигнала тензометрического датчика и основания. Основание ...

A mechanical hand

PROSTHETIC ARM WITH ADAPTIVE GRIP

An upper extremity prosthesis (10) may include a prosthetic hand (300) including a prosthetic thumb (330) having a base and a tip, and a prosthetic index finger (360a) having a base and a tip. Actuators may be coupled to the upper extremity prosthesis. Prosthetic flexion tendons may have first ends operably coupled to the actuators and second ends coupled to the tips of the thumb and the index finger. Biasing systems may be operably coupled to the prosthetic thumb and the index finger. Upon actuation of the actuators in a first direction, the prosthetic flexion tendons cause the thumb and index finger to flex. Upon actuation of the linear actuators in a second direction opposite the first direction, the biasing systems cause the thumb and index finger to extend.

SYSTEM AND METHOD FOR ELECTROTACTILE FEEDBACK

A system and method for transferring proprioceptive and/or sensory information from a prosthesis (37, 471) or from a sensing system (472) disposed at a body part having poor or no sensation, to the skin of a user wearing such prosthesis or sensing system. The system comprises: a device (10, 30, 40) for providing electrotactile feedback in the form of an electrical stimulation pattern with coding scheme for at least one input signal (14, 141, 142, 341, 441); and at least one multi-pad electrode (13, 33, 43, 53, 63) configured to be positioned on a part of the body of said user, said multi-pad electrode (13, 33, 43, 53, 63) comprising a plurality of pads configured to be selectively and discretely activated/deactivated according to said predefined stimulation pattern.

A MECHANICAL FINGER

The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot.

PROSTHETIC APPARATUS

An artificial joint having at least two degrees of freedom of movement and at least two rotary motors arranged to effect movement of the joint in one of those degrees of freedom when the motors operate in respective given senses of rotation and to effect movement of the joint in the other of those at least two degrees of freedom when the sense of rotation of one of the motors is reversed. In this way the actual movement of the joint is dependent upon a balancing of the operation of the said at least two rotary motors, in which those motors are connected to a microprocessor for control thereby. Sensors are provided on the joint to monitor the operation of those motors, the sensors also being connected to the microprocessor to effect a closed loop feedback control in the operation of the motors. Also, a cover for a prosthesis comprising a silicone rubber laminate and a reinforcing liner on the intended underside of the laminate bonded thereto. Also, a prosthetic device comprising a tendon ...

A HAND PROSTHESIS

A known prosthesis comprising parts which are movable relative to one another, by way of an actuator and a control, offers more than one kind of movement, positioning the movable parts in a known reference position, such as a fully open position, before applying appropriate power to the movable parts to effect a further movement, which may result in energy being wasted whilst it is first moved into the reference configuration. Changes in frictional forces over time may result in error. Accordingly, the present invention is directed to a prosthesis in which a movement transducer is connected to a control and also to an actuator to provide signals to the control indicative of the amount of movement between two parts of the prosthesis effected by the actuator, and the control operates the actuator in dependence upon the signals it receives from the transducer.

LINEAR DRIVE SYSTEM MOUNTED IN ARTIFICIAL LIMB

The linear drive system comprises a fixed frame, a power source, a nut, a screw limiter and a screw, wherein the power source is installed in a fixed frame, the nut is installed in the fixing frame and is connected to the power source so that the nut is driven by the power source to rotate in place and the screw limiter includes a limiting slider installed to change a position on the limiting sliding rail installed on the limiting sliding rail. The nut is moved in the reciprocating position along the axial direction of the nut by the rotation of the nut while being restricted by the screw limiter, and when the screw is driven by applying the nut, an effect of reducing an accommodation space inside an artificial limb occupied by the linear drive system can be obtained. COPYRIGHT KIPO 2018 ...

Mechanical finger

The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot.

Prosthetic foot with an adjustable ankle and method

A prosthetic foot with an adjustable ankle includes an upper portion coupled to a socket of an amputee. A lower portion is adjustably coupled to the upper portion, and is attached to a foot member with heel and toe sections. A movable coupling is disposed between the upper and lower portions, and includes a displacement member slidably coupled to a displacement track. The movable coupling allows the toe section to pivot downward and the heel section to simultaneously displace forward. The adjustable ankle can be adjusted with an actuator coupled to a tractor bolt coupled between the upper and lower portions. A sensor is associated with the upper portion or the lower portion to sense frequency of contact, force of contact, or orientation of the upper portion or the lower portion, and to output a corresponding output signal.

Prosthesis device with a rotary damper

A prosthesis device has a rotary damper and a displacing device with a magnetorheological fluid in a damper volume of a housing. Two partition units divide the damper volume into two or more variable chambers. The partition units include a partition wall connected with the housing and a partition wall connected with a damper shaft. Radial gaps are formed in the radial direction between the partition wall on the housing and the damper shaft, and between the partition wall on the damper shaft and the housing. An axial gap is formed in the axial direction between the partition unit, the damper shaft and the housing. The magnetic field of the magnetic field source passes through at least two of the gaps.

Prosthesis control system

METHOD FOR MANUFACTURING A PROSTHESIS SOCKET

A mechanical hand

ACTUATED LEG PROSTHESIS FOR ABOVE-KNEE AMPUTEES

CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS

Actuated leg prosthesis for above-knee amputees

Prosthetic device and connecting system using vacuum

PROSTHETIC DEVICE AND CONTROL SYSTEM THEREFOR

A control system (10) for control of a prosthetic device (12) having a plurality of actuators (13) receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.

METHOD FOR CHECKING CERAMIC BALL HEADS FOR HIP-JOINT PROSTHESES

The invention relates to a method for checking ceramic ball heads (3) for hip-joint prostheses which have a receiving space (8) with a conical side face with a clamping cone angle ? and a cone inlet (7) and are subjected to a pressure in order to check areas of the receiving space (8). To ensure that all the checked ball heads (3) also remain functionally ready for relevant, oblique in vivo load situations without suffering damage, it is proposed that only the area of the cone inlet (7) is subjected to a radial force perpendicular to the longitudnal axis of the ball head (3).

SYSTEM AND METHOD FOR USING A DIGIT TO POSITION A PROSTHETIC OR ORTHOTIC DEVICE

A method and system for determining a grip or grasp pattern of a prosthetic terminal device or other orthotic device using the position of the thumb or other digit as the initial determination of the grasping function. The system comprising sensors, an electronic control system and a motor drive.

SYSTEM AND APPARATUS FOR ORIENTATION CONTROL

A system (7010) for control of a device (7012) includes at least one sensor module (7015) detecting orientation of a users body part. The at least one sensor module is in communication with a device module configured to command an associated device. The at least one sensor module detects orientation of the body part. The at least one sensor module sends output signals related to orientation of the user's body part to the device module and the device module controls the associated device based on the signals from the at least one sensor module.

PROSTHETIC DEVICE AND CONNECTING SYSTEM USING VACUUM

A prosthetic device comprises a connecting portion for connecting to a person using vacuum; and a control structure for controlling an amount of vacuum used to connect the connecting portion to the person, wherein the control structure includes: a vacuum pump (502) in fluid communication with the connecting portion for controlling an amount of vacuum used to connect the connecting portion to the person, a vacuum sensing mechanism (506) configured to provide signals indicating the amount of vacuum in the connecting portion, a movement sensing mechanism (509) configured to provide signals indicating at least one of acceleration of the prosthetic device, orientation of the prosthetic device, force experienced by the prosthetic device, and a direction of force experienced by the prosthetic device, and a controller configured to receive signals from the vacuum sensing mechanism (506) and the movement sensing mechanism (509), and to control the vacuum pump (502).

PROSTHETIC DEVICE AND CONNECTING SYSTEM USING VACUUM

A prosthetic device comprises a connecting portion for connecting to a person using vacuum; and a control structure for controlling an amount of vacuum used to connect the connecting portion to the person, wherein the control structure includes: a vacuum pump (502) in fluid communication with the connecting portion for controlling an amount of vacuum used to connect the connecting portion to the person, a vacuum sensing mechanism (506) configured to provide signals indicating the amount of vacuum in the connecting portion, a movement sensing mechanism (509) configured to provide signals indicating at least one of acceleration of the prosthetic device, orientation of the prosthetic device, force experienced by the prosthetic device, and a direction of force experienced by the prosthetic device, and a controller configured to receive signals from the vacuum sensing mechanism (506) and the movement sensing mechanism (509), and to control the vacuum pump (502).

Prosthetic apparatus and control method

The invention provides a prosthetic apparatus ( 10 ) and method of operating the same. The prosthetic apparatus ( 10 ) includes an upper limb prosthesis ( 12 ) comprising at least one mechanically operable digit ( 14 ) and at least one sensor configured to be disposed on the user. The at least one sensor being operative to sense a path described by the sensor during movement thereof by the user and to provide a sensed path output in dependence upon the path. The apparatus ( 10 ) also includes a processor ( 24 ) operative to provide for actuation of the at least one digit ( 14 ) in dependence on the sensed path output having a predetermined characteristic and such that the at least one digit ( 14 ) moves in a predetermined fashion.

Method and device for controlling an artificial orthotic or prosthetic joint

The invention relates to a method and device for controlling an artificial orthotic or prosthetic joint of a lower extremity having a resistance device to which at least one actuator is associated, via which the bending and/or stretching resistance is changed depending on sensor data. During the use of the joint, status information is provided via sensors. During use of the joint, status information is provided via sensors, wherein a cyclic movement different from walking is determined and the resistance is reduced for the duration of the cyclic movement.

System and method for determining terrain transitions

A prosthetic or orthotic system including a sensor module and a processing module usable to determine a terrain variable, such as a terrain transition. In certain examples, the system is capable of anticipating a terrain transition prior to the user experiencing the terrain transition, which may include, for instance, a transition from level ground walking to walking on stairs or may include a change in a slope of the ground surface. In certain embodiments, the system advantageously monitors a posture and/or movement of the patient to anticipate the terrain transition. Furthermore, the system may control an actuator to appropriately adjust the prosthetic or orthotic device to encounter the anticipated terrain transition.

Further improvements to ankle-foot prosthesis and orthosis capable of automatic adaptation to sloped walking surfaces and methods of use

The present invention relates to an improved system for use in rehabilitation and/or physical therapy for the treatment of injury or disease to the lower limbs or extremities. The system can enable an amputee to proceed over any inclined or declined surface without overbalancing. The system is mechanically passive in that it does not utilize motors, force generating devices, batteries, or powered sources that may add undesirable weight or mass and that may require recharging. In particular the system is self-adapting to adjust the torque moment depending upon the motion, the extent of inclination, and the surface topography. An additional advantage of the improvement is that the system can be light and may also be simple to manufacture.

Prosthetic hydraulic joint with accumulator and methods for controlling joint

A prosthetic foot assembly is disclosed. The assembly includes a pivoting ankle joint with a hydraulic system, a prosthetic foot connected to the distal side of the ankle joint, and, at the proximal side, the ankle joint includes a transducer with pyramid adaptor for attaching to a pylon. The ankle joint sensor provides data collection during the stance and optionally, the swing, phases of walking using, for example, strain gages and accelerometers. Also disclosed are methods for real-time feature extraction. Key parameters are captured to which are applied linear, fuzzy logic, neural net, or generic algorithms to determine current state (walking flat, uphill, downhill etc.) in real time and execute changes to the angle between the ankle and foot almost instantaneously based on those parameters.

Control system for a grasping device

A method for operating a grasping device and grasping devices therefrom are provided. The grasping device is configured to use a plurality of parallel, bi-directional state flow maps each defining a sequence of poses for a plurality of joints in the grasping device. The method include receiving at least one control signal, determining a current pose of the grasping device within the one of the plurality of state flow maps currently selected for the grasping device, and selectively actuating the plurality of joints to traverse the sequence of poses, where a direction for traversing the sequence of poses is based on the at least one control signal.

Powered Ankle-Foot Prosthesis

A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

METHOD FOR CHECKING CERAMIC BALL HEADS FOR HIP-JOINT PROSTHESES

The invention relates to a method for checking ceramic ball heads () for hip-joint prostheses which have a receiving space () with a conical side face with a clamping cone angle γ and a cone inlet () and are subjected to a pressure in order to check areas of the receiving space (). To ensure that all the checked ball heads () also remain functionally ready for relevant, oblique in vivo load situations without suffering damage, it is proposed that only the area of the cone inlet () is subjected to a radial force perpendicular to the longitudinal axis of the ball head (). 110.-. (canceled)11. A method comprising checking a ceramic ball head for a hip-joint prostheses , which has a receiving space with a conical side face with a clamping cone angle γ and a cone inlet and is subjected to a pressure for testing areas of the receiving space , wherein only the area of the cone inlet is subjected to a radial force perpendicular to the longitudinal axis of the ball head.12. A method according to claim 11 , wherein a conical sleeve with a cone angle α is pressed into the receiving space for the checking step claim 11 , wherein the cone angle α is greater than the clamping cone angle γ.13. A method according to claim 12 , wherein the cone angle α is selected in the range of from 7° to 30° claim 12 , and the difference between clamping cone angle γ and cone angle α is between a minimum of 2° and a maximum of 25°.14. A method according to claim 13 , wherein the cone angle α is 18°.15. A method according to claim 12 , wherein the sleeve is closed on the circumferential surface thereof.16. A method according to claim 15 , wherein the sleeve comprises a copper alloy.17. A method according to claim 16 , wherein the copper alloy is brass.18. A method according to claim 13 , wherein a conical pressure stamp with a cone angle α identical to that of the sleeve is pressed axially with a force F into the sleeve.19. A method according to claim 18 , wherein the friction between sleeve and ...

METHOD FOR CONTROLLING AN ARTIFICIAL ORTHOTIC OR PROSTHETIC KNEE JOINT

The invention relates to a method for controlling an artificial orthotic or prosthetic knee joint, on which a lower leg component is arranged and which is assigned a resistance device having at least one actuator, by means of which the bending resistance is modified depending on sensor data that is determined during use of the orthotic or prosthetic knee joint by means of a sensor, wherein the absolute angle of the lower leg component is determined exclusively by means of at least one inertial sensor, the angle determined is compared with at least one threshold value, and the bending resistance is modified when the threshold value is reached. 12453317457. A method for controlling an artificial orthotic or prosthetic knee joint () , on which a lower leg component ( , ) is arranged and which is provided with a resistance device () having at least one actuator () , by means of which the bending resistance is modified as a function of sensor data which are determined by means of a sensor () during use of the orthotic or prosthetic joint , characterized in that the absolute angle of the lower leg component ( , ) is determined exclusively by means of at least one inertial sensor () , the angle determined is compared with at least one threshold value , and the bending resistance is modified when the threshold value is reached.245725. The method as claimed in claim 1 , characterized in that an angular velocity of the lower leg component ( claim 1 , ) is calculated from the sensor data of the at least one inertial sensor () claim 1 , and the bending resistance is reduced only when the angular velocity is not equal to zero.3745. The method as claimed in or claim 1 , characterized in that the absolute angle is determined exclusively by means of one or more inertial sensors () claim 1 , which is or are fastened on the lower leg component ( claim 1 , ) or on an orthotic or prosthetic component fastened distally thereon.4. The method as claimed in one of the preceding claims ...

