US20050107889A1 - Instrumented prosthetic foot - Google Patents

Instrumented prosthetic foot Download PDF

Info

Publication number
US20050107889A1
US20050107889A1 US10/715,989 US71598903A US2005107889A1 US 20050107889 A1 US20050107889 A1 US 20050107889A1 US 71598903 A US71598903 A US 71598903A US 2005107889 A1 US2005107889 A1 US 2005107889A1
Authority
US
United States
Prior art keywords
prosthetic foot
instrumented prosthetic
sensors
foot according
sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US10/715,989
Inventor
Stephane Bedard
Pierre-Olivier Roy
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Victhom Laboratory Inc
Original Assignee
Victhom Human Bionics Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Victhom Human Bionics Inc filed Critical Victhom Human Bionics Inc
Priority to US10/715,989 priority Critical patent/US20050107889A1/en
Assigned to VICTHOM HUMAN BIONICS INC. reassignment VICTHOM HUMAN BIONICS INC. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BEDARD, STEPHANE, ROY, PIERRE-OLIVIER
Publication of US20050107889A1 publication Critical patent/US20050107889A1/en
Priority claimed from US12/260,479 external-priority patent/US7815689B2/en
Assigned to VICTHOM LABORATORY INC. reassignment VICTHOM LABORATORY INC. MERGER AND CHANGE OF NAME (SEE DOCUMENT FOR DETAILS). Assignors: VICTHOM HUMAN BIONICS INC., VICTHOM LABORATORY INC.
Application status is Abandoned legal-status Critical

Links

Images

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/66Feet; Ankle joints
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/70Operating or control means electrical
    • A61F2/72Bioelectrical control, e.g. myoelectric
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5001Cosmetic coverings
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5003Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2002/5007Prostheses not implantable in the body having elastic means different from springs, e.g. including an elastomeric insert
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/66Feet; Ankle joints
    • A61F2002/6614Feet
    • A61F2002/6621Toes
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/66Feet; Ankle joints
    • A61F2002/6614Feet
    • A61F2002/6642Heels
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/66Feet; Ankle joints
    • A61F2002/6614Feet
    • A61F2002/665Soles
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/60Artificial legs or feet or parts thereof
    • A61F2/66Feet; Ankle joints
    • A61F2002/6614Feet
    • A61F2002/6657Feet having a plate-like or strip-like spring element, e.g. an energy-storing cantilever spring keel
    • A61F2002/6685S-shaped
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/68Operating or control means
    • A61F2/70Operating or control means electrical
    • A61F2002/705Electromagnetic data transfer
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/76Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615Measuring means
    • A61F2002/7635Measuring means for measuring force, pressure or mechanical tension
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/76Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615Measuring means
    • A61F2002/764Measuring means for measuring acceleration
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61FFILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
    • A61F2/00Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
    • A61F2/50Prostheses not implantable in the body
    • A61F2/76Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615Measuring means
    • A61F2002/7685Measuring means located on natural or sound-site limbs, e.g. comparison measuring means

Abstract

The present invention discloses an instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising a connector to connect the instrumented prosthetic foot to the leg prosthesis, an ankle structure connected to the connector, a ground engaging member connected to the ankle, at least one sensor for detecting changes in weight distribution along the foot, and an interface for transmitting signals from the sensor to the controller.

