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公开(公告)号：US11529246B2
公开(公告)日：2022-12-20
申请号：US16185808
申请日：2018-11-09
发明人： David Moser , Andrew John Sykes , Graham Harris , Stephen Terry Lang , Fadi Abimosleh , Mir Saeed Zahedi
摘要： 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.
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公开(公告)号：US10406001B2
公开(公告)日：2019-09-10
申请号：US15556130
申请日：2016-03-07
发明人： Graham Harris , Mir Saeed Zahedi , Fadi Abimosleh
摘要： A lower limb prosthesis comprises a foot component and an ankle unit pivotally mounted to the foot component. The ankle unit comprises an ankle joint mechanism comprising a hydraulic piston and cylinder assembly for providing hydraulic damping whenever the ankle joint flexes, and a vacuum mechanism comprising a pneumatic piston and cylinder assembly for generating a vacuum. The hydraulic and pneumatic piston and cylinder assemblies are arranged such that the vacuum mechanism generates a vacuum during plantar-flexion of the ankle unit.
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公开(公告)号：US10285827B2
公开(公告)日：2019-05-14
申请号：US14364637
申请日：2012-12-12
发明人： Mir Saeed Zahedi , Nadine Stech , David Moser , Andrew John Sykes
摘要： 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.
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公开(公告)号：US09433513B2
公开(公告)日：2016-09-06
申请号：US14051775
申请日：2013-10-11
发明人： David Moser , Fadi Abimosleh , Mir Saeed Zahedi , Graham Harris , Stephen Terry Lang , Andrew John Sykes
CPC分类号： A61F2/6607 , A61F2/68 , A61F2002/30359 , A61F2002/5003 , A61F2002/5006 , A61F2002/5033 , A61F2002/5043 , A61F2002/6621 , A61F2002/6642 , A61F2002/6657 , A61F2002/6854 , A61F2002/705 , A61F2002/707 , A61F2002/74 , A61F2002/745 , A61F2002/748 , A61F2220/0033
摘要： A prosthetic foot and ankle assembly includes a foot component and an ankle joint mounted thereto and having a fixed range of dorsi-plantar flexion. The ankle joint includes a joint mechanism in the form of a hydraulic linear piston and cylinder assembly having a pair of chambers on opposite sides of the piston to provide hydraulic damping continuously over the range of dorsi-plantar flexion. The joint mechanism further includes a valve arrangement controlling the flow of hydraulic fluid between the chambers. The valve arrangement includes first and second adjustable valves for independently controlling dorsi-flexion damping resistance and plantar-flexion damping resistance respectively. The joint mechanism includes a first flexion limiter that limits dorsi-flexion of the joint mechanism to a dorsi-flexion limit and a second flexion limiter that limits plantar-flexion of the joint mechanism to a plantar-flexion limit, thereby defining the fixed range of dorsi-plantar flexion.
摘要翻译： 假脚和脚踝组件包括脚部件和安装在其上的脚踝接头，并且具有固定范围的背屈屈曲。 踝关节包括液压线性活塞和气缸组件形式的关节机构，其在活塞的相对侧上具有一对腔室，以在背屈屈肌的范围内连续地提供液压阻尼。 关节机构还包括控制两腔室之间的液压流体流动的阀装置。 阀装置包括分别独立控制背屈阻尼阻力和足底 - 屈曲阻尼阻力的第一和第二可调节阀。 关节机构包括：第一屈曲限制器，其将关节机构的背屈限制到背屈极限;以及第二屈曲限制器，其限制关节机构的足底屈曲到足底屈曲极限，由此限定 背屈屈曲。
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公开(公告)号：US08740991B2
公开(公告)日：2014-06-03
申请号：US14073394
申请日：2013-11-06
发明人： David Moser , Fadi Abimosleh , Mir Saeed Zahedi , Graham Harris , Stephen Terry Lang , Andrew John Sykes
CPC分类号： A61F2/6607 , A61F2/68 , A61F2002/30359 , A61F2002/5003 , A61F2002/5006 , A61F2002/5033 , A61F2002/5043 , A61F2002/6621 , A61F2002/6642 , A61F2002/6657 , A61F2002/6854 , A61F2002/705 , A61F2002/707 , A61F2002/74 , A61F2002/745 , A61F2002/748 , A61F2220/0033
摘要： A prosthetic foot and ankle assembly includes a foot component and an ankle joint mounted thereto and having a fixed range of dorsi-plantar flexion. The ankle joint includes a joint mechanism in the form of a hydraulic linear piston and cylinder assembly having a pair of chambers on opposite sides of the piston to provide hydraulic damping continuously over the range of dorsi-plantar flexion. The joint mechanism further includes a valve arrangement controlling the flow of hydraulic fluid between the chambers. The valve arrangement includes first and second adjustable valves for independently controlling dorsi-flexion damping resistance and plantar-flexion damping resistance respectively. The joint mechanism includes a first flexion limiter that limits dorsi-flexion of the joint mechanism to a dorsi-flexion limit and a second flexion limiter that limits plantar-flexion of the joint mechanism to a plantar-flexion limit, thereby defining the fixed range of dorsi-plantar flexion.