METHOD FOR CONTROLLING AN ARTIFICIAL ORTHOTIC OR PROSTHETIC KNEE JOINT

The invention relates to a method for controlling an artificial orthotic or prosthetic knee joint, on which a lower leg component is arranged and which is assigned a resistance device having at least one actuator, by means of which the bending resistance is modified depending on sensor data that is determined during use of the orthotic or prosthetic knee joint by means of a sensor, wherein the absolute angle of the lower leg component is determined exclusively by means of at least one inertial sensor, the angle determined is compared with at least one threshold value, and the bending resistance is modified when the threshold value is reached. 1. A method for controlling an artificial orthotic or prosthetic knee joint , on which a lower leg component is arranged , the method comprising:providing the orthotic or prosthetic knee joint with at least one inertial sensor and a resistance device, the resistance device having at least one actuator;determining an absolute angle of the lower leg component exclusively using sensor data from the at least one inertial sensor;comparing the determined absolute angle with at least one threshold value;modifying a bending resistance with the resistance device when the threshold value is reached.2. The method as claimed in claim 1 , further comprising:calculating an angular velocity of the lower leg component using the sensor data of the at least one inertial sensor;reducing the bending resistance only when the angular velocity is not equal to zero.3. The method as claimed in claim 1 , wherein the absolute angle is determined exclusively using one or more inertial sensors claim 1 , which is or are fastened on the lower leg component or on an orthotic or prosthetic component fastened distally thereon.4. The method as claimed in claim 1 , wherein the absolute angle is determined using at least one of 2D or 3D magnetic field sensors claim 1 , 2D or 3D acceleration sensors claim 1 , and 1D claim 1 , 2D or 3D gyroscopes.5. The method as ...

Stair descent control for powered lower limb devices

Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

Laminated spring containing valve, control method of this valve and prosthetic joint that includes the valve

Present invention concerns a laminated spring containing valve on a cylinder that contains two compartments which are separated by a piston, which ensures the adjustment of the fluid flow rate between the two compartments by being sensitive to the pressure difference between the two compartment. Present invention explains a valve and its control method which provides a dynamical control over the fluid flow between the two compartments and the flow rate. Besides, this invention explains a valve set and a prosthetic joint, which contains this set, that ensures the adaptive movement of the prosthetic limbs of the amputees with the natural movement phases.

Prosthetic apparatus and method therefor

Various aspects of the present disclosure characterize apparatuses and/or methods as may be implemented with a variety of prosthetic components and applications. As may be consistent with one or more embodiments described herein, movement parameters pertaining to movement of a user of a prosthetic foot are sensed as the user travels along a surface, with the prosthetic foot having a front ball region and a rear heel region for respectively contacting the surface. A state of movement of the user, including a speed at which the user is travelling along the surface, is determined based on the sensed movement parameters. Utilizing a mechanical actuator, the prosthetic foot is dynamically positioned in response to the speed at which the user is travelling along the surface, by manipulating the mechanical actuator to move the rear heel region relative to the front ball region based on changes in the speed.

Mechanisms and methods for the design and fabrication of a mechanical interface between a wearable device and a human body segment

The system includes an instrument for determining the anatomical, biomechanical, and physiological properties of a body segment that includes one or more force sensitive probes is provided. A human operator actuates one or more force sensitive probes, wherein the force sensitive probes are positioned at the surface of the body segment. The operator pushes on the force sensitive probes with varying force applied on the body segment to measure tissue deflection forces. The instrument may include one or more of gyroscopes, accelerometers, and magnetometers capable of measuring changes in tissue deflection caused by the force sensitive probes relative to a grounded reference frame in 3-D space, wherein the tissue deflection force data and the change in tissue deflection data are used to compute segment tissue viscoelastic properties. The instrument may also be untethered or wireless.

PARALLELOGRAM LOAD CELL

A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member. 1. A device , comprising:a first member and a second member disposed in series along a longitudinal axis, the first member comprising first joints and the second member comprising second joints;a plurality of links mechanically coupling the first member to the second member via the first and the second joints; andat least one sensor for generating at least one signal indicating a separation between the first member and the second member,wherein the first member, the second member, and the plurality of links are arranged to define at least one substantially planar parallelogram linkage and having a constrained range of motion substantially along the longitudinal axis.2. The device of claim 1 , further comprising:a pre-load element for biasing the first member towards the second member; anda resilient element for biasing the first member away from the second member.3. The powered leg device of claim 2 , wherein the preload element comprises at least one spring-loaded shoulder bolt.4. The powered leg device of claim 2 , wherein the preload element comprises at least one tension spring.5. The powered ...

TECHNOLOGICAL AID FOR TRANSFEMORAL AMPUTEES

An aid device for the motor disabled, suitable for allowing walking of transfemoral amputees, having: a lower-limb prosthesis of an amputated limb; a lower-limb orthosis suitable to be worn at a sound contralateral lower-limb; an orthotic pelvis module connecting the prosthesis to the lower-limb orthosis; and a control unit for the operational coordination of movements of the prosthesis and the lower-limb orthosis. 1. An aid device for a motor disabled subject , comprising:a first mechantronic system comprising a first at least one actuator controlled joint having one or more degrees of freedom;a second mechantronic system comprising a second at least one actuator controlled joint having one or more additional degrees of freedom;a sensory system comprising a plurality of sensors connected to the first and second mechantronic systems;a control unit in communication with the first and second mechantronic systems and the sensory system, the control unit being configured to jointly control the first and second mechantronic systems to obtain a coordinated movement of the first and second mechantronic systems and to obtain a load transfer between the first and second mechantronic systems.2. The aid device of claim 1 , wherein the load transfer between the first and second mechantronic systems is achieved by:i) processing data obtained from the sensory system,ii) based upon processed data, selecting coordinated motion components for the first and second mechantronic systems, andiii) implementing the coordinated motion components to provide powered control, through an energizing unit, of at least one of the first and second at least one actuator controlled joints.3. The aid device of claim 1 , wherein the sensory system is configured for monitoring:one or more of: linear position of one or more parts of the aid device, angular position of oneor more of the parts of the aid device, linear position of the motor disabled subject, angular position of the motor disabled subject, ...

Control system and method for a prosthetic knee

A prosthetic or orthotic system including a magnetorheological (MR) damper. The MR damper may be configured to operate in shear mode. In one embodiment, the MR damper includes a rotary MR damper. A controller is configured to operate the damper. A mobile computing device may be adapted to intermittently communicate configuration parameters to the controller. A method of configuring a prosthetic or orthotic system is also disclosed.

PROSTHETIC HYDRAULIC JOINT WITH ACCUMULATOR AND METHODS FOR CONTROLLING JOINT

A prosthetic foot assembly is disclosed. The assembly includes a pivoting ankle joint with a hydraulic system, a prosthetic foot connected to the distal side of the ankle joint, and, at the proximal side, the ankle joint includes a transducer with pyramid adaptor for attaching to a pylon. The ankle joint sensor provides data collection during the stance and optionally, the swing, phases of walking using, for example, strain gages and accelerometers. Also disclosed are methods for real-time feature extraction. Key parameters are captured to which are applied linear, fuzzy logic, neural net, or generic algorithms to determine current state (walking flat, uphill, downhill etc.) in real time and execute changes to the angle between the ankle and foot almost instantaneously based on those parameters. 129-. (canceled)30. A prosthetic ankle joint , comprising:a base;a body connected to the base with a pivot;a first piston and a second piston in contact with the base;a first cam and a second cam positioned on the base, the first cam supporting the first piston, and the second cam supporting the second piston, the first and second cams each having a parabolic upper surface;the body having a first cylinder and a second cylinder within which the first and second pistons are placed, respectively, the first cylinder and first piston being positioned anterior of the pivot, and the second cylinder and second piston being positioned posterior of the pivot;a hydraulic system connecting the first and second cylinders, the hydraulic system including one or more values to control transfer of fluid between the first and second cylinders;a processor programmed with instructions to control the one or more valves.31. The prosthetic ankle joint of claim 30 , further comprising a first hydraulic fluid accumulator in the first piston and a second hydraulic fluid accumulator in the second piston claim 30 , wherein the first and second accumulators each comprise a subpiston and a spring biasing ...

SYSTEM, METHOD AND APPARATUS FOR ORIENTATION CONTROL

A system for control of a device includes at least one sensor module detecting orientation of a user's body part. The at least one sensor module is in communication with a device module configured to command an associated device. The at least one sensor module detects orientation of the body part. The at least one sensor module sends output signals related to orientation of the user's body part to the device module and the device module controls the associated device based on the signals from the at least one sensor module. 1. A sensor module comprising:an IMU having at least one orientation sensor;a sensor CPU in communication with the at least one orientation sensor; andwherein the sensor CPU receives input signals from the at least one orientation sensor of the IMU; andwherein the sensor CPU outputs a pitch, a roll and a yaw of the IMU.2. The sensor module according to claim 1 , wherein the IMU comprising at least three orientation sensors including at least two accelerometers.3. The sensor module according to claim 2 , wherein the third orientation sensor comprising a gyroscope.4. The sensor module according to claim 1 , wherein the at least one orientation sensor comprising an accelerometer.5. The sensor module according to claim 1 , further comprising a power supply for supplying power to the sensor module.6. The sensor module according to claim 5 , wherein the power supply comprising a battery and a power antenna connected to the battery for wirelessly charging the battery.7. The sensor module according to claim 5 , further comprising a support structure comprising the IMU claim 5 , sensor CPU claim 5 , and power supply disposed on the support structure.8. The sensor module according to claim 7 , wherein the support structure comprising at least one circuit board.9. The sensor module according to claim 5 , further comprising a housing claim 5 ,wherein the IMU, sensor CPU, and power supply are each disposed in the housing.10. The sensor module according to ...

MECHANISMS AND METHODS FOR THE DESIGN AND FABRICATION OF A MECHANICAL INTERFACE BETWEEN A WEARABLE DEVICE AND A HUMAN BODY SEGMENT

The system includes an instrument for determining the anatomical, biomechanical, and physiological properties of a body segment that includes one or more force sensitive probes is provided. A human operator actuates one or more force sensitive probes, wherein the force sensitive probes are positioned at the surface of the body segment. The operator pushes on the force sensitive probes with varying force applied on the body segment to measure tissue deflection forces. The instrument may include one or more of gyroscopes, accelerometers, and magnetometers capable of measuring changes in tissue deflection caused by the force sensitive probes relative to a grounded reference frame in 3-D space, wherein the tissue deflection force data and the change in tissue deflection data are used to compute segment tissue viscoelastic properties. The instrument may also be untethered or wireless.

Controlling torque in a prosthesis or orthosis based on a deflection of series elastic element

In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. This reduces the work performed by the actuator over a gait cycle and the peak actuator power delivered during the gait cycle. In some embodiments, a series elastic element is connected in series with a motor that can drive the ankle, and at least one sensor is provided with an output from which a deflection of the series elastic element can be determined. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.

Coordinated control for an arm prosthesis

A control method for an arm prosthesis having at least one powered joint and at least one inertial measurement sensor (IMS) includes determining a motion and an orientation of the arm prosthesis relative to the inertial reference frame based at least on an output of the IMS and generating control signals for the at least one powered joint based on the motion and the orientation of the prosthetic arm.

PROSTHETIC METHOD AND APPARATUS

A method of placing a prosthetic system over a residual limb, said method comprising the steps of: providing the prosthetic system; and placing an outer shell of the prosthetic system on the residual limb having an above-knee amputation, the outer shell at least partially surrounds the residual limb, an outer side and an inner side of the outer shell on opposite sides of the residual limb, an upper edge of the outer side above a greater trochanter, the inner side below a lowest edge of an ischium without being directly below the lowest edge of the ischium. 1. A method of placing a prosthetic system over a residual limb , said method comprising the steps of:providing the prosthetic system; andplacing an outer shell of the prosthetic system on the residual limb having an above-knee amputation, the outer shell at least partially surrounds the residual limb, an outer side and an inner side of the outer shell on opposite sides of the residual limb, an upper edge of the outer side above a greater trochanter, the inner side below a lowest edge of an ischium without being directly below the lowest edge of the ischium.2. The method of claim 1 , further comprising the step of tightening at least one fastener about the outer shell to compress the outer shell about the residual limb.3. The method of claim 1 , wherein the step of providing the prosthetic system includes providing an inner shell within the outer shell claim 1 , the inner shell at least partially surrounds the residual limb claim 1 , the inner shell including a discontinuity with side edges claim 1 , wherein as the prosthetic system applies greater force about the residual limb the side edges move in opposite directions relative to each other.4. The method of claim 1 , wherein the step of providing the prosthetic system includes a base component at a bottom of the outer shell.5. The method of claim 4 , further comprising the step of providing an artificial leg that is coupled to the bottom of the outer shell.6. ...