Description

    TECHNICAL FIELD
  • The present invention relates to a prosthetic foot for use with a control system and/or a method for controlling an actuated leg prosthesis.
  • BACKGROUND
  • As is well known to control engineers, the automation of complex mechanical systems is not something easy to achieve. Among such systems, conventional powered artificial limbs are notorious for having control problems. These conventional prostheses are equipped with basic controllers that artificially mobilize the joints without any interaction from the amputee and are only capable of generating basic motions. Such basic controllers do not take into consideration the dynamic conditions of the working environment, regardless the fact that the prosthesis is required to generate appropriate control within a practical application. They are generally lacking in predictive control strategies necessary to anticipate the artificial limb's response as well as lacking in adaptive regulation enabling the adjustment of the control parameters to the dynamics of the prosthesis. Because human limb mobility is a complex process including voluntary, reflex and random events at the same time, conventional prostheses do not have the capability to interact simultaneously with the human body and the external environment in order to have minimal appropriate functioning.
  • Accordingly, it is an object of the present application to obviate or mitigate some or all of the above disadvantages.
  • SUMMARY
  • According to the present invention, there is provided an instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising a connector to connect the instrumented prosthetic foot to the leg prosthesis, an ankle structure connected to the connector, a ground engaging member connected to the ankle, at least one sensor for detecting changes in weight distribution along the foot, and an interface for transmitting signals from the sensor to the controller.
  • BRIEF DESCRIPTION OF THE FIGURES
  • Embodiments of the invention will be described by way of example only with reference to the accompanying drawings, in which:
  • FIG. 1 shows the lower body of an individual provided with a prosthesis and an instrumented prosthetic foot on one side and having a healthy leg on the other side.
  • FIG. 2 is a block diagram showing a control system for a prosthesis having an actuating mechanism.
  • FIG. 3 is a perspective view, from the front and slightly above, of a instrumented prosthetic foot.
  • FIG. 4 is an exploded perspective view of the instrumented prosthetic foot of FIG. 3.
  • FIG. 5 is a perspective view, from the front and slightly above, of an alternative embodiment of the instrumented prosthetic foot of FIG. 3.
  • FIG. 6 is an exploded perspective view of the instrumented prosthetic foot of FIG. 5.
  • FIG. 7 is a perspective view, from the front and slightly above, of another alternative embodiment of the instrumented prosthetic foot of FIG. 3
  • FIG. 8 is an exploded perspective view of the instrumented prosthetic foot of FIG. 7.
  • FIG. 9 is schematic view of forces exerted on a foot.
  • FIG. 10 is a perspective view, from the front and slightly above, of a further still alternative embodiment of the instrumented prosthetic foot of FIG. 3.
  • FIG. 11 is an exploded perspective view of the instrumented prosthetic foot of FIG. 10.
  • FIG. 12 is a perspective view, from the front and slightly above, of a yet further still alternative embodiment of the instrumented prosthetic foot of FIG. 3.
  • FIG. 13 is an exploded perspective view of the instrumented prosthetic foot of FIG. 12.
  • FIG. 14 is a perspective view, from the front and slightly above, of a further alternative embodiment of the instrumented prosthetic foot of FIG. 3.
  • FIG. 15 is an exploded perspective view of the instrumented prosthetic foot of FIG. 14.
  • DETAILED DESCRIPTION
  • The appended figures show a instrumented prosthetic foot (20) having sensors (22A, 22B) for use, in cooperation with possible additional sensors (24A, 24B, 26), with a control system (100) for controlling a prosthesis (14) having an actuating mechanism (16). It should be understood that the present invention is not limited to the illustrated implementation since various changes and modifications may be effected herein without departing from the scope of the appended claims.
  • Referring therefore to FIG. 1 an individual (10) has a pair of legs (26) and (28), one of which, (26), is amputated above the knee. A prosthesis (14) is attached to the leg (26) and includes an actuating mechanism (16), which may be either passive or active. An instrumented prosthetic foot (20) is attached to the prosthesis (14) and includes sensors (22A, 22B). Additional sensors (24A, 24B) are located on the healthy foot and additional sensors (26) located on the individual (10) and/or the prosthesis (14). A passive actuating mechanism may be generally defined as an electromechanical component that only absorbs mechanical energy in order to modify dynamics of mechanical joints of the prosthesis, while an active actuating mechanism may be generally defined as an electromechanical component that absorbs and supplies mechanical energy in order to set dynamics of mechanical joints of the prosthesis.
  • An example of a passive actuating mechanism is described in U.S. patent application Ser. No. 09/767,367, filed Jan. 22, 2001, entitled “ELECTRONICALLY CONTROLLED PROSTHETIC KNEE”. Examples of active actuating mechanisms are described in U.S. patent application Ser. No. 10/463,495 filed Jun. 17, 2003, entitled “ACTUATED PROSTHESIS FOR ABOVE-KNEE AMPUTEES”, by Stéphane Bédard et al., the entire disclosure of which is hereby incorporated by reference herein.
