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公开(公告)号：US20150297364A1
公开(公告)日：2015-10-22
申请号：US14428058
申请日：2013-09-17
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael GOLDFARB , Amanda Huff Shultz , Brian E. Lawson , Jason E. Mitchell , Don Truex
CPC classification number: A61F2/6607 , A61F2/66 , A61F2/68 , A61F2/70 , A61F2002/5003 , A61F2002/5007 , A61F2002/503 , A61F2002/5033 , A61F2002/5072 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , G05B15/02
Abstract: 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.
Abstract translation: 这里描述了用于动力踝/脚假肢和控制器的系统和方法，其利用分段模拟被动阻抗来提供在各种节奏和各种斜坡上的行走以及用于地面坡度适应性站立。 使用这些系统和方法的动力假体能够模拟由健康关节提供的任何物理行为，并且还描述了利用假体上的感测和致动系统来提供适当的踝关节阻抗的控制系统。 此外，控制系统结合了基于有限状态的结构，并且在每个状态中，模拟具有严格被动阻抗功能的健康关节的行为。
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公开(公告)号：US10016290B2
公开(公告)日：2018-07-10
申请号：US14428058
申请日：2013-09-17
Applicant: VANDERBILT UNIVERSITY
Inventor： Michael Goldfarb , Amanda Huff Shultz , Brian E. Lawson , Jason E. Mitchell , Don Truex
CPC classification number: A61F2/6607 , A61F2/66 , A61F2/68 , A61F2/70 , A61F2002/5003 , A61F2002/5007 , A61F2002/503 , A61F2002/5033 , A61F2002/5072 , A61F2002/6836 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , G05B15/02
Abstract: 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.
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