Prosthetic Arm With Adaptive Grip

An upper extremity prosthesis may include a prosthetic hand including a prosthetic thumb having a base and a tip, and a prosthetic index finger having a base and a tip. Actuators may be coupled to the upper extremity prosthesis. Prosthetic flexion tendons may have first ends operably coupled to the actuators and second ends coupled to the tips of the thumb and the index finger. Biasing systems may be operably coupled to the prosthetic thumb and the index finger. Upon actuation of the actuators in a first direction, the prosthetic flexion tendons cause the thumb and index finger to flex. Upon actuation of the linear actuators in a second direction opposite the first direction, the biasing systems cause the thumb and index finger to extend. 1. A prosthesis comprising:a prosthetic hand including a first prosthetic finger;a first actuator;a first prosthetic flexion tendon having a first end operably coupled to the first actuator and a second end operably coupled to the first prosthetic finger; anda first biasing member operably coupled to the first prosthetic finger;wherein upon actuation of the first actuator, the first prosthetic flexion tendon causes the first prosthetic finger flex, the first biasing member tending to cause the first prosthetic finger to extend in the absence of forces causing flexion.2. The prosthesis of claim 1 , wherein the first prosthetic flexion tendon is a cable.3. The prosthesis of claim 1 , wherein the first prosthetic flexion tendon is formed as a mono-filament.4. The prosthesis of claim 1 , wherein the first prosthetic flexion tendon is braided.5. The prosthesis of claim 1 , wherein the first prosthetic flexion tendon has a break strength between about20 lbs and about 100 lbs.6. The prosthesis of claim 1 , wherein the prosthetic hand includes a cavity having a mounting member positioned therein claim 1 , the first actuator being coupled to the mounting member claim 1 , and the mounting member including a slot claim 1 , electronics for use ...

SYSTEM FOR CONTROL OF A PROSTHETIC DEVICE

A system for control of a prosthetic device includes at least one Inertial Measurement Unit detecting orientation of a user's foot. The at least one Inertial Measurement Unit is in communication with a device module configured to command at least one actuator of a prosthetic device. The at least one Inertial Measurement unit sends output signals related to orientation of the user's foot to the device module and the device module controls the at least one actuator of the prosthetic device based on the signals from the at least one Inertial Measurement Unit. 1. A control system for a prosthetic device comprising:at least one sensor module adapted to receive at least one body input signal;at least one device module having at least one prosthetic control mode, the device module being in communication with the at least one sensor module; andat least one actuator of the prosthetic device configured to receive commands from the device module,wherein the device module receives at least one body input signal from the at least one sensor module and commands the at least one actuator in accordance with the at least one body input signal.2. The control system according to further comprising wherein the at least one device module further comprising at least one prosthetic control mode and wherein the device module commands the at least one actuator in accordance with the at least one body input signal and a current control mode of the at least one prosthetic control mode.3. The control system according to further comprising wherein the at least one sensor module comprising at least one inertial measurement unit.4. The control system according to further comprising wherein the at least one inertial measurement unit comprising at least one accelerometer.5. The control system according to further comprising wherein the inertial measurement unit comprising at least one accelerometer configured to detect accelerations in three perpendicular axes.6. The control system according to ...

POWERED LOWER LIMB DEVICES AND METHODS OF CONTROL THEREOF

In some aspects, methods are provided for controlling a powered lower limb device. A stance phase control method is disclosed in which the required joint torque is determined based on the difference between two joint angles, such as the knee joint and the ankle joint. A swing control method is also disclosed that employs feedback-based minimum jerk trajectory control. In other embodiments, a joint assembly for use in modular lower limb device is provided. The joint assembly includes a reconfigurable slider-crank mechanism that is configurable to provide a plurality of different ranges of rotational travel, rotational speeds, and torques, for customization according to different anatomical joints. The joint assembly may include a compact coupling device for coupling a ball screw of the slider-crank mechanism to an output shaft of a motor. When employed to form a modular orthosis, the joint assembly may be adapted for self-alignment as its length adjustment method during setup. 1. A method of controlling a hip joint of a lower limb device during a subphase of a stance phase , the lower limb device further comprising a knee joint and an ankle joint , the method comprising:receiving angle sensor information from angle sensors respectively associated with the knee joint and the ankle joint;receiving inertial sensor information from one or more inertial sensors associated with the lower limb device;processing the angle sensor information to determine a knee joint angle and an ankle joint angle;determining a phase variable dependent on a difference between the knee joint angle and the ankle joint angle;processing the inertial sensor information to determine a walking speed of the lower limb device; andcontrolling a hip joint actuator such that a hip joint torque applied to the hip joint is constrained according to a pre-determined dependence on the phase variable and the walking speed.2. A method of controlling a lower limb device during a subphase of a stance phase , the ...

REACTIVE LAYER CONTROL SYSTEM FOR PROSTHETIC AND ORTHOTIC DEVICES

A variable gain impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint. The controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input for receiving a signal indicative of the torque at the joint, and a variable gain scheduler in communication with the sensor input to receive data therefrom thereby providing a variable torque gain. The variable gain impedance controller adjusts its control on the apparatus based on the variable torque gain and the indicated torque to increase the joint resistance to motion when the signal received from the sensor input indicates an interaction between the apparatus and the ground, and decrease the joint resistance to motion when the signal received from the sensor input indicates an absence of interaction between the apparatus and the ground. 184-. (canceled)85. A method of modifying the feedback of an impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint , the method comprising:receiving a signal indicative of an interaction between the apparatus and the ground;receiving a signal indicative of the torque at the joint; andbased at least in part on the signal indicative of an interaction between the apparatus and the ground, calculating a result by multiplying the signal indicative of the torque by a value and providing the result to the controller.86. The method of claim 85 , wherein the value is a positive value and substantially unitary when the signal indicative of the interaction between the apparatus and the ground indicates an interaction and the value is a negative value and substantially unitary when the signal indicative of the interaction between the apparatus and the ground indicates an absence of interaction.87. The method of claim 85 , further comprising:receiving a signal ...

SYSTEM FOR CONTROL OF A PROSTHETIC DEVICE

A system for control of a prosthetic device includes at least one Inertial Measurement Unit detecting orientation of a user's foot. The at least one Inertial Measurement Unit is in communication with a device module configured to command at least one actuator of a prosthetic device. The at least one Inertial Measurement unit sends output signals related to orientation of the user's foot to the device module and the device module controls the at least one actuator of the prosthetic device based on the signals from the at least one Inertial Measurement Unit. 1. A control system for a prosthetic device comprising:at least one sensor module adapted to receive at least one body input signal;at least one device module having at least one prosthetic control mode, the device module being in communication with the at least one sensor module; andat least one actuator of the prosthetic device configured to receive commands from the device module,wherein the device module receives at least one body input signal from the at least one sensor module and commands the at least one actuator in accordance with the at least one body input signal.2. The control system according to further comprising wherein the at least one device module further comprising at least one prosthetic control mode and wherein the device module commands the at least one actuator in accordance with the at least one body input signal and a current control mode of the at least one prosthetic control mode.3. The control system according to further comprising wherein the at least one sensor module comprising at least one inertial measurement unit.4. The control system according to further comprising wherein the at least one inertial measurement unit comprising at least one accelerometer.5. The control system according to further comprising wherein the inertial measurement unit comprising at least one accelerometer configured to detect accelerations in three perpendicular axes.6. The control system according to ...

A prosthetic ankle and foot combination

A prosthetic ankle and foot combination has an ankle joint mechanism constructed to allow damped rotational movement of a foot component relative to a shin component. The mechanism provides a continuous hydraulically damped range of ankle motion during walking with dynamically variable damping resistances, and with independent variation of damping resistances in the plantar-flexion and dorsi-flexion directions. An electronic control system coupled to the ankle joint mechanism includes at least one sensor for generating signals indicative of a kinetic or kinematic parameter of locomotion, the mechanism and the control system being arranged such that the damping resistances effective over the range of motion of the ankle are adapted automatically in response to such signals. Single and dual piston hydraulic damping arrangements are disclosed, including arrangements allowing independent heel-height adjustment.

PROSTHETIC OR EXOSKELETON COMPONENT, PROSTHESIS OR EXOSKELETON, AND METHOD

A prosthetic or exoskeleton component for a prosthesis or exoskeleton includes a shock-absorbing unit. The shock-absorbing unit contains a damping device that can be controlled by way of a control device. A detection device has a sensor unit for receiving a signal. The detection device is configured to detect uneven ground depending on the acquired signal and to control the damping device in response to the detected uneven ground such that a damping property of the damping device can be adjusted on the basis of a signal of the detection device. 119-. (canceled)20. A prosthesis or exoskeleton component for a prosthesis or an exoskeleton , the component comprising:a shock absorber device with a damper device that is controllable by way of a control device;an identification device with a sensor unit that includes a reception unit for contactless acquisition of a signal influenced by an area of uneven ground;wherein said identification device is configured to identify the area of uneven ground in dependence on the captured signal and to control said damper device in dependence on the identified area of uneven ground so that a damping property of said damper device is adjusted by a signal of said identification device.21. The prosthesis or exoskeleton component according to claim 20 , wherein said sensor unit comprises a transmission unit for emitting a signal and wherein said reception unit is configured to capture at least one reflection of the emitted signal claim 20 , originating from the area of uneven ground claim 20 , as a signal.22. The prosthesis or exoskeleton component according to claim 20 , wherein said damper device comprises at least one first damper chamber claim 20 , at least one second damper chamber claim 20 , and at least one controllable damping valve coupling said first and second damper chambers to one another claim 20 , and wherein a field generating device that is controllable by said identification device is assigned to said damping valve claim ...

BIOMIMETIC JOINT ACTUATORS

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). 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. 1. A powered actuator for supplying to a joint augmented by a powered human augmentation device at least one of an augmentation torque , joint equilibrium , and an impedance , the powered actuator comprising: a motor having a dissipation constant less than about 50 W/(Nm).sup.2; a transmission coupled directly to the motor; and an elastic element coupled to the joint and coupled , in series , to the transmission , to generate a normalized joint torque in a range from about −2.8 to about 2.8 Nm/kg.233-. (canceled) This application claims priority to and the benefit of U.S. Provisional Patent Application Ser. No. 61/451,887, filed on Mar. 11, 2011, the contents of which are hereby incorporated by reference herein in their entirety.This invention relates generally to powered human segmentation devices, such as lower-extremity prosthetic, orthotic, or exoskeleton apparatus, and/or to humanoid robotic devices designed to emulate human biomechanics and to normalize function and, in particular, to device components that deliver mechanical power, and methods for controlling such components.Superior biomimetic, lower-extremity augmentation systems and humanoid systems generally modulate mechanical impedance, joint equilibrium, and torque in accordance with gait cycle phase, walking speed, and/or terrain in a way that can emulate human behavior. In so doing, such systems can normalize or even augment metabolic cost-of-transport and self- ...

Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation

A prosthetic ankle includes a pair of prosthetic members movably coupled together to allow movement of the pair of prosthetic members with respect to one another. A hydraulic actuator or damper including hydraulic fluid in a hydraulic chamber is coupled to one of the pair of prosthetic members. A hydraulic piston is movably disposed in the hydraulic chamber and coupled to another of the pair of prosthetic members. A hydraulic flow channel is fluidly coupled between opposite sides of the chamber to allow hydraulic fluid to move between the opposite sides of the chamber as the hydraulic piston moves therein. A voice coil valve is coupled to the hydraulic flow channel to vary resistance to flow of hydraulic fluid through the flow channel, and thus movement of the piston in the chamber, and thus influencing a rate of movement of the pair of prosthetic members with respect to one another.

METHOD FOR CAPTURING SENSOR DATA

A method includes fixing at least one sensor to a body part of a person, sending signals, with the at least one sensor, to an electronic data processing device, the signals containing measurement data and an individual sensor identifier, and determining, with the electronic data processing device, the body part on which the sensor is arranged or is to be arranged, and allocating the measurement data of the at least one sensor to the body part. 1. A method comprising:fixing at least sensors to a body part of a person;detecting, with the at least one sensor, measurement data about a distance between the two sensors;sending signals to an electronic data processing device, the signals including the measurement data and an individual sensor identifier;determining, with the electronic data processing device, the body part on which the sensors are arranged or is to be arranged and allocates the measurement data of the at least two sensors to the body part.2. The method according to claim 1 , wherein at least one detector is allocated to the electronic data processing device claim 1 , the detector detecting at least one part of the signals claim 1 , wherein the electronic data processing device determines the body part using the detected signals claim 1 , and determines a direction or position from which the individual sensor identifier is sent claim 1 , or from a time path of the measurement data.3. The method according to claim 1 , wherein the signals also contain information on the body part.4. The method according to claim 3 , wherein the sensors are fixed to the body part with a bracket claim 3 , which has an effect on the signals sent by the sensors.5. The method according to claim 4 , wherein the sensors take the information on the body part from the bracket.6. The method according to claim 4 , wherein the bracket detects the body part to which it is fixed.7. The method according to claim 3 , wherein the sensor includes an adjustment device claim 3 , the adjustment ...

CONTROLLING POWERED HUMAN AUGMENTATION DEVICES

In a communication system for controlling a powered human augmentation device, a parameter of the powered device is adjusted within a gait cycle by wirelessly transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter. The target range is selected and the device parameters are controlled such that the powered device can normalize or augment human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain and, in effect, provides at least a biomimetic response to the wearer of the powered device. 1. A communication system for interfacing with a powered human augmentation device , the system comprising:a wireless transmitter for adjusting a parameter of the powered device within a gait cycle by transmitting a control signal thereto, whereby the adjusted parameter falls within a target range corresponding to that parameter, providing at least a biomimetic response to a wearer of the powered device.220-. (canceled) This application is a continuation of U.S. patent application Ser. No. 13/349,216, filed on Jan. 12, 2012, entitled “Controlling Powered Human Augmentation Devices” which claims priority to and the benefit of U.S. Provisional Patent Application Ser. No. 61/432,093, filed on Jan. 12, 2011, entitled “User Interface For Adjusting A Prosthesis Or Orthosis” the entire contents of each of which is hereby incorporated by reference in its entirety.This invention relates generally to powered human augmentation devices, such as lower-extremity prosthetic orthotic, or exoskeleton apparatus, designed to emulate human biomechanics and to normalize function, components thereof, and methods for controlling the same.Approximately 65% of service members seriously injured in Iraq and Afghanistan sustain injuries to their extremities. Many of these individuals experience muscle tissue loss and/or nerve injury, resulting in the loss of limb function or substantial reduction ...

Method for controlling an artificial knee joint

The invention relates to a method for controlling an artificial knee joint which includes an upper part having an anterior side and a posterior side; a lower part mounted on the upper part so as to be pivotable about a knee axis and having an anterior side and a posterior side; a foot part arranged on the lower part; at least one sensor; a control device connected to the at least one sensor; and an actuator which is coupled to the control device and by means of which an achievable knee angle (KAmax) between the posterior side of the upper part and the posterior side of the lower part in the swing phase can be set by the control device.

Artificial Ankle-Foot System with Spring, Variable-Damping, and Series-Elastic Actuator Components

An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.