  • The prosthesis (14) is controlled, as shown schematically in FIG. 2, by a basic control system (100) comprising sensors (22A, 22B, 24A, 24B, 26), connected through an interface (30) to a controller (40). The controller (40) provides signals to an actuating mechanism (16) in the prosthesis (14), such as shown in FIG. 1. The purpose of the control system (100) is to provide the required signals for controlling the actuating mechanism (16). To do so, the control system (100) is interfaced with the amputee (10) using sensors (22A, 22B, 24A, 24B, 26) to ensure proper coordination between the amputee (10) and the movements of the prosthesis (14). The sensors (22A, 22B, 24A, 24B, 26) capture information, in real time, about the dynamics of the amputee's movement and provide that information to the controller (40) via the interface (30). The controller (40) then uses the information to determine the resistance to be applied to a joint, in the case of a passive actuating mechanism, or the joint trajectories and the required angular force or torque that must be applied by a joint, in the case of an active actuating mechanism, in order to provide coordinated movements.
  • The sensors (22A, 22B, 24A, 24B, 26) may include myoelectric sensors, neuro-sensors, kinematic sensors, kinetic sensors, strain gauges or plantar pressure sensors. Myoelectric sensors are electrodes used to measure the internal or the external myoelectrical activity of skeletal muscles. Neuro-sensors are electrodes used to measure the summation of one or more action potentials of peripheral nerves. Kinematic sensors are used to measure the position of articulated joints, the mobility speed or acceleration of lower extremities. Kinetic sensors are used to measure angular forces at articulated joints or reaction forces of lower extremities. Strain gages are used to measure the strain forces at a specific underfoot area. Plantar pressure sensors are used to measure the vertical plantar pressure of a specific underfoot area. Of course, additional types of sensors which provide various information about dynamics of human locomotion may be used. For a given application, the use of sensors (22A, 22B, 24A, 24B, 26) is not restricted to a specific type of sensor, multiple types of sensors in various combinations may be used.
  • As illustrated in FIG. 1, the sensors (22A, 22B,) may comprise localized plantar pressure sensors located at spaced locations on the prosthetic foot (20) to measure the vertical plantar pressure of a specific underfoot area. Similarly, the plantar pressure sensors (24A, 24B) located on the side of the healthy foot may be provided at spaced locations in a custom-made insole, preferably in the form of a standard orthopaedic insole, that is modified to embed the two sensors (24A, 24B) for the measurement of two localized plantar pressures. The sensors (22A, 22B, 24A, 24B) are operable to measure the weight transfer along the foot as the individual moves which may be combined with other sensors (26) such as kinematic sensors to measure the angular speed of body segments of the lower extremities and kinematic sensors to measure the angle of the prosthesis (14) knee joint.
  • Each sensor (22A, 22B, 24A, 24B) may comprise a thin Force-Sensing Resistor (FSR) polymer cell directly connected to the interface (30) of the control system (100) or indirectly using an intermediary system (not shown), for instance a wireless emitter. Of course, other types of communication link technologies may be used, such as, for example, optical. The FSR cell has a decreasing electrical resistance in response to an increasing force applied perpendicularly to the surface thereof. Each cell outputs a time variable electrical signal for which the intensity is proportional to the total vertical plantar pressure over its surface area. The size and position of the plantar pressure sensors (22A, 22B, 24A, 24B) may be defined in accordance with the stability and the richness (intensity) of the localized plantar pressure signals provided by certain underfoot areas during locomotion. For example, it was found by experimentation that the heel and the toe regions are two regions of the foot sole where the Plantar Pressure Maximum Variation (PPMV) may be considered as providing a signal that is both stable and rich in information.
  • Accordingly, the controller (40) may use the data signals from the four localized plantar pressure sensors (22A, 22B, 24A, 24B), as well as the information gathered from the data signals of the other sensors (26) such as kinematic sensors, in order to decompose the locomotion of the individual (10) into a finite number of states, and generate the appropriate control signals for controlling the actuating mechanism (16) according to the locomotion. Of course, the controller (40) is not limited to the use of the preceding data signals.
  • An example of a controller (40) and control system (100) using sensors comprising plantar pressure sensors as well as kinematic sensors is described in U.S. patent application Ser. No. 10/600,725 filed Jun. 20, 2003, entitled “CONTROL SYSTEM AND METHOD FOR CONTROLLING AN ACTUATED PROSTHESIS”, by Stéphane Bédard, the entire disclosure of which is hereby incorporated by reference herein.
  • To facilitate the acquisition of the data in a repeatable and dependable manner, the sensors (22A, 22B) are incorporated in to the structure of the foot (20). An embodiment of the instrumented prosthetic foot (20) is shown in more detail in FIGS. 3 and 4. The instrumented prosthetic foot (20) includes a foot plate (53), forming an elongated body, with a connector (51) at one end, a toe plate (55A) and a heel plate (55B) that is cantilevered from the foot plate (53). Such an arrangement is provided by, for example, a Vari-Flex® prosthetic foot from Össur. Pressure sensors (22A, 22B) are located at longitudinally spaced locations on the underside of the foot plate (53) and heel plate (55) respectively. The sensors (22A, 22B) are covered by rigid plates (52A, 52B) and resilient pads (54A, 54B). The pressure sensors (22A, 22B) are located so as to be responsive to loads imposed on the instrumented prosthetic foot (20) at the regions corresponding to the toe area and the heel area respectively.
