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公开(公告)号:US10080672B2
公开(公告)日:2018-09-25
申请号:US12552021
申请日:2009-09-01
IPC分类号: A61F2/66 , A61F2/68 , A61F2/60 , B25J19/00 , B62D57/032 , A61F2/64 , A61F2/50 , A61F2/70 , A61F2/76
CPC分类号: A61F2/60 , A61F2/605 , A61F2/64 , A61F2/6607 , A61F2/68 , A61F2002/5004 , A61F2002/503 , A61F2002/5033 , A61F2002/5075 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/7625 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , B25J19/0008 , B62D57/032
摘要: 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.
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公开(公告)号:US20180256372A1
公开(公告)日:2018-09-13
申请号:US15976636
申请日:2018-05-10
发明人: Herman BOITEN , Luder MOSLER , Martin PUSCH , Frederik TE RIELE , Joachim MICHNIEWICZ , Lenka HARBACH
IPC分类号: A61F2/68 , A61F2/60 , A61F2/64 , A61F2/66 , A61F5/01 , A61F2/50 , A61F2/70 , A61F2/74 , A61F2/76
CPC分类号: A61F2/68 , A61F2/60 , A61F2/604 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F5/0106 , A61F5/0111 , A61F2002/5003 , A61F2002/5006 , A61F2002/704 , A61F2002/745 , A61F2002/748 , A61F2002/7625 , A61F2005/0155
摘要: 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.
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公开(公告)号:US20180235781A1
公开(公告)日:2018-08-23
申请号:US15896784
申请日:2018-02-14
申请人: Össur Iceland ehf
发明人: David Langlois , Matheson Rittenhouse , Yves Roy
CPC分类号: A61F2/68 , A61B5/1123 , A61B2560/0462 , A61F2/60 , A61F2/64 , A61F2/70 , A61F2002/607 , A61F2002/6827 , A61F2002/701 , A61F2002/702 , A61F2002/704 , A61F2002/705 , A61F2002/708 , A61F2002/7615 , A61F2002/762 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2002/765
摘要: 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.
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公开(公告)号:US20180192909A1
公开(公告)日:2018-07-12
申请号:US15868192
申请日:2018-01-11
申请人: Össur Iceland ehf
CPC分类号: A61B5/04888 , A61F2/60 , A61F2/66 , A61F2/6607 , A61F2/72 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/7625 , A61F2002/764
摘要: 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.
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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
CPC分类号: 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
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.
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公开(公告)号:US20180177667A1
公开(公告)日:2018-06-28
申请号:US15324136
申请日:2015-06-23
申请人: Osaka University
发明人: Mitsunori UEMURA , Fumio MIYAZAKI , Hiroaki HIRAI
IPC分类号: A61H3/00
CPC分类号: A61H3/00 , A61B5/05 , A61B5/112 , A61B5/1121 , A61B5/1123 , A61B2562/0219 , A61B2562/0247 , A61F2002/503 , A61F2002/5073 , A61F2002/704 , A61F2002/7625 , A61F2002/763 , A61H1/024 , A61H2003/001 , A61H2201/0192 , A61H2201/1207 , A61H2201/164 , A61H2201/165 , A61H2201/1671 , A61H2201/5007 , A61H2201/5058 , A61H2201/5069 , A61H2201/5071 , A61H2201/5079 , A61H2201/5084 , A61H2203/0406 , A61H2205/10 , B25J9/0006 , B25J9/104
摘要: A walking assistance apparatus includes: a walking assistance attachment to be attached to a leg of a human body and including a variable stiffness mechanism having stiffness that is changeable in a direction where the human bends and stretches the knee by motor driving; and a controller. The controller includes a foot-end motion calculation part configured to receive an output from a sensor to detect motion of a leg and successively calculate a relative velocity of a foot end with reference to a waist of the human body; and a leg state determination part configured to determine shift timing between a swing phase and a stance phase based on the relative velocity of the foot end.
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公开(公告)号:US20180177617A1
公开(公告)日:2018-06-28
申请号:US15881537
申请日:2018-01-26
发明人: Martin Pusch , Herman Boiten , Sven Zarling
IPC分类号: A61F2/68 , A61B5/00 , A61B5/11 , A61F2/76 , A61F2/74 , A61F2/70 , A61F2/50 , A61F2/66 , A61F2/64 , A61F5/01
CPC分类号: A61F2/68 , A61B5/112 , A61B5/4851 , A61F2/64 , A61F2/6607 , A61F2002/5006 , A61F2002/5033 , A61F2002/5035 , A61F2002/6818 , A61F2002/701 , A61F2002/704 , A61F2002/741 , A61F2002/745 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/7645 , A61F2005/0155
摘要: 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.
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公开(公告)号:US09993356B2
公开(公告)日:2018-06-12
申请号:US14646705
申请日:2013-11-26
发明人: Herman Boiten , Luder Mosler , Martin Pusch , Frederik Te Riele , Joachim Michniewicz , Lenka Harbach
IPC分类号: A61F2/64 , A61F2/66 , A61F2/74 , A61F2/68 , A61F2/60 , A61F2/50 , A61F2/70 , A61F5/01 , A61F2/76
CPC分类号: A61F2/68 , A61F2/60 , A61F2/604 , A61F2/64 , A61F2/66 , A61F2/6607 , A61F5/0106 , A61F5/0111 , A61F2002/5003 , A61F2002/5006 , A61F2002/704 , A61F2002/745 , A61F2002/748 , A61F2002/7625 , A61F2005/0155
摘要: 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.
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公开(公告)号:US20180132788A1
公开(公告)日:2018-05-17
申请号:US15822357
申请日:2017-11-27
发明人: Dirk A. van der Merwe , Gregory R. Lanier , John M. Kerwin , Gerald M. Guay , N. Christopher Perry , Susan D. Dastous
IPC分类号: A61B5/00 , A61F2/76 , A61B5/11 , G01C9/00 , G01C21/16 , G05B15/02 , A61F2/68 , A61F2/72 , A61F2/70 , A61B5/0488 , A61F2/60 , A61F2/54 , A61B5/103
CPC分类号: A61B5/6807 , A61B5/0488 , A61B5/1036 , A61B5/11 , A61B5/4528 , A61F2/54 , A61F2/60 , A61F2/68 , A61F2/72 , A61F2/76 , A61F2002/6827 , A61F2002/701 , A61F2002/704 , A61F2002/705 , A61F2002/707 , A61F2002/762 , A61F2002/7625 , A61F2002/763 , A61F2002/7635 , A61F2002/764 , A61F2002/765 , A61F2002/7685 , G01C9/00 , G01C21/16 , G05B15/02
摘要: 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.
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公开(公告)号:US20180116828A1
公开(公告)日:2018-05-03
申请号:US15803176
申请日:2017-11-03
CPC分类号: A61F2/68 , A61F5/0123 , A61F2002/7625 , A61H1/024 , A61H3/00 , A61H2003/007 , A61H2201/1207 , A61H2201/1409 , A61H2201/1418 , A61H2201/1436 , A61H2201/5007 , A61H2201/5061 , A61H2201/5069 , A61H2205/10 , B25J9/0006 , B25J9/106
摘要: 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.
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