Arm Prosthetic Device

A system for powering a prosthetic arm is disclosed. The system includes at least one internal battery located in the prosthetic arm, at least one external battery connected to the prosthetic arm, and a master controller configured to connect either the at least one internal battery or the at least one external battery to a power bus to power the prosthetic arm. 1. A brake apparatus for a prosthesis , the brake apparatus comprising:a first caliper configured to operatively engage with a peripheral edge of a first brake rotor;a second caliper configured to operatively engage with a peripheral edge of a second brake rotor, the second brake rotor configured to rotate concentrically to the first brake rotor;wherein the first and second calipers are engaged with the peripheral edges of the first and second brake rotors such that the first and second brake rotors are prevented from rotating when the first and second calipers are in a locked position; andan actuation mechanism configured to move the first and second calipers from the locked position to an unlocked position;wherein the first and second brake rotors can freely rotate when the first and second calipers are in the unlocked position.2. The brake apparatus of claim 1 , further comprising a bias member operatively engaged with both the first and second calipers such that the first and second calipers are biased towards the locked position.3. The brake apparatus of claim 2 , wherein the actuation mechanism comprises a cam rod including a cam surface claim 2 , the cam surface operatively engaged with both the first and second calipers claim 2 , such that when the cam rod is actuated claim 2 , the cam surface urges the first and second calipers to move against the bias member to the unlocked position.4. The brake apparatus of claim 3 , wherein the actuation mechanism further comprises a motor configured to actuate the cam rod.5. The brake apparatus of claim 4 , wherein the actuation mechanism further comprises a ...

Hydraulic system for a knee-ankle assembly controlled by a microprocessor

The present invention pertains to a femoral knee-ankle prosthesis intended for persons who are lower-limb amputees but still have a segment suitable for a femoral connection and a tibial connection connected to the femoral segment based on an articulation which reproduces the movements of the knee, the said tibial segment being articulated on one foot based on an articulation reproducing the movements of the ankle, an initial damper the ends of which are joined respectively with the femoral and tibial segments, and another hydraulic damper of which the ends are joined respectively with the tibial and foot segment; the said prosthesis is remarkable in that the chamber of the first hydraulic damper is connected to the chamber of the second hydraulic damper and in that it consists of the means of controlling the first and/or second hydraulic damper depending on the phase of the walking cycle such as the stance phase or the swing phase and/or real-life situations such as stairs, slopes or standing, etc., in such a manner that the flexion of the knee allows the dorsiflexion of the ankle in proportion to the movement of the knee during the stance phase and such that the flexion of the knee results in the dorsiflexion of the ankle during the swing phase.

METHOD FOR CONTROLLING AN ORTHOPEDIC JOINT

A method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom by means of an adjustable actuator for adjusting an orthopedic apparatus to walking situations that differ from walking on a plane. The orthopedic apparatus comprises top connecting members to connect to a limb, and an orthopedic element that is hingedly arranged distal to the connecting members. The method includes sensing, with sensors, several parameters of the orthopedic apparatus; comparing the sensed parameters with criteria that have been established based on several parameters and/or parameter curves and are stored in a computer unit; selecting a criterion that is suitable on the basis of the determined parameters and/or parameter curves; and adjusting resistances to movements, extents of movements, driving forces, and/or the progresses thereof in accordance with the selected criterion in order to control special functions that differ from walking on a plane. 126-. (canceled)27. A method for controlling a passive prosthetic knee joint , the method comprising:providing a prosthesis having the passive prosthetic knee joint, an upper attachment member configured to attach to a limb, a lower attachment member pivotally attached to the upper attachment member, an actuator, a computer unit, and a plurality of sensors;detecting parameters of the prosthesis with the plurality of sensors, the parameters including at least an absolute angle of the lower attachment member relative to a vertical axis, a rate of change of the absolute angle, a torque force in the knee joint, and a rate of change of the torque force;comparing the detected parameters with criteria stored in the computer unit;selecting multiple criterion based on the comparing;automatically adjusting, with the actuator, at least one of a damping force or a damping profile for the knee joint in accordance with the selected criterion, to adapt to special functions that deviate from walking on a planar surface. ...

Prosthetic ankle and method of controlling same based on adaptation to speed

Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device using different ankle angles depending on, for example, a user's gait speed. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on gait speed. For example, the prosthetic ankle device can provide for relatively more dorsiflexion at relatively slower gait speeds and relatively more plantarflexion at relatively faster gait speeds.

Electromyography with prosthetic or orthotic devices

Systems, devices and methods for control of a prosthetic or orthotic device (POD) based on electromyography (EMG) signals are described. The POD may be a lower or upper limb POD having one or more joints. One or more EMG sensors may detect the EMG signals. The EMG sensors may be external, subcutaneous, intraperitoneal, epimysial, intramuscular, or other types. Control of the POD may be based on EMG and non-EMG signals, such as velocity, acceleration, position, force, etc. Voluntary and/or automatic control may be implemented, for example with voluntary muscle contractions and/or data based on velocity, acceleration, position, force, etc. In some embodiments, the neutral position of an ankle POD is adjusted based on EMG signals.

METHOD FOR CONTROLLING AN ARTIFICIAL ORTHOTIC OR PROSTHETIC KNEE JOINT

A method for controlling an artificial orthotic or prosthetic knee joint, on which a lower-leg component is arranged and with which a resistance device is associated, the bending resistance (R) of which resistance device is changed in dependence on sensor data that are determined by means of at least one sensor during the use of the orthotic or prosthetic knee joint, wherein a linear acceleration (a) of the lower-leg component is determined, the determined linear acceleration (a) is compared with at least one threshold value, and, if a threshold value of the linear acceleration (a) of the lower-leg component is reached, the bending resistance (R) is changed. 113-. (canceled)14. A method for controlling an artificial orthotic or prosthetic knee joint , the orthotic or prosthetic knee joint including a resistance device , the method comprising:providing at least one sensor and a below-knee component positioned on the orthotic or prosthetic knee joint;determining sensor data via the at least one sensor during use of the orthotic or prosthetic knee joint;changing a flexion resistance applied by the resistance device using the sensor data;determining a linear acceleration of the below-knee component with the sensor data;comparing the determined linear acceleration with at least one threshold value;changing the flexion resistance if the threshold value is reached;using the linear acceleration of the below-knee component at the sole level as a basis for the control.15. The method as claimed in claim 14 , further comprising determining an extended stride position of a prosthesis or orthosis having the artificial prosthetic or orthotic knee joint claim 14 , and reducing the flexion resistance when the extended stride position is present.16. The method as claimed in claim 14 , further comprising determining an absolute angle of the below-knee component in order to detect a terminal stance phase claim 14 , and reducing the flexion resistance if a predefined limit value for the ...

Mechanical Finger

The invention relates to a mechanical finger comprising, a knuckle, a proximal element, a rod, a motor, a motor driven screw and a distal element. The knuckle has a first and second pivot. The proximal element knuckle end is coupled to the first pivot. The proximal element also has a third pivot at a variable longitudinal distance from the first pivot. The rod has a near end pivotally coupled to the second pivot and a far end pivotally coupled to the third pivot. A motor is coupled to and referenced to the proximal element. A screw is driven to change the distance between the third pivot and the first pivot in response to a command from a controller to the motor. A distal element is pivotally coupled to the proximal element. The distal element rotates with respect to the proximal element in response to a change in the variable distance between the third pivot and the first pivot.

Prosthetic and orthotic devices and methods and systems for controlling the same

Prosthetic and/or orthotic devices (PODS), control systems for PODS and methods for controlling PODS are provided. As part of the control system, an inference layer collects data regarding a vertical and horizontal displacement of the POD, as well as an angle of the POD with respect to gravity during a gait cycle of a user of the POD. A processor analyzes the data collected to determine a locomotion activity of the user and selects one or more control parameters based on the locomotion activity. The inference layer may be situated between a reactive layer control module and a learning layer control module of the control system architecture.

DEVICE FOR CONNECTING PROTHESIS COMPONENTS TO A PROTHESIS SHAFT

The invention relates to a device for connecting prosthesis components () to a prosthesis socket () to which a connecting element () is associated, which connecting element is clamped against a proximally disposed and rotatably mounted counterpart-plate () and to which the prosthesis components () can be connected at least indirectly. In such devices the problem arises that, for example in the proximal joint of a leg stump, because of a muscular imbalance due to adduction or abduction of the stump on one side, considerable deviations from the natural position of the limb occur, such that also the position of the tip of a stump, both in the sagittal plane and in the frontal plane can deviate from the perpendicular () which is relevant for the structural analysis of a prosthesis. In order to nevertheless be able to construct a prosthesis along said perpendicular, according to the invention the connecting element () has a coupling element () mounted on a support () which extends substantially parallel to the central axis () of the prosthesis socket () in a plane () and is rotatable about said central axis (). The distance between the coupling element () and the central axis () is adjustable, wherein the coupling element () is rotatable and lockable with respect to the support () on a second axis () extending substantially normal to the central axis () of the prosthesis socket (). The prosthesis component () is mounted on the coupling element () and is rotatable and lockable about a third axis (′) normal to the second axis (). 1101611061112171810111217184281811811121718414212171810119. A device for attaching a prosthesis component () to a prosthesis socket () , comprising an attachment element () on the prosthesis socket () via which the prosthesis component () is couplable to the prosthesis socket , wherein the attachment element () is connected to a coupling element () via a support ( , , ) and the prosthesis component () is mounted on the coupling element () , the ...

Electronically controlled prosthetic system

A prosthetic joint system for users comprising a housing having an interior cavity, a center axis in said interior cavity, and an attachment means for fixedly connecting said housing to said user; an inner cylinder disposed in said housing interior cavity wherein said inner cylinder rotates around said center axis of said housing; an appendage attached to said inner cylinder; a sensor system attached to said appendage; and a dampening system, having a power source, in communication with said sensor system, said inner cylinder, and said housing for controlling dampening of the rotation of said inner cylinder around said center axis of said housing.

ALIGNMENT ANGLE SENSOR SYSTEMS FOR LIMB PROSTHESES

Disclosed herein are systems and methods for determining alignment angles between a first prosthetic component and a second prosthetic component that are joinable together in a fixed orientation relative to each other, wherein the fixed orientation includes a first angle and optionally also a second angle that are perpendicular to each other, and wherein the first and/or second angles are selectable from a range of angles to provide a desired fixed orientation between the two prosthetic components. The system includes a magnet fixedly coupled to the first prosthetic component and one or more magnetic intensity sensors configured to be coupled to the second prosthetic component in a fixed orientation relative to the second prosthetic component such that the sensors are operable to sense a magnetic field of the magnet and produce an output signal in response to the strength of the sensed magnetic field. The system can include a processor operable to receive the output signals from the sensors and determine the first and/or second angles. 1. A system for determining alignment angles for prosthetic components , the system comprising:a first prosthetic component and a second prosthetic component that are joinable together in a fixed orientation relative to each other, wherein the fixed orientation includes a first angle and a second angle that are perpendicular to each other, and wherein the first and second angles are selectable from a range of angles to provide a desired fixed orientation between the two the first and second prosthetic components;a magnet fixedly coupled to the first prosthetic component;one or more magnetic intensity sensors configured to be coupled to the second prosthetic component in a fixed orientation relative to the second prosthetic component such that the one or more magnetic intensity sensors are operable to sense a magnetic field strength of the magnet and produce an output signal corresponding to the sensed magnetic field strength; anda ...

Powered prosthetic thumb

Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.

Microprocessor controlled prosthetic ankle system for footwear and terrain adaptation

A prosthetic ankle includes a pair of prosthetic members movably coupled together to allow movement of the pair of prosthetic members with respect to one another. A hydraulic actuator or damper including hydraulic fluid in a hydraulic chamber is coupled to one of the pair of prosthetic members. A hydraulic piston is movably disposed in the hydraulic chamber and coupled to another of the pair of prosthetic members. A hydraulic flow channel is fluidly coupled between opposite sides of the chamber to allow hydraulic fluid to move between the opposite sides of the chamber as the hydraulic piston moves therein. A voice coil valve is coupled to the hydraulic flow channel to vary resistance to flow of hydraulic fluid through the flow channel, and thus movement of the piston in the chamber, and thus influencing a rate of movement of the pair of prosthetic members with respect to one another.

Orthopedic device

An orthopedic device for the orthotic or prosthetic provision of a patient. The orthopedic device includes a knee joint, which has a proximal upper part and a distal lower part arranged pivotably thereon, an ankle joint, a pivoted foot part which can be fastened distally to the ankle joint, and a shin part arranged between the ankle joint and the knee joint. The upper part of the knee joint or a thigh part fastened thereto that can be attached to the patient's body and is coupled with the foot part by means of a force transfer device, which causes a plantar flexion of the foot part when a knee is flexed.

METHOD FOR DETERMINING MALPOSITIONS IN THE SET-UP OF A PROSTHESIS

A method for configuring a prosthesis and/or orthosis or for determining malpositions in the set-up of a prosthesis or orthosis of the lower limb. The method includes recording a first set of measurement data of at least one sensor that is fixed to a body part of a person, wherein the first set of measurement data is allocated to a first state of movement of the person, recording a second set of measurement data of at least one sensor that is fixed to a body part of a person, wherein the second set of measurement data is allocated to a second state of movement of the person, and evaluating the first and second set of measurement data. 1. A method for configuring a prosthesis and/or orthosis or for determining malpositions in the set-up of a prosthesis and/or orthosis of a lower limb , the method comprising:recording a first set of measurement data from at least one sensor that is fixed to a body part of a person, the first set of measurement data being allocated to a first state of movement of the person;recording a second set of measurement data from at least one sensor that is fixed to a body part of the person, the second set of measurement data being allocated to a second state of movement of the person, the first and second states of movement differing from one another;evaluating the first and second sets of measurement data;determining a corrective measure using the evaluation of the first and second sets of measurement data.2. The method according to claim 1 , wherein the second state of movement is selected on the basis of the first set of measurement data.3. The method according to claim 2 , wherein the selected second state of movement is displayed via a communication device claim 2 , especially by way of an audio signal and/or a haptic signal and/or a visual signal.4. The method according to claim 1 , wherein the first state of movement is recognized from the first set of measurement data and/or the second state of movement is recognized from the second ...