  • The rigid plates (52A, 52B) covering the sensors (22A, 22B), although not essential, help to optimize the pressure distribution on the entire surface of the sensors (22A, 22B) as well as inhibiting any shearing and may be made of 85A durometer polyurethane. Of course, other type of material may be used as well.
  • The pads (54A, 54B) wrap up the rigid plates (52A, 52B) and the sensors (22A, 22B), forming a ground engaging member, in order to optimize the contact between the instrumented prosthetic foot (20) and the ground. The pads (54A, 54B) may be made of 40A durometer polyurethane. Of course, other type of material may be used as well.
  • In operation, therefore, as the foot (20) traverses the ground, the force applied to the heel plate (55B) is measured by the sensor (22B) and a corresponding signal forwarded to the controller (40). The force applied to the toe plate (55A) is also measured by the sensor (22A) and the relative loading between the two locations is measured. As the foot (20) continues to traverse the ground, the force applied to the toe area increases and that at the heel decreases to provide a pair of signals from which the disposition of the leg may be determined and the appropriate control provided to the actuator (16).
  • An alternative embodiment of the instrumented prosthetic foot (20) is shown in FIGS. 5 and 6. The instrumented prosthetic foot (20) includes connector (61), foot plate (63), toe plate (64A) and heel plate (64B), such as provided by, for example, a Vari-Flex® prosthetic foot from Össur. Pressure sensors (22A, 22B) are located between the foot plate (63) and rigid plates (62A, 62B). The pressure sensors (22A, 22B) are located so as to be responsive to load imposed on the instrumented prosthetic foot (20) at the regions corresponding to the toe area and the heel area respectively. More specifically, pressure sensor (22A) is sandwiched between a pair of rigid plates (62A), which in turn are positioned between the heel plate (64B) and the foot plate (63). Pressure sensor (22B) is sandwiched between a pair of rigid plates (62B), which in turn are positioned between the foot plate (63) and the connector (61).
  • As for the previous embodiment, rigid plates (62A, 62B) covering the sensors (22A, 22B), although not essential, help to optimize the pressure distribution on the entire surface of the sensors (22A, 22B) as well as inhibiting any shearing and may be made of 85A durometer polyurethane. Of course, other type of material may be used as well.
  • Another alternative embodiment of the instrumented prosthetic foot (20) is shown in FIGS. 7 and 8. The instrumented prosthetic foot (20) includes connector (71), top foot plate (75), foam cushion core (73) and bottom foot plate (74), such as provided by, for example, a LP Talux® prosthetic foot from Össur. Pressure sensors (22A, 22B) are sandwiched between pairs of rigid plates (72A, 72B). The pressure sensors (22A, 22B) are located so as to be responsive to load imposed on the instrumented prosthetic foot (20) at the regions corresponding to the toe area and the heel area respectively. More specifically, pressure sensor (22A) is sandwiched between a pair of rigid plates (72A), which in turn are positioned within gap (76A), which is located between a bottom foot plate (74) and a foam cushion core (73). Pressure sensor (22B) is sandwiched between a pair of rigid plates (72B), which in turn are positioned within gap (76B), which is located within the foam cushion core (73).
  • Again, as for the previous embodiments, rigid plates (72A, 72B) covering the sensors (22A, 22B), although not essential, help to optimize the pressure distribution on the entire surface of the sensors (22A, 22B) as well as preventing any shearing and may be made of 85A durometer polyurethane. Of course, other type of material may be used as well.
  • In the previous embodiments, the force (or pressure) at the toe and heel areas, F_toe and F_heel respectively, was obtained by positioning pressure sensors (22A, 22B) directly at those areas. More specifically, referring to FIG. 9, F_toe and F_heel were obtained as follows:
    F_toe=F_toe_meas  Equation 1
    F_heel=F_heel_meas  Equation 2
  • In other possible embodiments of the instrumented prosthetic foot (20), sensors (22A, 22B) may not be restricted to being positioned directly at the toe and heel areas, the equivalent information may be obtained by measuring the equivalent torque at the ankle and the axial force at the connector of the instrumented prosthetic foot (20). F_toe and F_heel may be defined in terms of the torque measured at the ankle, M_ankle_meas, and the force measured at the connector, F_conn_meas, using the following equations: F_toe = M_ankle _meas + ( F_conn _meas · l_heel ) ( l_heel + l_toe ) Equation 3 F_heel = - M_ankle _meas + ( F_conn _meas · l_toe ) ( l_heel + l_toe ) Equation 4
      • where
      • I_heel is the distance between the center of the connector and the center of the heel area;
      • I_toe is the distance between the center of the connector and the center of the toe area.
