摘要:
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.
摘要:
A circuit includes first and second current control sub-circuits connected in series between a DC supply voltage node and a reference voltage node and third and fourth current control sub-circuits connected in series between the DC supply voltage node and the reference voltage node. The circuit also includes a DC/DC converter with a first input terminal coupled to the first load node between the first and second current control sub-circuits, a second input terminal coupled to a second load node between the third and fourth current control sub-circuits, a first output terminal, and a second output terminal. The circuit further includes output electrodes, a routing sub-circuit for selectively coupling the output electrodes to the output terminals, and a controller configured for operating the routing sub-circuit and the current control sub-circuits to cause the DC/DC converter to supply biphasic pulses for at least one of the pairs of output electrodes.
摘要:
A double-solenoid directional control valve comprising a valve body and a valve spool within the valve body, where the valve spool is configured to move within the valve body between a first position, a second position and a third position, where the third spool position lies between the first and second spool positions. In certain embodiments, the spool is maintained in the first and third positions by energizing at least a first or a second solenoid actuator, and where the spool is maintained in the second position by de-energizing both solenoid actuators.
摘要:
A device includes a first member (120) and a second member (122) disposed in series along a longitudinal axis. The device also includes links coupling first joints (124, 126) of the first member to second joints of the second member (128, 130). The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element (142) 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 (140) for generating a signal indicating a separation between the first member and the second member.
摘要:
A device includes a first member (120) and a second member (122) disposed in series along a longitudinal axis. The device also includes links coupling first joints (124, 126) of the first member to second joints of the second member (128, 130). The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element (142) 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 (140) for generating a signal indicating a separation between the first member and the second member.
摘要:
A double-solenoid directional control valve comprising a valve body and a valve spool within the valve body, where the valve spool is configured to move within the valve body between a first position, a second position and a third position, where the third spool position lies between the first and second spool positions. In certain embodiments, the spool is maintained in the first and third positions by energizing at least a first or a second solenoid actuator, and where the spool is maintained in the second position by de-energizing both solenoid actuators.