PROSTHETIC AND ORTHOTIC DEVICES AND METHODS AND SYSTEMS FOR CONTROLLING THE SAME

Prosthetic and/or orthotic devices (PODS), control systems for PODS and methods for controlling PODS are provided. As part of the control system, an inference layer collects data regarding a vertical and horizontal displacement of the POD, as well as an angle of the POD with respect to gravity during a gait cycle of a user of the POD. A processor analyzes the data collected to determine a locomotion activity of the user and selects one or more control parameters based on the locomotion activity. The inference layer may be situated between a reactive layer control module and a learning layer control module of the control system architecture. 1. (canceled)2. A control system , for controlling a lower limb prosthesis having a shank segment and a motorized knee at a knee joint that is configured to attach to a thigh of a trans-femoral amputee , the control system comprising:a first sensor comprising a single inertial measurement unit (IMU) configured to be located on the shank segment of the lower limb prosthesis and configured to collect a first set of data related to locomotion of the shank segment;a second sensor configured to be located on the lower limb prosthesis and configured to collect a second set of data related to an angle of the shank segment at the knee joint; and receive the first set of data and the second set of data;', 'determine a kinematics of the thigh based on the first set of data and the second set of data, the kinematics of the thigh comprising a vertical displacement of the thigh, a horizontal displacement of the thigh, or an absolute angle of the thigh with respect to gravity;', 'identify a current locomotion activity of the amputee based on the kinematics of the thigh; and', 'control the motorized knee based on the current locomotion activity., 'a processor configured to be in communication with the first and second sensors, wherein the processor is configured to3. The control system of claim 2 , wherein the IMU comprises an accelerometer or ...

METHOD AND SYSTEM FOR ALIGNING A PROSTHETIC DEVICE

An improved method of determining prosthetic alignment utilizes a system which includes multiple movable laser units and an integrated scale to measure angles and other variables of an uninjured leg of a patient based on anatomical landmarks, compare those to angles and variables of an amputated side, and make adjustments to a prosthetic device utilized for the amputated side based on the comparison to ensure proper alignment. For example, the amount of tilt to the side of the prosthetic socket, the amount of tilt to the front and back of the prosthetic socket, the amount of tilt of the prosthetic foot on the sagittal plane, the displacement of the prosthetic foot on the sagittal plane, the rotation of the prosthetic foot on the transverse plane, and the height of the prosthetic device can thereby be adjusted based on measured parameters of the uninjured leg to ensure proper alignment. 1. A system for aligning a prosthetic device comprising:a support mechanism having an adjustable height attached to a laser generating unit, the laser generating unit configured for generating a horizontal laser beam;a base having a three-sided frame, wherein each of the three sides houses one or more sets of rail mechanisms; andan integrated scale having two identical scales attached to each other;wherein each set of the one more sets of rail mechanism includes at least two vertical beam generating laser units and one angular laser unit whose radius of radiation can be changed, and wherein each of the two vertical beam generating laser units is attached to a measuring device having an indicator for measuring a distance the vertical laser unit travels.2. The system for aligning a prosthetic device of claim 1 , wherein each of the laser generating unit claim 1 , the at least two vertical beam generating laser units claim 1 , and the laser unit whose radius of radiation can be changed claim 1 , includes a power switch.3. The system for aligning a prosthetic device of claim 1 , wherein ...

Walking controller for powered ankle prostheses

Described herein are systems and methods for a powered ankle/foot prosthesis and controller that utilizes piecewise emulated passive impedances to provide for walking at various cadences and on various slopes and for ground slope adaptive standing. A powered prosthesis using these systems and methods is capable of emulating any physical behavior provided by the healthy joint, and additionally describes a control system that utilizes the sensing and actuation system on the prosthesis to provide appropriate ankle joint impedances. Further, the control system incorporates a finite-state-based structure, and within each state, emulates the behavior of the healthy joint with strictly passive impedance functions.

Adjustable socket system

A prosthetic connector system for use with a prosthetic socket having a distal end includes a plate defining a plurality of holes and attachable to the distal end of the prosthetic socket. A component is removably attachable to the plate via the plurality of holes and arranged to connect a prosthesis to the prosthetic socket. The plate defines an outer periphery having an asymmetrical configuration contoured to substantially correspond to at least a portion of the component when the component is attached to the plate via at least some of the holes.

PROSTHESIS

A prosthesis with a support part on which a pivot joint is secured or formed. A distal prosthesis component is secured to the support part via the pivot joint, and the pivot joint allows a flexion and extension of the distal prosthesis component about a pivot axis relative to the receiving element or to the support part. A damping device, spring device, and/or actuator is arranged between the distal prosthesis component and the support part, and the damping device, spring device, and/or actuator is mounted on the distal prosthesis component using a first bearing point and is mounted on a lever or an arm using a second bearing point. The lever is mounted on the distal prosthesis component in a pivotal manner about a pivot axis. A distal portion of the arm is mounted on the lever, and a proximal portion is mounted on the support part. 1. A prosthesis , comprising:a support part;a swivel joint is fastened or formed on the support part;a distal prosthesis component is fastened on the support part via the swivel joint, the swivel joint allowing for a flexion and an extension of the distal prosthesis component about an axis of the joint relative to a receiving element or the support part;at least one of a damping device, a spring device and an actuator device positioned between the distal prosthesis component and the support part, the at least one of the damping device, spring device and actuator device being mounted on the distal prosthesis component with a first bearing point and mounted on a lever or a connecting rod with a second bearing point, the lever being mounted on the distal prosthesis component so as to swivel about a swivel axis, and the connecting rod being mounted on the lever via a distal portion and mounted on the support part via a proximal portion.2. The prosthesis as claimed in claim 1 , wherein the receiving element for receiving a stump is formed on or fastened to the support part.3. The prosthesis as claimed in claim 1 , wherein the support part is ...

PROSTHETIC ANKLE AND METHOD OF CONTROLLING SAME BASED ON ADAPTATION TO SPEED

Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device using different ankle angles depending on, for example, a user's gait speed. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on gait speed. For example, the prosthetic ankle device can provide for relatively more dorsiflexion at relatively slower gait speeds and relatively more plantarflexion at relatively faster gait speeds. 119-. (canceled)20. A method of controlling a prosthetic ankle device comprising a foot unit and a lower limb member , the lower limb member configured to move relative to the foot unit , and the foot unit and the lower limb member defining an angle therebetween , the method comprising:determining that a user of the prosthetic ankle device is in a standing or stopped position and has shifted a majority of body weight to a sound leg; andcausing or allowing the prosthetic ankle device to dorsiflex or plantarflex to allow for a more natural stance.21. The method of claim 20 , wherein determining that the user is in a standing or stopped position and has shifted a majority of body weight to the sound leg comprises detecting or determining vertical lift of claim 20 , and/or a reduced load on claim 20 , the prosthetic ankle device with substantially no forward movement of the user for a predetermined period of time.22. The method of claim 21 , wherein the predetermined period of time is at least about ten seconds.23. The method of claim 20 , further comprising:determining a vertical lowering of, and/or an increased load on, the prosthetic ankle device; andexiting a state of weight-shifting dorsiflexion.24. The method of claim 23 , further comprising detecting acceleration of the prosthetic ankle ...

HYBRID TERRAIN-ADAPTIVE LOWER-EXTREMITY SYSTEMS

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive. 169-. (canceled)70. An apparatus comprising:a foot member;a lower leg member worn by a wearer;an ankle joint for connecting the foot member to the lower leg member;an inertial measurement unit comprising a gyroscope for measuring an angular rate and an accelerometer for measuring acceleration, the inertial measurement unit disposed on the lower leg member to collocate a measurement of angular rate and acceleration for each of at least two axes of the lower leg member in a coordinate system; and track a trajectory of a point on the lower leg member over underlying terrain by the inertial measurement unit, the trajectory being tracked within a cycle defined by the wearer taking a single step with the lower extremity apparatus;', 'determine that the tracked trajectory matches an activity type selected from among a group of predefined activity types, or that the tracked trajectory does not match any of the predefined activity types, and', 'when the tracked trajectory matches the activity type, determining a mode of control based on the predefined activity type, and controlling the lower extremity apparatus according ...

METHODS FOR DETERMINING THE SIZE OF BODY PARTS AS PART OF COMPRESSION THERAPY PROCEDURES

Methods are disclosed for measuring the size of body parts treated by a compression therapy device. Either the volume or circumference of the body part may be measure. The methods my include evacuating an inflatable compression sleeve to a known pressure, inserting the body part into the compression sleeve, inflating the sleeve to a pre-set condition, and then measuring one or more inflation related parameters. The pre-set conditions may include a predetermined pressure, volume, or size of the inflatable cells comprising the sleeve. The inflation related parameters may include the time to fill the cell to a pre-set pressure, the pressure attained after a pre-set time of inflation, or the measure volume of a cell after a pre-set amount of air is introduced into it. The methods may also include deflating the cells from the known inflation state to a second inflation state and measuring similar parameters. 1. A method of electronically measuring a volume of a body part using a compression therapy device , the method comprising; an inflatable compression sleeve comprising at least one compression cell, the inflatable compression sleeve adapted to deliver compressive force to relieve a medical condition,', 'a source of fluid for inflating the compression sleeve, and a controller for controlling the inflation of the compression sleeve, wherein the controller comprises at least one sensor associated with the compression sleeve, at least one memory storage device to store a plurality of measurement data, at least one communication device, at least one user input interface device, and at least one user output interface device; evacuating, by the controller, the fluid from the at least one compression cell until at least one compression cell parameter measured by the at least one sensor attains at least one starting compression cell parameter value; introducing the body part into the compression sleeve;, 'providing the compression therapy device comprising'}inflating, by the ...

MULTI-ARTICULATED LINK KNEE JOINT

A multi-articulated link knee joint includes: a knee unit in which an upper link unit rotates relative to a lower link unit by a multi-articulated link mechanism including a plurality of link units including the upper link unit and the lower link unit; a relative position detector for detecting a relative position of the upper link unit relative to the lower link unit; and an angle detector for obtaining a bending angle of the knee unit from the detected relative position. 1. A multi-articulated link knee joint comprising:a knee unit in which an upper link unit is structured to rotate relative to a lower link unit by a multi-articulated link mechanism including a plurality of link units including the upper link unit and the lower link unit;a relative position detector structured to detect a relative position, relative to a certain link unit among the plurality of link units, of another link unit; andan angle detector structured to obtain a bending angle of the knee unit from the detected relative position.2. The multi-articulated link knee joint according to claim 1 ,wherein the relative position detector detects a distance from the certain link unit to the other link unit as the relative position, andthe angle detector obtains a bending angle of the knee unit from the detected distance.3. The multi-articulated link knee joint according to claim 2 ,wherein the relative position detector includes:a magnet provided at the certain link unit; anda magnetic sensor provided at the other link unit, the magnetic sensor structured to detect an intensity of a magnetic field generated by the magnet.4. The multi-articulated link knee joint according to claim 3 ,wherein the magnet is provided at the upper link unit, andthe magnetic sensor is provided at the lower link unit.5. The multi-articulated link knee joint according to claim 4 ,wherein the magnet has an arc shape extending in a rotation direction of the upper link unit, anda center of the arc shape is eccentric with ...

SYSTEM AND METHOD FOR ELECTROTACTILE FEEDBACK

A system and method for transferring proprioceptive and/or sensory information from a prosthesis or from a sensing system disposed at a body part having poor or no sensation, to the skin of a user wearing the prosthesis or the sensing system, includes: a device for providing electrotactile feedback in the form of an electrical stimulation pattern with coding scheme for at least one input signal; and at least one multi-pad electrode configured to be positioned on a part of the body of the user. The multi-pad electrode includes a plurality of pads configured to be selectively and discretely activated/deactivated according to the predefined stimulation pattern. 2. The system of claim 1 , wherein said device further comprises data acquisition means configured to capture a control signal to be provided to said processing means to be treated as input signal.3. The system of claim 1 , further incorporated in a socket configured to be placed at one end on a stump of a body part and to receive an artificial extremity prosthesis at the opposite end claim 1 , or wherein at least said multi-pad electrode is incorporated in a garment configured to be positioned either on a body part of a user having an artificial extremity prosthesis or on a body part of a user having a sensory system at a body extremity without sensation.4. The system of claim 1 , wherein said at least one multi-pad electrode is configured to circularly surround the stump or the body part of the user claim 1 , wherein the plurality of pads comprised in said at least one multi-pad electrode are disposed in single array along the multi-pad electrode.5. The system of claim 1 , wherein said at least one input comprises at least one of a control signal for the aperture claim 1 , flexion claim 1 , rotation and/or grasping force of a prosthesis or from a sensory system disposed at a body part having poor or no sensation.6. The system of claim 5 , wherein said at least one input further comprises sensory information.7. ...

ELECTRONICALLY CONTROLLED PROSTHETIC SYSTEM

A prosthetic joint system for users comprising a housing having an interior cavity, a center axis in said interior cavity, and an attachment means for fixedly connecting said housing to said user; an inner cylinder disposed in said housing interior cavity wherein said inner cylinder rotates around said center axis of said housing; an appendage attached to said inner cylinder; a sensor system attached to said appendage; and a dampening system, having a power source, in communication with said sensor system, said inner cylinder, and said housing for controlling dampening of the rotation of said inner cylinder around said center axis of said housing. 1a frame;a computer in communication with said frame;a damping device in communication with said computer and said frame;a joint connected to said frame;a sensor for sensing plantarflexion moment information and dorsiflexion moment information in communication with said computer;wherein said joint provides at least one axis of rotation about said prosthetic ankle and wherein said damping device facilitates resistance to said at least one axis of rotation; andwherein said computer determines said resistance to said at least one axis of rotation with said plantarflexion moment information and said dorsiflexion moment information.. A prosthetic ankle comprising: This application is a continuation of U.S. patent application Ser. No. 15/092,231, filed Apr. 6, 2016, which is a continuation-in-part of U.S. patent application Ser. No. 14/221,457, filed Mar. 21, 2014, now abandoned, which is a continuation-in-part of U.S. patent application Ser. No. 13/351,291, filed Jan. 17, 2012, now abandoned, which is a continuation of U.S. patent application Ser. No. 12/979,434, filed Dec. 28, 2010, now abandoned, which is a continuation of U.S. patent application Ser. No. 12/185,907, filed Aug. 5, 2008, now abandoned, which is a continuation-in-part of U.S. patent application Ser. No. 11/953,390, filed Dec. 10, 2007, now abandoned, which is a ...