  • Following the previous discussion about the locations of sensors (22A, 22B), a further alternative embodiment of the instrumented prosthetic foot (20) is shown in FIGS. 10 and 11. The instrumented prosthetic foot (20) includes connector (81), foot plate (83), toe plate (84A) and heel plate (84B), such as provided by, for example, a Vari-Flex® prosthetic foot from Össur, and load cells (22A, 22B). Load cells (22A, 22B) are located below connector (91), load cell (22A) being slightly biased towards the toe area of the foot and load cell (22B) being slightly biased towards the heel area. Since the sensors (22A, 22B) are not located directly at the toe and heel areas, Equation 3 and Equation 4 may be used, for example by controller (40), to compute the equivalent pressures at the toe and heel areas by defining the equivalent torque at the ankle and the axial force at connector (81) as follows:
    F conn meas=F_22 B+F_22 A  Equation 5
    M ankle meas=F —22 B·I_22 B−F_22 A·I_22 A  Equation 6
      • where
      • F_22B is the force measured at sensor 22B;
      • F_22A is the force measured at sensor 22A;
      • I_22B is the distance between the center of the connector (81) and the center of sensor 22B;
      • I_22A is the distance between the center of the connector (81) and the center of sensor 22A.
  • In the previous embodiments of the instrumented prosthetic foot (20), the force (or pressure) at the toe and heel areas, F_toe and F_heel respectively, was obtained either by positioning pressure sensors (22A, 22B) directly at those areas or by positioning pressure sensors or load cells (22A, 22B) in other areas and obtaining the equivalent information by computing the equivalent torque at the ankle and the axial force at the connector. Other types of sensors may also be used to obtain the equivalent torque at the ankle and the axial force at the connector. Such an example is illustrated by a further still embodiment of the instrumented prosthetic foot (20), which is shown in FIGS. 12 and 13. The instrumented prosthetic foot (20) includes connector (91), mounted on pivoting ankle (93). Bumpers (92A, 92B) are positioned between the pivoting ankle (93) and rocker plate (95) located on a foot plate (94).
  • The pivoting ankle (93) is connected to the rocker plate (95) by a pivot pin (96). Such an arrangement is provided by, for example, an Elation® prosthetic foot from Össur.
  • A load cell (22A) and an optical encoder (22B). are incorporated into the foot (20) to provide measurement of the distribution of forces along the foot (20). Load cell (22A) is positioned between connector (91) and pivoting ankle (93). Optical encoder (22B) comprises reader (221) and disk (223). Reader (221) is located on pivoting ankle (93) while disk (223) is located on rocker plate (95) and encircles pivot pin (96). Once again, Equation 3 and Equation 4 may be used, for example by controller (40), to compute the equivalent pressures at the toe and heel areas by defining the equivalent torque at the ankle and the axial force at connector (91) as follows:
    F_conn_meas=F_22A  Equation 7
    M ankle meas=R ankle meas·R const  Equation 8
      • where
      • F_22A is the force measured at sensor 22A;
      • R_ankle_meas is the rotation measurement of pivoting ankle (93) about pivot pin (96) as measured by optical encoder (22B);
      • R_const is a constant associated with the resistance of bumpers (92A, 92B) to compression, which constant varies depending in the material used.
  • A yet further alternative embodiment of the instrumented prosthetic foot (20) is shown in FIGS. 14 and 15. The instrumented prosthetic foot (20) includes connector (101), mounted on pivoting ankle (103). Bumpers (102A, 102B) are positioned between the pivoting ankle (103) and rocker plate (105) located on a foot plate (104). The pivoting ankle (103) is connected to the rocker plate (105) by a pivot pin (106). Such an arrangement is provided by, for example, an Elation® prosthetic foot from Össur. Pressure sensors (22A, 22B) and load cell (22C) are incorporated into the foot (20) to provide measurement of the distribution of forces along the foot (20). Pressure sensor (22A) is positioned between rocker plate (85) and bumper (82A) while pressure sensor (22B) is positioned between rocker plate (85) and bumper (82B). A load cell (22C) is positioned between connector (91) and pivoting ankle (93).
  • In this embodiment, Equation 6 is used to compute the equivalent torque at the ankle, while the axial force at connector (101) is computed using the following equation:
    F_conn_meas ═F_22C  Equation 9
  • Load cell (22C) is required to compute the axial force at connector (101) since when there is no torque at the ankle, i.e. the wearer of the prosthesis is standing still, the axial force is being exerted in its entirety onto pivot pin (96).
  • In all of the described embodiments, the sensors (22A, 22B) may be directly connected to interface (30) of control system (100) or indirectly using an intermediary system (not shown), for instance a wireless emitter. Of course, other types of communication link technologies may be used, such as, for example, optical.
  • Other types of non-articulated or articulated prosthetic foot may be used as well as long as the selected prosthetic foot provides approximately the same dynamical response as the ones mentioned here above. Nevertheless, an articulated foot offers the best performances. The instrumented prosthetic foot (20) may further have an exposed metal or composite structure or it may have a cosmetic covering that gives it the appearance of a human ankle and foot.
  • It should be noted that the present invention is not limited to its use with the mechanical configuration illustrated in FIG. 1 or the control system (100) illustrated in FIG. 2. It may be used with a leg prosthesis having more than one joint. For instance, it may be used with a prosthesis having an ankle joint, a metatarsophalangeal joint or a hip joint in addition to a knee joint. Moreover, instead of a conventional socket a osseo-integrated devices could also be used, ensuring a direct attachment between the mechanical component of the prosthesis and the amputee skeleton. Other kinds of prostheses may be used as well.