摘要翻译： 假脚和脚踝组件包括脚部件和安装在其上的脚踝接头，并且具有固定范围的背屈屈曲。 踝关节包括液压线性活塞和气缸组件形式的关节机构，其在活塞的相对侧上具有一对腔室，以在背屈屈肌的范围内连续地提供液压阻尼。 关节机构还包括控制两腔室之间的液压流体流动的阀装置。 阀装置包括分别独立控制背屈阻尼阻力和足底 - 屈曲阻尼阻力的第一和第二可调节阀。 关节机构包括：第一屈曲限制器，其将关节机构的背屈限制到背屈极限;以及第二屈曲限制器，其限制关节机构的足底屈曲到足底屈曲极限，由此限定 背屈屈曲。
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公开(公告)号：US11246723B2
公开(公告)日：2022-02-15
申请号：US16535822
申请日：2019-08-08
发明人： Graham Harris , Mir Saeed Zahedi , Fadi Abimosleh
摘要： A lower limb prosthesis comprises a foot component and an ankle unit pivotally mounted to the foot component. The ankle unit comprises an ankle joint mechanism comprising a hydraulic piston and cylinder assembly for providing hydraulic damping whenever the ankle joint flexes, and a vacuum mechanism comprising a pneumatic piston and cylinder assembly for generating a vacuum. The hydraulic and pneumatic piston and cylinder assemblies are arranged such that the vacuum mechanism generates a vacuum during plantar-flexion of the ankle unit.
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公开(公告)号：US20190142611A1
公开(公告)日：2019-05-16
申请号：US16185808
申请日：2018-11-09
发明人： David Moser , Andrew John Sykes , Graham Harris , Stephen Terry Lang , Fadi Abimosleh , Mir Saeed Zahedi
摘要： 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.
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公开(公告)号：US20150351938A1
公开(公告)日：2015-12-10
申请号：US14823645
申请日：2015-08-11
发明人： David Moser , Andrew John Sykes , Graham Harris , Stephen Terry Lang , Fadi Abimosleh , Mir Saeed Zahedi
CPC分类号： A61F2/6607 , A61F2/68 , A61F2002/30359 , A61F2002/5006 , A61F2002/5018 , A61F2002/5033 , A61F2002/5035 , A61F2002/5036 , A61F2002/5038 , A61F2002/5043 , A61F2002/6614 , A61F2002/6621 , A61F2002/6642 , A61F2002/6657 , A61F2002/6854 , A61F2002/704 , A61F2002/708 , A61F2002/74 , A61F2002/745 , A61F2002/748 , A61F2002/7625 , A61F2002/764 , A61F2220/0033
摘要： 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.
摘要翻译： 假脚踝和脚组合具有踝关节机构，其构造成允许脚部件相对于胫骨部件的阻尼旋转运动。 该机构在步行期间提供连续的液压阻尼范围的踝运动，其具有动态可变的阻尼电阻，并且在足底屈曲和背屈方向上具有独立的阻尼阻力变化。 耦合到踝关节机构的电子控制系统包括至少一个用于产生指示运动的动力学或运动学参数的信号的传感器，所述机构和控制系统被布置成使得阻尼电阻在踝关节的运动范围内有效 响应于这样的信号自动调整。 公开了单和双活塞液压阻尼装置，包括允许独立的跟部高度调节的布置。
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公开(公告)号：US20140067086A1
公开(公告)日：2014-03-06
申请号：US14073394
申请日：2013-11-06
发明人： David Moser , Fadi Abimosleh , Mir Saeed Zahedi , Graham Harris , Stephen Terry Lang , Andrew John Sykes
IPC分类号： A61F2/66
CPC分类号： A61F2/6607 , A61F2/68 , A61F2002/30359 , A61F2002/5003 , A61F2002/5006 , A61F2002/5033 , A61F2002/5043 , A61F2002/6621 , A61F2002/6642 , A61F2002/6657 , A61F2002/6854 , A61F2002/705 , A61F2002/707 , A61F2002/74 , A61F2002/745 , A61F2002/748 , A61F2220/0033
摘要： A prosthetic foot and ankle assembly includes a foot component and an ankle joint mounted thereto and having a fixed range of dorsi-plantar flexion. The ankle joint includes a joint mechanism in the form of a hydraulic linear piston and cylinder assembly having a pair of chambers on opposite sides of the piston to provide hydraulic damping continuously over the range of dorsi-plantar flexion. The joint mechanism further includes a valve arrangement controlling the flow of hydraulic fluid between the chambers. The valve arrangement includes first and second adjustable valves for independently controlling dorsi-flexion damping resistance and plantar-flexion damping resistance respectively. The joint mechanism includes a first flexion limiter that limits dorsi-flexion of the joint mechanism to a dorsi-flexion limit and a second flexion limiter that limits plantar-flexion of the joint mechanism to a plantar-flexion limit, thereby defining the fixed range of dorsi-plantar flexion.
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公开(公告)号：US20130173019A1
公开(公告)日：2013-07-04
申请号：US13777327
申请日：2013-02-26
发明人： Andrew John Sykes , Mir Saeed Zahedi , David Moser
IPC分类号： A61F2/68
CPC分类号： A61F2/68 , A61B5/112 , A61B5/4851 , A61F2/64 , A61F2/70 , A61F2/76 , A61F2/80 , A61F2002/5003 , A61F2002/5033 , A61F2002/607 , A61F2002/704 , A61F2002/705 , A61F2002/747 , A61F2002/7625
摘要： A self-teaching lower limb prosthesis, for an above-knee amputee, including a dynamically adjustable joint movement control unit arranged to control operation of the joint automatically. A control unit electrically stores a target relationship between a kinetic or kinematic parameter of locomotion and walking speed. The relationship defines a number of values of the parameter associated with different walking speeds. The control unit generates monitoring signals representative of walking speed values and values of the parameter occurring at different walking speeds. An adjustment system adjusts the control unit automatically when the monitoring signals indicate deviation from the target relationship so as to bring the parameters close to that defined by the target relationship.
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