PROSTHETIC SOCKET FITMENT SYSTEM

A prosthetic socket fitment system for fitting a prosthesis to a patient can include at least one transceiver assembly in contact with an external frame coupled to a patient, and a processing module in electrical communication with the at least one transceiver assembly. The at least one transceiver assembly can be aligned to the bone of the patient and configured to generate a signal directed to the bone of the patient and receive a reflected signal from the bone of the patient. 1. A system comprising:at least one transceiver assembly in contact with an external frame configured for coupling to a patient; anda processing module in electrical communication with the at least one transceiver assembly,wherein the at least one transceiver assembly is aligned to a bone of the patient and configured to direct a signal towards the bone of the patient and receive a reflected signal from the bone of the patient.2. The system of claim 1 , the at least one transceiver assembly comprising:a transceiver device to generate a signal and receive a reflected signal;a housing to locate the transceiver device with respect to the patient; anda retainer to locate the transceiver device with respect to the housing.3. The system of claim 2 , wherein the housing includes a base and a cap generally parallel with the base claim 2 , the cap connected to the base.4. The system of claim 3 , wherein the base includes a base axis claim 3 , the cap includes a cap axis claim 3 , and the cap axis forms a non-zero angle with the base axis.5. The system of claim 1 , wherein the at least one transceiver assembly includes an ultrasonic transceiver device.6. The system of claim 1 , wherein the at least one transceiver assembly is configured to contact the dermis of the patient.7. The system of claim 1 , wherein the at least one transceiver assembly is configured to contact the liner of the external frame.8. A method comprising:locating one or more transceiver assemblies configured to support one or more ...

ARM PROSTHETIC DEVICE

A prosthetic arm apparatus including a plurality of segments that provide a user of the prosthetic arm apparatus with substantially the same movement capability and function as a human arm. The segments are connectable to one another and connectable to a prosthetic support apparatus that may be adorned by the user. Some segments may provide movement about more than one axis using a single actuator. The prosthetic arm apparatus may include a user interface incorporated therein and may include one or more communication systems for communicating with external devices. 1. A compound motion assembly comprising:an input member; andan output member moveably coupled to the input member;wherein actuation of the compound motion assembly generates movement of the output member relative to the input member along a compound motion path having motion about at least two axes.2. The compound motion assembly according to claim 1 , additionally comprising a drive arrangement for controlling movement of the output member relative to the input member.3. The compound motion assembly according to claim 2 , wherein the rate of motion about each axis varies as the drive arrangement is actuated at a constant rate.4. A compound motion assembly providing a two-axis compound motion through a pre-determined path claim 2 , the compound motion assembly comprising:an input member;an output member moveably coupled to the input member through at least a first joint having a first axis and a second joint having a second axis, the first and second joints being connected in series;a path member having a fixed path profile formed therein, the path member fixedly coupled to the input member; anda follower member coupled to the output member and engaging the fixed path profile of the path member;wherein actuation of the compound motion assembly generates pivotal movement of the output member relative to the input member about both the first axis and the second axis along the pre-determined path.5. The ...

Semi-active robotic joint

A robotic joint comprises a first link, a middle link, a torque generator, a second link, and a locking mechanism. Different ends of the middle link are rotatably coupled to the first link and the second link. The torque generator is coupled to the first link and the middle link and is configured to produce a torque between these links. The locking mechanism is switchable between a locking state and an unlocking state. In the unlocking state, the locking mechanism allows free rotation of the second link relative to the middle link in the first and second rotation directions. In the locking state, the locking mechanism is configured to impede rotation of the second link relative to the middle link in the first rotation direction and to allow rotation of the second link relative to the middle link in the second rotation direction opposite of the first rotation direction.

Lower limb prosthesis

A lower limb prosthesis comprises an attachment section ( 10 ), a shin section ( 12 ), a foot section ( 14 ), a knee joint ( 16 ) pivotally connecting the attachment section ( 10 ) and the shin section ( 12 ), and an ankle joint ( 22 ) pivotally connecting the shin section ( 12 ) and the foot section ( 14 ). The knee joint includes a dynamically adjustable knee flexion control device ( 18 ) for damping knee flexion. The prosthesis further comprises a plurality of sensors ( 52, 53, 54, 85, 87 ) each arranged to generate sensor signals indicative of at least one respective kinetic or kinematic parameter of locomotion or of walking environment, and an electronic control system ( 100 ) coupled to the sensors ( 52, 53, 54, 85, 87 ) and to the knee flexion control device ( 18 ) in order dynamically and automatically to modify the flexion control setting of the knee joint ( 16 ) in response to signals from the sensors. When the inclination sensor signals indicate descent of a downward incline, the damping resistance of the knee flexion control device ( 18 ) is set to a first level during a major part of the stance phase of the gait cycle and to a second, lower level during a major part of the swing phase of the gait cycle. During an interval including a latter part of the stance phase, the knee flexion control device ( 18 ) is adjusted so that the damping resistance to knee flexion is between the first and second levels.

Robotic exoskeleton glove system

An assistive exoskeleton glove system for a hand of an individual is described. In one example, the system includes a brace mount and a finger brace including a seat platform mechanically coupled to the brace mount. The finger brace can include a plurality of brace links, a plurality of constraint links, and an actuation lever. The system can also include an actuator mechanically coupled to the actuation lever and configured to articulate the finger brace over a predetermined range of motion. The range of motion can be tailored for different purposes. The system can also include finger abduction and adduction mechanisms, a thumb brace, a thumb flexion actuator, and a control system. The control system can be configured to detect a relative difference in feedback signals provided from target and offset encoders on the finger brace, as an input to control the actuator, and real-time grasping forces among other inputs.

Prosthetic ankle and method of controlling same based on adaptation to speed

Prosthetic devices and methods of controlling the same are provided. A prosthetic ankle device includes a foot unit and lower limb member moveable relative to one another and defining an ankle angle therebetween. The prosthetic ankle device further includes a controller to operate the device using different ankle angles depending on, for example, a user's gait speed. Methods of controlling the prosthetic ankle device include operating the device at different ankle angles depending on gait speed. For example, the prosthetic ankle device can provide for relatively more dorsiflexion at relatively slower gait speeds and relatively more plantarflexion at relatively faster gait speeds.

System, method and apparatus for control of a prosthetic device

A system for control of a prosthetic device includes at least one Inertial Measurement Unit (7096) detecting orientation of a user's foot. The at least one Inertial Measurement Unit is in communication with a device module (7017) configured to command at least one actuator (7013) of a prosthetic device. The at least one Inertial Measurement unit sends output signals related to orientation of the user's foot to the device module and the device module controls the at least one actuator of the prosthetic device based on the signals from the at least one Inertial Measurement Unit.

Orthopedic knee joint and method for controlling an orthopedic knee joint

Die Erfindung betrifft ein orthopädisches Kniegelenk mit einem Oberteil (2), an dem obere Anschlussmittel (20) angeordnet sind, einem verschwenkbar an dem Oberteil (2) gelagerten Unterteil (3), mit Anschlussmitteln für orthopädische Komponenten (4), und einem Anschlag (7) zur Begrenzung einer Extensionsbewegung, wobei der Anschlag (7) verlagerbar ausgebildet und mit einer Verstelleinrichtung (64) gekoppelt ist, die mit einer Steuereinrichtung (6) gekoppelt ist, die in Abhängigkeit von Sensordaten die Verstelleinrichtung (64) aktuiert und die Position des Anschlages (7) verändert. The invention relates to an orthopedic knee joint with an upper part (2) on which upper connecting means (20) are arranged, a lower part (3) mounted pivotably on the upper part (2), with connection means for orthopedic components (4), and a stop ( 7) for limiting an extension movement, wherein the stop (7) is designed to be displaceable and coupled to an adjusting device (64) which is coupled to a control device (6) which actuates the adjusting device (64) as a function of sensor data and determines the position of the Stop (7) changed.

Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung

Die Erfindung betrifft eine Steuerung eines passiven Prothesenkniegelenkes mit verstellbarer Dämpfung in Flexionsrichtung und in Extensionsrichtung zur Anpassung einer Protheseneinrichtung mit einem Unterschenkelschaft und einem Kunstfuß, die an dem Prothesenkniegelenk befestigt sind, an das Treppaufgehen mit folgenden Schritten: - Detektieren eines momentenarmen Anhebens des Prothesenfußes; - Absenken der Flexionsdämpfung in einer Anhebephase auf unterhalb eines Niveaus, das für ein Gehen in der Ebene geeignet ist, - zeitversetztes Erhöhen der Flexionsdämpfung in einer Aufsetz- und Hüftstreckphase auf ein Niveau oberhalb einer Dämpfung einer Schwungphasensteuerung für das Gehen in der Ebene.

Method for controlling an orthopedic joint

Die Erfindung betrifft ein Verfahren zur Steuerung eines orthopädischen Gelenkes einer unteren Extremität in zumindest einem Freiheitsgrad mit einem verstellbaren Aktuator zur Anpassung einer orthopädischen Einrichtung, die oberseitige Anschlussmittel an eine Gliedmaße und ein distal zu den Anschlussmitteln gelenkig angeordnetes orthopädisches Element aufweist, an Gehsituationen, die von einem Gehen in der Ebene abweichen, mit folgenden Schritten: - Erfassen mehrerer Parameter der orthopädischen Einrichtung über Sensoren, - Vergleichen der erfassten Parameter mit Kriterien, die anhand mehrerer Parameter und/oder Parameterverläufe erstellt worden und in einer Rechnereinheit abgelegt sind, - Auswählen eines Kriteriums, das anhand der ermittelten Parameter und/oder Parameterverläufe geeignet ist, und - Anpassen von Bewegungswiderständen, Bewegungsumfängen, Antriebskräften und/oder deren Verläufe in Abhängigkeit von dem gewählten Kriterium, um Sonderfunktionen zu steuern, die vom Gehen in der Ebene abweichen. The invention relates to a method for controlling an orthopedic joint of a lower extremity in at least one degree of freedom with an adjustable actuator for adapting an orthopedic device having upper side connecting means to a limb and an orthopedic element articulated distally to the connecting means, to walking situations derived from a step in the plane deviate, with the following steps: - Detecting several parameters of the orthopedic device via sensors, - Comparing the detected parameters with criteria that have been created based on several parameters and / or parameter curves and stored in a computer unit, - Selecting a criterion , which is suitable based on the determined parameters and / or parameter curves, and - adjusting movement resistances, movement circumferences, driving forces and / or their courses as a function of the selected criterion in order to control special functions, d ie deviate from walking in the plane.

Telemetrically controlled band for regulating functioning of a body organ or duct, and methods of making, implantation and use

Apparatus and methods are provided comprising an implantable non-hydraulic ring that encircles and provides a controllable degree of constriction to an organ or duct and an external control that powers and controls operation of the ring. The ring includes a rigid dorsal periphery that maintains a constant exterior diameter, and a compliant constriction system that reduces intolerance phenomena. A high precision, energy efficient mechanical actuator is employed that is telemetrically powered and controlled, and maintains the ring at a selected diameter when the device is unpowered, even for extended periods. The actuator provides a reversible degree of constriction of the organ or duct, which is readily ascertainable without the need for radiographic imaging. Methods of use and implantation also are provided.

Telemetrically controlled band for regulating functioning of a body organ or duct, and methods of making, implantation and use

Systems and methods for actuating a prosthetic ankle based on a relaxed position

Systems and methods for sensing actuating a prosthetic ankle are disclosed. In one example, the system, such as an actuated prosthetic ankle joint, detects that the user has moved to a relaxed position, such as sitting, reclining, crawling, or leaning. In response, the actuated prosthetic ankle joint actively adjusts the angle between the members of the ankle to a relaxed state. The system may further detect when the user has moved to exit the relaxed position, and may actively adjust the angle between the members of the ankle to an exit state.

Reactive layer control system for prosthetic and orthotic devices

A variable gain impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint The controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input for receiving a signal indicative of the torque at the joint and a variable gain scheduler in communication with the sensor input so as to receive data therefrom thereby providing a variable torque gain. The variable gain impedance controller adjusts its control on the apparatus based on the variable torque gain and the indicated torque so as to a) increase the joint resistance to motion when the signal received from the sensor input indicates an interaction between the apparatus and the ground and b) decrease the joint resistance to motion when the signal received from the sensor input indicates an absence of interaction between the apparatus and the ground.

Method for controlling standing-phase damping of artificial knee joint

FIELD: medicine. SUBSTANCE: invention refers to medicine, namely to a method for controlling an artificial knee joint depreciation phase. Artificial knee joint comprises an upper part, a lower part, a resistance unit and a control unit. Upper part and lower part are fixed on each other with possibility of rotation around axis of rotation. Resistance unit is located between the upper part and the lower part and has an adjusting device by means of which the damping resistance can be changed. Control unit is matched with control device and is connected to at least one sensor, wherein adjustment is carried out based on sensor data. During bending of stop phase up to final stop phase knee angle is recorded by at least one sensor and bending damping is raised to a level higher than initial bumpless damping until further bending is prevented when the specified maximum bend angle is achieved. EFFECT: invention provides the possibility of adaptation to various situations during walking and a comfortable walking pattern with simultaneous maximum safety. 10 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 715 683 C2 (51) МПК A61F 2/64 (2006.01) A61F 2/68 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК A61F 2/64 (2020.01); A61F 2002/5004 (2020.01); A61F 2002/5006 (2020.01); A61F 2002/5033 (2020.01); A61F 2002/6818 (2020.01); A61F 2002/704 (2020.01); A61F 2002/7625 (2020.01) (21)(22) Заявка: 2017140337, 15.04.2016 15.04.2016 (73) Патентообладатель(и): ОТТО БОК ХЕЛТКЭР ПРОДАКТС ГМБХ (AT) Дата регистрации: 02.03.2020 24.04.2015 DE 102015106392.1 (43) Дата публикации заявки: 24.05.2019 Бюл. № 15 (45) Опубликовано: 02.03.2020 Бюл. № 7 (56) Список документов, цитированных в отчете о поиске: WO 2014005679 A2, 09.01.2014. RU 2254832 C1, 27.06.2005. US 7799091 B2, 21.09.2010. US 20090054996 A1, 26.02.2009. DE 102008008284 A1, 13.08.2009. DE 102009052887 A1, 19.05.2011. (86) Заявка PCT: EP 2016/058394 (15.04.2016) C 2 C 2 (85) ...