Claims (18)

1. An instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising:
an elongated body having a top and a bottom part;
a connector to connect the instrumented prosthetic foot to the leg prosthesis, the connector being attached to the top part of the elongated body;
a ground engaging member attached to the bottom part of the elongated body;
at least one sensor for detecting changes in weight distribution along the foot; and
an interface for transmitting signals from the sensor to the controller.
2. An instrumented prosthetic foot according to claim 1, wherein:
the ground engaging member includes a pair of basic underfoot locations, the first region corresponding to the heel area of the human foot and second region corresponding to the toe area of the human foot.
3. An instrumented prosthetic foot according to claim 2, wherein:
at least two sensors are provided, one of the sensors being associated with each basic underfoot locations of the ground engaging member.
4. An instrumented prosthetic foot according to claim 3, wherein:
the sensors include a strain sensor to measure the strain applied at a corresponding basic underfoot location of the ground engaging member.
5. An instrumented prosthetic foot according to claim 3, wherein:
the sensors include a pressure sensor to measure the pressure applied at a corresponding basic underfoot location of the ground engaging member.
6. An instrumented prosthetic foot according to claim 3, wherein:
the sensors include a load cell to measure the pressure applied at a corresponding basic underfoot location of the ground engaging member.
7. An instrumented prosthetic foot according to claim 3, wherein:
the sensors are positioned under the ground engaging member.
8. An instrumented prosthetic foot according to claim 3, wherein:
the sensors are positioned between the ground engaging member and the elongated body.
9. An instrumented prosthetic foot according to claim 3, wherein:
the sensors are positioned between the elongated body and the connector.
10. An instrumented prosthetic foot according to claim 5, wherein:
the pressure sensor is a force-sensing resistor.
11. An instrumented prosthetic foot according to claim 5, further comprising:
a rigid plate placed on at least one side of the sensor.
12. An instrumented prosthetic foot according to claim 11, further comprising:
a resilient pad covering the rigid plate and the sensor.
13. An instrumented prosthetic foot according to claim 1, further comprising:
an ankle structure pivotally connecting the elongated body to the connector.
14. An instrumented prosthetic foot according to claim 13, wherein:
at least two sensors are provided, the sensors including two load cells positioned between the connector and the ankle structure.
15. An instrumented prosthetic foot according to claim 13, wherein:
at least two sensors are provided, the sensors including an optical encoder and a load cell, the optical encoder being positioned on the ankle structure about its pivot axis with the elongated body and the load cell being positioned between the ankle structure and the connector.
16. An instrumented prosthetic foot according to claim 1, wherein:
the interface for transmitting signals from the sensor to the controller is a wired connection.
17. An instrumented prosthetic foot according to claim 1, wherein:
the interface for transmitting signals from the sensor to the controller is a wireless connection.
18. An instrumented prosthetic foot according to claim 1, further comprising:
means for removably connecting the instrumented prosthetic foot to the leg prosthesis.
US10/715,989 2003-11-18 2003-11-18 Instrumented prosthetic foot Abandoned US20050107889A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
US10/715,989 US20050107889A1 (en) 2003-11-18 2003-11-18 Instrumented prosthetic foot

Applications Claiming Priority (7)

Application Number Priority Date Filing Date Title
US10/715,989 US20050107889A1 (en) 2003-11-18 2003-11-18 Instrumented prosthetic foot
US11/881,964 US20080046096A1 (en) 2003-11-18 2007-07-31 Instrumented prosthetic foot
US11/891,098 US7955398B2 (en) 2003-11-18 2007-08-09 Instrumented prosthetic foot
US12/260,479 US7815689B2 (en) 2003-11-18 2008-10-29 Instrumented prosthetic foot
US12/869,559 US9526636B2 (en) 2003-11-18 2010-08-26 Instrumented prosthetic foot
US13/354,188 US8986397B2 (en) 2003-11-18 2012-01-19 Instrumented prosthetic foot
US13/436,595 US8323354B2 (en) 2003-11-18 2012-03-30 Instrumented prosthetic foot

Related Child Applications (3)

Application Number Title Priority Date Filing Date
US11/881,964 Division US20080046096A1 (en) 2003-11-18 2007-07-31 Instrumented prosthetic foot
US11/891,098 Division US7955398B2 (en) 2003-11-18 2007-08-09 Instrumented prosthetic foot
US12/260,479 Continuation-In-Part US7815689B2 (en) 2003-11-18 2008-10-29 Instrumented prosthetic foot

Publications (1)

Publication Number Publication Date
US20050107889A1 true US20050107889A1 (en) 2005-05-19

Family

ID=34574330

Family Applications (5)

Application Number Title Priority Date Filing Date
US10/715,989 Abandoned US20050107889A1 (en) 2003-11-18 2003-11-18 Instrumented prosthetic foot
US11/881,964 Abandoned US20080046096A1 (en) 2003-11-18 2007-07-31 Instrumented prosthetic foot
US11/891,098 Active 2025-05-24 US7955398B2 (en) 2003-11-18 2007-08-09 Instrumented prosthetic foot
US13/354,188 Active 2024-10-05 US8986397B2 (en) 2003-11-18 2012-01-19 Instrumented prosthetic foot
US13/436,595 Active US8323354B2 (en) 2003-11-18 2012-03-30 Instrumented prosthetic foot

Family Applications After (4)

Application Number Title Priority Date Filing Date
US11/881,964 Abandoned US20080046096A1 (en) 2003-11-18 2007-07-31 Instrumented prosthetic foot
US11/891,098 Active 2025-05-24 US7955398B2 (en) 2003-11-18 2007-08-09 Instrumented prosthetic foot
US13/354,188 Active 2024-10-05 US8986397B2 (en) 2003-11-18 2012-01-19 Instrumented prosthetic foot
US13/436,595 Active US8323354B2 (en) 2003-11-18 2012-03-30 Instrumented prosthetic foot

Country Status (1)

Country Link
US (5) US20050107889A1 (en)