Patent RU2017140337A3

ВУ” 2017140337” АЗ Дата публикации: 05.09.2019 Форма № 18 ИЗ,ПМ-2011 Федеральная служба по интеллектуальной собственности Федеральное государственное бюджетное учреждение ж 5 «Федеральный институт промышленной собственности» (ФИПС) ОТЧЕТ О ПОИСКЕ 1. . ИДЕНТИФИКАЦИЯ ЗАЯВКИ Регистрационный номер Дата подачи 2017140337/14(070049) 15.04.2016 РСТ/ЕР2016/058394 15.04.2016 Приоритет установлен по дате: [ ] подачи заявки [ ] поступления дополнительных материалов от к ранее поданной заявке № [ ] приоритета по первоначальной заявке № из которой данная заявка выделена [ ] подачи первоначальной заявки № из которой данная заявка выделена [ ] подачи ранее поданной заявки № [Х] подачи первой(ых) заявки(ок) в государстве-участнике Парижской конвенции (31) Номер первой(ых) заявки(ок) (32) Дата подачи первой(ых) заявки(ок) (33) Код страны 1. 192015106392.1 24.04.2015 РЕ Название изобретения (полезной модели): [Х] - как заявлено; [ ] - уточненное (см. Примечания) СПОСОБ УПРАВЛЕНИЯ АМОРТИЗАЦИЕЙ ФАЗЫ ОСТАНОВКИ ИСКУССТВЕННОГО КОЛЕННОГО СУСТАВА Заявитель: ОТТО БОК ХЕЛТКЭР ПРОДАКТС ГМБХ, АТ 2. ЕДИНСТВО ИЗОБРЕТЕНИЯ [Х] соблюдено [ ] не соблюдено. Пояснения: см. Примечания 3. ФОРМУЛА ИЗОБРЕТЕНИЯ: [Х] приняты во внимание все пункты (см. Примечания) [ ] приняты во внимание следующие пункты: [ ] принята во внимание измененная формула изобретения (см. Примечания) 4. КЛАССИФИКАЦИЯ ОБЪЕКТА ИЗОБРЕТЕНИЯ (ПОЛЕЗНОЙ МОДЕЛИ) (Указываются индексы МПК и индикатор текущей версии) Аб1Е 2/64 (2006.01) АбЛЕ 2/68 (2006.01) 5. ОБЛАСТЬ ПОИСКА 5.1 Проверенный минимум документации РСТ (указывается индексами МПК) Аб1Е 2/64, АбТЕ 2/68 5.2 Другая проверенная документация в той мере, в какой она включена в поисковые подборки: 5.3 Электронные базы данных, использованные при поиске (название базы, и если, возможно, поисковые термины): СТРО, СМГРА, РЕРАТ пе, ОУ\УРТ, Е-Глбгагу, ЕАРАТТУ, Езрасепе, Соозе, /]-Р]а(Рав, КРВ5, РАТЕМТЗСОРЕ, Ра ЗеагсВ, РиБМеа, КОРТО, $СОРО$, ОРТО 6. ДОКУМЕНТЫ, ОТНОСЯЩИЕСЯ К ПРЕДМЕТУ ПОИСКА Кате- ...

Method for control of passive prosthesis of knee joint with controlled shock absorption

FIELD: medicine. SUBSTANCE: invention relates to the sphere of medicine, in particular - to control of passive prosthesis of knee joint. Method for control of passive prosthesis of knee joint with controlled shock absorption in direction of bend for adaptation of prosthesis with connecting facilities at upper side and element of connection to artificial foot fixed on prosthesis, to walking up the staircase, including the following stages: detection of low-moment lift of foot prosthesis and reduced shock absorption of bending at phase of lift below the level suitable for walking in plane. EFFECT: development of control over passive prosthesis of knee joint, making it possible for the patient to alternately walk up the stairs. 17 cl, 6 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) 2 404 730 (13) C2 (51) МПК A61F 2/64 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ, ПАТЕНТАМ И ТОВАРНЫМ ЗНАКАМ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21), (22) Заявка: 2008143732/14, 08.05.2007 (24) Дата начала отсчета срока действия патента: 08.05.2007 (73) Патентообладатель(и): ОТТО БОК ХЕЛСКЕА АЙПИ ГМБХ ЭНД КО. КГ (DE) (43) Дата публикации заявки: 20.06.2010 2 4 0 4 7 3 0 (45) Опубликовано: 27.11.2010 Бюл. № 33 (56) Список документов, цитированных в отчете о поиске: US 2005015156 A1, 20.01.2005. WO 2005087144 A2, 22.09.2006. RU 2271779 C2, 20.03.2006. RU 2266722 C2, 27.12.2005. 2 4 0 4 7 3 0 R U (86) Заявка PCT: DE 2007/000841 (08.05.2007) C 2 C 2 (85) Дата перевода заявки PCT на национальную фазу: 09.12.2008 (87) Публикация PCT: WO 2007/128299 (15.11.2007) Адрес для переписки: 119034, Москва, Пречистенский пер., 14, стр.1, 4-й этаж, Московское представительство фирмы "Гоулингз Интернэшнл, Инк.", пат.пов. В.А.Клюкину, рег.№ 005 (54) СПОСОБ УПРАВЛЕНИЯ ПАССИВНЫМ ПРОТЕЗОМ КОЛЕННОГО СУСТАВА С РЕГУЛИРУЕМОЙ АМОРТИЗАЦИЕЙ (57) Реферат: Изобретение относится к области медицины, в частности к управлению пассивным протезом коленного сустава. Способ управления пассивным протезом коленного ...

用于控制矫形外科关节的方法

本发明涉及一种用于通过可调节的执行器在至少一个自由度上控制下肢的矫形外科关节以便使矫形外科装置与行走状况相匹配的方法，该矫形外科装置具有连接在一个肢体上的上侧的连接装置和相对于所述连接装置在远中铰接地设置的矫形外科元件，所述行走状况不同于平面行走，该方法具有下述步骤：通过传感器检测该矫形外科装置的多个参数，将所检测的参数与已经借助于多个参数和/或参数变化曲线建立并且存储在计算机单元中的判据相比较，选择一个借助于所获得的参数和/或参数变化曲线而合适的判据，以及根据所选择的判据匹配运动阻力、运动幅度、驱动力和/或其变化曲线，以便控制与平面行走不同的特殊功能。

Orthopedic knee joint and method of controlling orthopedic knee joint

FIELD: medicine. SUBSTANCE: group of inventions relates to medicine. Orthopedic knee joint contains upper part, on which placed are upper connecting means, lower part, installed with possibility of rotation on upper part, connective means for orthopedic components and stopper for limiting extension movement. Stopper is made with possibility of travel and is connected with permutation device, connected with control device for putting in action permutation device depending on sensors data and changing of stopper position in such a way, that for walking stopper of limiting extension movement travels forward, and in standing stopper of limiting extension movement moves backward. Method of controlling orthopedic knee joint, with contains stopper of extension and permutation device, by which position of extension stopper can be changed. Position of extension stopper is changed in depending on sensors data in such a way that for walking stopper of limiting extension movement moves forward, and at standing stopper of limiting extension movement moves backward. EFFECT: inventions provide possibility of comfortable walking and relaxed standing. 16 cl, 8 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) 2 488 367 (13) C2 (51) МПК A61F 2/64 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21)(22) Заявка: 2010137111/14, 05.02.2009 (24) Дата начала отсчета срока действия патента: 05.02.2009 (72) Автор(ы): ПУШ Мартин (DE), КАМПАС Филипп (AT) (73) Патентообладатель(и): ОТТО БОК ХЕЛТКЭР ГМБХ (DE) R U Приоритет(ы): (30) Конвенционный приоритет: 07.02.2008 DE 102008008284.8 (43) Дата публикации заявки: 20.03.2012 Бюл. № 8 2 4 8 8 3 6 7 (45) Опубликовано: 27.07.2013 Бюл. № 21 (56) Список документов, цитированных в отчете о поиске: EP 0549855 A2, 07.07.1993. US 5252102 A, 12.10.1993. WO 2005037151 A1, 28.04.2005. RU 2054906 C1, 27.02.1996. RU 2096026 C1, 20.11.1997. RU 2076670 C1, 10.04.1997. 2 4 8 8 3 6 7 R U (86) Заявка PCT: DE 2009/000162 (05.02 ...

Method and device for joint orthesis or prosthesis control

FIELD: medicine. SUBSTANCE: group of inventions refers to medicine. A device for implementing the method for controlling an artificial orthesis or prosthesis of a lower extremity comprises a regulated resistance-generating unit arranged between two pivoted components of the artificial orthesis or prosthesis of a knee joint, a control unit and sensors for obtaining the status information of the device. The device provides an adjustment device, and the above adjustment device enables actuating and/or de-actuating the resistance variations depending on the load. According to the method, the sensors present the status information. The flexion resistance at the phase of standing or during standing is increased from a reference value depending on a ground reaction force to the extent of the joint blocking. After increasing, the resistance is decreased depending on an inertia angle. EFFECT: group of inventions provides the response to a support reaction force of flexion and/or extension adjustment more accurately with a greater number of options to provide better walking, as well as enables avoiding the blocking, even if the support reaction force is at the same level by using the inertia angle. 11 cl, 6 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 533 967 C2 (51) МПК A61F 2/64 (2006.01) A61F 2/68 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ 2012124092/14, 12.11.2010 (24) Дата начала отсчета срока действия патента: 12.11.2010 Приоритет(ы): (30) Конвенционный приоритет: (43) Дата публикации заявки: 20.12.2013 Бюл. № 35 (73) Патентообладатель(и): ОТТО БОК ХЕЛТКЭР ПРОДАКТС ГМБХ (AT) R U 13.11.2009 DE 102009052888.1 (72) Автор(ы): ЗЕИР Мартин (AT), КАМПАС Филипп (AT), ПАВЛИК Роланд (AT), КАЛЬТЕНБОРН Свен (DE) (45) Опубликовано: 27.11.2014 Бюл. № 33 20070027555 A1, 01.02.2007. US 20090030530 A1, 29.01.2009. RU 2254832 C1, 27.06.2005 . RU 2076670 C1, 10.04.1997 (85) Дата начала рассмотрения заявки PCT на ...

Patent RU2017140775A3

7 ВУ’? 2017140775” АЗ Дата публикации: 24.09.2019 Форма № 18 ИЗ,ПМ-2011 Федеральная служба по интеллектуальной собственности Федеральное государственное бюджетное учреждение ж 5 «Федеральный институт промышленной собственности» (ФИПС) ОТЧЕТ О ПОИСКЕ 1. . ИДЕНТИФИКАЦИЯ ЗАЯВКИ Регистрационный номер Дата подачи 2017140775/14(070767) 15.04.2016 РСТ/ЕР2016/058343 15.04.2016 Приоритет установлен по дате: [ ] подачи заявки [ ] поступления дополнительных материалов от к ранее поданной заявке № [ ] приоритета по первоначальной заявке № из которой данная заявка выделена [ ] подачи первоначальной заявки № из которой данная заявка выделена [ ] подачи ранее поданной заявки № [Х] подачи первой(ых) заявки(ок) в государстве-участнике Парижской конвенции (31) Номер первой(ых) заявки(ок) (32) Дата подачи первой(ых) заявки(ок) (33) Код страны 1. 10 2015 106 390.5 24.04.2015 РЕ Название изобретения (полезной модели): [Х] - как заявлено; [ ] - уточненное (см. Примечания) СПОСОБ УПРАВЛЕНИЯ ИЗМЕНЕНИЕМ АМОРТИЗАЦИИ Заявитель: ОТТО БОК ХЕЛТКЭР ПРОДАКТС ГМБХ, АТ 2. ЕДИНСТВО ИЗОБРЕТЕНИЯ [Х] соблюдено [ ] не соблюдено. Пояснения: см. Примечания 3. ФОРМУЛА ИЗОБРЕТЕНИЯ: [Х] приняты во внимание все пункты (см. Примечания) [ ] приняты во внимание следующие пункты: [ ] принята во внимание измененная формула изобретения (см. Примечания) 4. КЛАССИФИКАЦИЯ ОБЪЕКТА ИЗОБРЕТЕНИЯ (ПОЛЕЗНОЙ МОДЕЛИ) (Указываются индексы МПК и индикатор текущей версии) Аб1Е 2/64 (2006.01) 5. ОБЛАСТЬ ПОИСКА 5.1 Проверенный минимум документации РСТ (указывается индексами МПК) АбЛЕ 2/64 5.2 Другая проверенная документация в той мере, в какой она включена в поисковые подборки: 5.3 Электронные базы данных, использованные при поиске (название базы, и если, возможно, поисковые термины): СТРО, СМГРА, РЕРАТБЗ пес, РУУРТ, Е-ГлЬгагу, ЕАРАТБУ, Езрасепе, Соозе, }]-Р]а(Рав, КРК 5, РАТЕМТЗСОРЕ, Ра еагсй, РибБМеа, КОРТО, ЗСОРОУ, ОЗРТО 6. ДОКУМЕНТЫ, ОТНОСЯЩИЕСЯ К ПРЕДМЕТУ ПОИСКА Кате- Наименование документа с указанием (где необходимо) частей ...

Prosthetic joint device

Apparatus for controlling prostheses of the lower extermities

Устройство дл  управлени  протезами нижних конечностей относитс  к протезированию и протезостроению. Устройство со- держит протез 1 с тазобедренным шарниром 2, первый тактильный датчик 3, датчик 4 угла перемещени , блок 5 сравнени , блок 6. пам ти , формирователь 7 сигнала, привод 8, второй датчик 9 угла перемещени , блок 10 дифференцировани , дешифратор II, цифро- аналоговый преобразователь 12, аналого- цифровой преобразователь 13, компаратор 14, второй тактильный датчик 15, модул тор 16, усилитель 17 мощности, переключатель 18 режима. Сущностью устройства  вл етс  моделирование в блоке 6 пам ти характеристики функциональной взаимосв зи суставов опорно-двигательного аппарата. С помощью датчика 9 угла сохранившегос  сустава, сигнала о знаке угловой скорости, получаемого с блока 10 дифференцировани , сигнала о знаке моделируемой характеристики , получаемого с помощью компаратора 14, сигнала с дешифратора 11 дл  распознавани  участков характеристики функциорнальной взаимосв зи в блоке 5 сравнени  выдел етс  сигнал рассогласовани  по отношению к угловым перемещени м в тазобедренном шарнире 2. В результате осуществл етс  коррекци  движени  тазобедренного шарнира. 2 ил., 1 табл. $ (Л A device for controlling lower limb prostheses relates to prosthetics and prosthetic engineering. The device contains a prosthesis 1 with a hip joint 2, a first tactile sensor 3, a movement angle sensor 4, a comparison unit 5, a memory block 6., a signal conditioner 7, an actuator 8, a second movement angle sensor 9, a differentiation unit 10, a decoder II , digital-to-analog converter 12, analog-to-digital converter 13, comparator 14, second tactile sensor 15, modulator 16, power amplifier 17, mode switch 18. The essence of the device is the simulation in memory block 6 of the characteristics of the functional relationship of the joints of the musculoskeletal system. Using the preserved joint angle sensor 9, the angular velocity sign signal received from the differentiation unit 10, the ...

Bandage with remote control for regulation of internal organ or canal work and methods of its manufacturing, implantation and application

FIELD: medicine. SUBSTANCE: group of inventions relates to medicine and can be used in treatment of obesity. Device for regulation contains elongated element, which has first end and second ends. Elongated element has contracting ventral surface and rigid dorsal periphery. Clamp is located on the first end of elongated element and is made with possibility of its gearing with the second end of elongated element, as a result elongated element forms a loop around organ or canal. Flexible element is installed with possibility of sliding inside elongated element. Flexible element has spiral screw thread. Remotely-controlled drive mechanism is located on the second end of elongated element Drive mechanism gears with spiral screw thread. Flexible element is installed with possibility of tightening loop on patient's organ or canal under the impact of drive mechanism. Elongated element contains elastic membrane preventing tissue ingrowth In order to prevent inflating of elastic membrane elongated element is preliminarily treated in CO 2 medium Described is device for stomach bandaging. EFFECT: increased accuracy of regulation of influencing an organ compression 76 cl, 21 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) 2 396 925 (13) C2 (51) МПК A61F 5/00 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ, ПАТЕНТАМ И ТОВАРНЫМ ЗНАКАМ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (24) Дата начала отсчета срока действия патента: 12.10.2005 (30) Конвенционный приоритет: 12.10.2004 US 10/962,939 (43) Дата публикации заявки: 20.11.2008 (56) Список документов, цитированных в отчете о поиске: ЕР 1396242 А, 10.03.2004, ЕР 1396243 А, 10.03.2004. FR 2797181 А, 09.02.2001. US 6470892 В1, 29.10.2002. RU 2255712 С1, 10.07.2005. 2 3 9 6 9 2 5 R U (86) Заявка PCT: IB 2005/003024 (12.10.2005) C 2 C 2 (85) Дата перевода заявки PCT на национальную фазу: 14.05.2007 (87) Публикация PCT: WO 2006/040647 (20.04.2006) Адрес для переписки: 191002, Санкт-Петербург, а/я 5, ООО "Ляпунов и партнеры", пат.пов. ...

具有可调阻尼的被动假膝关节的控制

本发明涉及一种在弯曲方向和伸展方向上具有可调阻尼的被动假膝关节的控制，该被动假膝关节用于使假肢装置与上楼梯相适配，该假肢装置具有一个大腿杆和一个人造脚，该大腿杆和该人造脚固定在假膝关节上，所述控制具有以下步骤：探测假脚的低力矩的抬高；将弯曲阻尼在抬高时相中降低到适合于在平面中行走的水准以下，将伸展阻尼在着地和髋伸开时相中时间错开地提高到用于在平面中行走的摆动时相控制的阻尼以上的水准。

How to control an orthopedic joint

Method for controlling an artificial orthotic or prosthetic knee joint

Изобретение относится к медицинской технике, в частности к способу управления искусственным ортезом или протезом коленного сустава, на котором располагают компонент голени и взаимодействующее с ним создающее сопротивление приспособление, содержащее по меньшей мере один исполнительный механизм, с помощью которого изменяется сопротивление сгибанию в зависимости от данных датчиков, которые определяются посредством датчика во время использования ортеза или протеза коленного сустава, при этом исключительно с помощью по меньшей мере одного инерциального датчика определяют абсолютный угол компонента голени, определенный угол сравнивают по меньшей мере с одним предельным значением и при достижении предельного значения изменяют сопротивление сгибанию. Изобретение позволяет создать гармоничную картину ходьбы. 8 з.п. ф-лы, 3 ил. РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (51) МПК A61F 2/64 (13) 2 592 248 C2 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ (21)(22) Заявка: ИЗОБРЕТЕНИЯ К ПАТЕНТУ 2014138074/14, 22.02.2013 (24) Дата начала отсчета срока действия патента: 22.02.2013 (72) Автор(ы): АЛЬБРЕХТ-ЛААЧ Эрик (DE) (73) Патентообладатель(и): ОТТО БОК ХЕЛТКЭР ГМБХ (DE) Приоритет(ы): (30) Конвенционный приоритет: (43) Дата публикации заявки: 10.04.2016 Бюл. № 10 R U 22.02.2012 DE 10 2012 003 369.9 (45) Опубликовано: 20.07.2016 Бюл. № 20 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 22.09.2014 (86) Заявка PCT: 2 5 9 2 2 4 8 (56) Список документов, цитированных в отчете о поиске: DE102009052895A1, 19.05.2011. DE102008027639A1, 24.12.2009. WO0143669A1, 21.06.2001. RU2089138C1, 10.09.1997. 2 5 9 2 2 4 8 R U (87) Публикация заявки PCT: WO 2013/124071 (29.08.2013) Адрес для переписки: 129090, Москва, ул. Б. Спасская, 25, строение 3, ООО "Юридическая фирма Городисский и Партнеры" (54) СПОСОБ УПРАВЛЕНИЯ ИСКУССТВЕННЫМ ОРТЕЗОМ ИЛИ ПРОТЕЗОМ КОЛЕННОГО СУСТАВА (57) Реферат: Изобретение относится к медицинской время использования ортеза или протеза технике ...

Method of controlling change in amortization

FIELD: medicine. SUBSTANCE: invention refers to medicine, namely to a method of controlling an amortization change in an artificial knee joint of an orthosis, an exoskeleton or a prosthesis. Artificial knee joint has an upper part and a lower part, which are fixed on each other with the possibility of rotation around the axis of rotation. Between the upper part and the lower part a resistance unit is fixed to provide resistance against flexion or extension of the artificial knee joint. With the resistance unit, a control device is matched, by means of which the resistance is changed, if the signal of the sensor of the control unit coordinated with the control device activates the adjustment device. For bending phase, bending resistance decreases. During walking or standing, change of at least one load parameter is registered, which influences orthosis or prosthesis. Maximum value of change of load parameter during stop or standing phase is set. After reaching the maximum when the threshold value of the load parameter is lower than the maximum, the bending damping is reduced during the stop phase to the level of damping of the fly phase. EFFECT: invention provides, at increased protection against unintentional flexion, the possibility of flexible adaptation of launching of the fly phase at various situations during walking or various walking speeds, as well as under load of bending. 10 cl, 2 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2 705 923 C2 (51) МПК A61F 2/64 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (52) СПК A61F 2/64 (2019.08); A61F 2002/5004 (2019.08); A61F 2002/5006 (2019.08); A61F 2002/5033 (2019.08); A61F 2002/7625 (2019.08); A61F 2002/7635 (2019.08); A61F 2002/764 (2019.08) (21)(22) Заявка: 2017140775, 15.04.2016 15.04.2016 Дата регистрации: Приоритет(ы): (30) Конвенционный приоритет: 24.04.2015 DE 10 2015 106 390.5 (43) Дата публикации заявки: 24.05.2019 Бюл. № 15 (45) Опубликовано: 12.11.2019 Бюл ...

multi-joint link knee joint

Prosthetic appliance with rotary damper

具有转动阻尼器(1)的假肢器具(100)，该转动阻尼器具有壳体(12)、可转动容纳在壳体上的阻尼轴(3)、在壳体(12)内的压排机构(2)和至少一个磁场源(8)，压排机构(2)具有装有作为工作流体的磁流变流体(6)的阻尼体积(60)并借此可被操作以影响阻尼轴(3)相对于壳体(12)的转动运动的阻尼。压排机构(2)包括至少两个分隔单元(4,5)，借此将阻尼体积(60)分为至少两个可变的腔室(61,62)。其中一个分隔单元(4,5)包括连接至壳体(12)的分隔壁(4)，其中一个分隔单元(5)包括连接至阻尼轴(3)的分隔壁(5)。在连接至壳体(12)的分隔单元(4)和阻尼轴(3)之间在径向上形成间隙部(26)，在连接至阻尼轴(3)的分隔单元(5)和壳体(12)之间在径向上形成间隙部(27)，且在连接至阻尼轴(3)的分隔单元(5)和壳体(12)之间在轴向上形成间隙部(25)。在此，磁场源(8)的磁场(10)的至少相当一部分穿过至少其中两个所述间隙部(25‑27)。

Orthopedic part of foot and method of artificial foot control

FIELD: medicine.SUBSTANCE: group of inventions relates to orthopedics. Orthopedic part of foot contains connecting part for shin, acting as talocrural joint (7) rotary pivot (5), by means of which part (10) of foot is connected with connecting part with possibility of rotation in directions of dorsal and plantar flexions, influencing rotary motion around rotary pivot (5) shock-absorbing device (17), sensor device for determination of working conditions of orthopedic part of foot and connected with sensor device unit of shock-absorbing device control (17). Sensor device contains sensor of ankle angle, made with possibility of changing angle between connecting part and part (10) of foot, related to vertical sensor (20) of absolute angle and sensor (21) of moment for registration of torque in talocrural joint (7) or effort producing torque on talocrural joint (7). Method of control of said part of foot lies in the following: value, proportional to appearing on talocrural joint (7) torque, is determined, angle of ankle between connecting part and part of foot and absolute angle of part (10) foot with respect to vertical. Depending on said measured values control by means of shock-absorbing device (17) is performed over foot roll at the phase of support during walking, position of part (10) of foot at the phase of swing during walking and position and mobility of part (10) of foot during standing.EFFECT: inventions provide possibility of controlling orthopedic foot in such a way that it meets larger number of requirements to its properties than before, by means of exclusively passive control over shock-absorption of motion around talocrural joint.33 cl, 5 dwg РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) 2 473 323 (13) C2 (51) МПК A61F A61F 2/66 2/68 (2006.01) (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ОПИСАНИЕ ИЗОБРЕТЕНИЯ К ПАТЕНТУ (21)(22) Заявка: 2009102957/14, 29.01.2009 (24) Дата начала отсчета срока действия патента: 29.01.2009 (73) Патентообладатель(и ...

METHOD OF MANAGING THE AMORTIZATION OF THE STAGE PHASE OF AN ARTIFICIAL KNEE JOINT

РОССИЙСКАЯ ФЕДЕРАЦИЯ (19) RU (11) (13) 2017 140 337 A (51) МПК A61F 2/64 (2006.01) ФЕДЕРАЛЬНАЯ СЛУЖБА ПО ИНТЕЛЛЕКТУАЛЬНОЙ СОБСТВЕННОСТИ (12) ЗАЯВКА НА ИЗОБРЕТЕНИЕ (21)(22) Заявка: 2017140337, 15.04.2016 (71) Заявитель(и): ОТТО БОК ХЕЛТКЭР ПРОДАКТС ГМБХ (AT) Приоритет(ы): (30) Конвенционный приоритет: 24.04.2015 DE 102015106392.1 (85) Дата начала рассмотрения заявки PCT на национальной фазе: 24.11.2017 R U (43) Дата публикации заявки: 24.05.2019 Бюл. № 15 (72) Автор(ы): ЗАЙФЕРТ Дирк (AT), ЦАРЛИНГ Свен (DE) (86) Заявка PCT: (87) Публикация заявки PCT: WO 2016/169853 (27.10.2016) A Адрес для переписки: 129090, Москва, ул. Б. Спасская, 25, стр. 3, ООО "Юридическая фирма Городисский и Партнеры" R U (57) Формула изобретения 1. Способ управления амортизацией фазы остановки искусственного коленного сустава с верхней частью (1) и нижней частью (2), которые закреплены друг на друге с возможностью поворота вокруг оси (4) поворота, блоком (6) сопротивления, который расположен между верхней частью (1) и нижней частью (2) и имеет регулировочное устройство (7), при помощи которого может изменяться сопротивление (FD) амортизации, и с блоком (8) управления, который согласован с регулировочным устройством (7), и который соединен по меньшей мере с одним датчиком (9), причем регулировка осуществляется на основе данных датчика, отличающийся тем, что во время сгибания фазы остановки вплоть до конечной фазы остановки угол (α) колена регистрируют по меньшей мере одним датчиком (9), и амортизацию (FD) сгибания поднимают до уровня (FDmax) выше начальной амортизации (FDI) сгибания вплоть до предотвращения дальнейшего сгибания при достижении заданного максимального угла (αmax) колена. 2. Способ по п.1, отличающийся тем, что амортизацию (FD) сгибания удерживают на уровне (FDmax) при достижении максимального угла (αmax) колена. Стр.: 1 A 2 0 1 7 1 4 0 3 3 7 (54) СПОСОБ УПРАВЛЕНИЯ АМОРТИЗАЦИЕЙ ФАЗЫ ОСТАНОВКИ ИСКУССТВЕННОГО КОЛЕННОГО СУСТАВА 2 0 1 7 1 4 0 3 3 7 EP 2016/058394 (15.04.2016) A 2 0 1 ...

Orthopedic knee joint and method for controlling an orthopedic knee joint

本发明涉及一种矫形外科膝关节，该矫形外科膝关节具有：上部件(2)，在该上部件上设置有上部的连接装置(20)；可摆动地支承在该上部件(2)上的下部件(3)，该下部件具有用于矫形外科部件(4)的连接装置；以及用于限制伸开运动的止挡(7)，其中，该止挡(7)构造成可移位的并且与调节装置(64)耦合，该调节装置(64)与控制装置(6)耦合，该控制装置根据传感器数据激活该调节装置(64)并且使该止挡(7)的位置变化。

Power generating leg

A power generating leg, configurable to be coupled to a person's lower limb, comprising a thigh link, a shank link, a knee mechanism, a torque generator, and a power unit The knee mechanism is connected to said thigh link and said shank link, and allows movements of said thigh link and said shank link relative to each other The torque generator is configured to generate torque between said shank link and said thigh link The power unit is coupled to said torque generator, and configured to cause said torque generator to generate torque In a power regeneration mode, said power unit causes said torque generator to generate a torque that opposes the angular velocity of said thigh link and said shank link and said power unit converts a portion of the power associated with the product of said torque into electrical power to be stored in a storage device.