Cited By (42)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20050197717A1 (en) * 2004-02-12 2005-09-08 Ragnarsdottir Heidrun G. System and method for motion-controlled foot unit
US20050267603A1 (en) * 2004-05-28 2005-12-01 Lecomte Christophe G Foot prosthesis with resilient multi-axial ankle
US20050283257A1 (en) * 2004-03-10 2005-12-22 Bisbee Charles R Iii Control system and method for a prosthetic knee
US20060058893A1 (en) * 2004-05-28 2006-03-16 Clausen Arinbjorn V Method of measuring the performance of a prosthetic foot
US20060074493A1 (en) * 2003-05-02 2006-04-06 Bisbee Charles R Iii Systems and methods of loading fluid in a prosthetic knee
US20060136072A1 (en) * 2004-05-07 2006-06-22 Bisbee Charles R Iii Magnetorheologically actuated prosthetic knee
US20060195197A1 (en) * 2005-02-02 2006-08-31 Clausen Arinbjorn V Sensing systems and methods for monitoring gait dynamics
US20060224246A1 (en) * 2004-02-12 2006-10-05 Clausen Arinbjorn V Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle
US20070050045A1 (en) * 2005-09-01 2007-03-01 Clausen Arinbjorn V Sensing system and method for motion-controlled foot unit
WO2007041527A2 (en) * 2005-10-03 2007-04-12 Sandia Corporation Lower limb prosthesis
US20070156252A1 (en) * 2005-09-01 2007-07-05 Ossur Hf Actuator assebmly for prosthetic or orthotic joint
US20070255424A1 (en) * 2006-04-28 2007-11-01 Leydet Michael G Prosthetic sensing systems and methods
EP1962736A2 (en) * 2005-12-22 2008-09-03 U.S. GOVERNMENT, as represented by the secretary of THE U.S. ARMY Modular prosthetic foot
US20090299480A1 (en) * 2007-01-05 2009-12-03 Victhom Human Bionics Inc. Joint Actuation Mechanism for a Prosthetic and/or Orthotic Device Having a Compliant Transmission
US7811333B2 (en) 2004-12-22 2010-10-12 Ossur Hf Systems and methods for processing limb motion
US8007544B2 (en) 2003-08-15 2011-08-30 Ossur Hf Low profile prosthetic foot
US20110213471A1 (en) * 2010-02-26 2011-09-01 össur hf Prosthetic foot with a curved split
US8048007B2 (en) 2005-02-02 2011-11-01 össur hf Prosthetic and orthotic systems usable for rehabilitation
US8057550B2 (en) 2004-02-12 2011-11-15 össur hf. Transfemoral prosthetic systems and methods for operating the same
WO2012006462A1 (en) * 2010-07-07 2012-01-12 össur hf Ground contact sensing systems and methods for lower-limb orthotic and prosthetic devices
CN102499797A (en) * 2011-10-25 2012-06-20 中国科学院深圳先进技术研究院 Artificial limb control method and system
US8323354B2 (en) 2003-11-18 2012-12-04 Victhom Human Bionics Inc. Instrumented prosthetic foot
US8617254B2 (en) 2004-03-10 2013-12-31 Ossur Hf Control system and method for a prosthetic knee
US8702811B2 (en) 2005-09-01 2014-04-22 össur hf System and method for determining terrain transitions
US8801802B2 (en) 2005-02-16 2014-08-12 össur hf System and method for data communication with a mechatronic device
US8814949B2 (en) 2005-04-19 2014-08-26 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US8961618B2 (en) 2011-12-29 2015-02-24 össur hf Prosthetic foot with resilient heel
US9017419B1 (en) 2012-03-09 2015-04-28 össur hf Linear actuator
US9044346B2 (en) 2012-03-29 2015-06-02 össur hf Powered prosthetic hip joint
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US9066817B2 (en) 2007-01-05 2015-06-30 Victhom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US9358137B2 (en) 2002-08-22 2016-06-07 Victhom Laboratory Inc. Actuated prosthesis for amputees
US9526636B2 (en) 2003-11-18 2016-12-27 Victhom Laboratory Inc. Instrumented prosthetic foot
US9561118B2 (en) 2013-02-26 2017-02-07 össur hf Prosthetic foot with enhanced stability and elastic energy return
US9649206B2 (en) 2002-08-22 2017-05-16 Victhom Laboratory Inc. Control device and system for controlling an actuated prosthesis
US9707104B2 (en) 2013-03-14 2017-07-18 össur hf Prosthetic ankle and method of controlling same based on adaptation to speed
USD795433S1 (en) 2015-06-30 2017-08-22 Össur Iceland Ehf Prosthetic foot cover
USD797292S1 (en) 2014-06-30 2017-09-12 össur hf Prosthetic foot plate
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US9949850B2 (en) 2015-09-18 2018-04-24 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
RU2675467C2 (en) * 2017-03-31 2018-12-19 Общество С Ограниченной Ответственностью "Экзоатлет" Method of determining the position and orientation of the foot and phases of the movement of the foot support of the exoskeleton and integrated foot of the exoskeleton
US10251762B2 (en) 2015-05-27 2019-04-09 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications

Families Citing this family (35)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040064195A1 (en) 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US8075633B2 (en) 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
US20060184280A1 (en) * 2005-02-16 2006-08-17 Magnus Oddsson System and method of synchronizing mechatronic devices
US20070043449A1 (en) 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US8512415B2 (en) 2005-03-31 2013-08-20 Massachusetts Institute Of Technology Powered ankle-foot prothesis
US20060249315A1 (en) 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070162152A1 (en) 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US8864846B2 (en) 2005-03-31 2014-10-21 Massachusetts Institute Of Technology Model-based neuromechanical controller for a robotic leg
US8500823B2 (en) 2005-03-31 2013-08-06 Massachusetts Institute Of Technology Powered artificial knee with agonist-antagonist actuation
US10080672B2 (en) 2005-03-31 2018-09-25 Bionx Medical Technologies, Inc. Hybrid terrain-adaptive lower-extremity systems
US7766974B2 (en) * 2007-10-19 2010-08-03 American Prosthetic Components, Inc. Prosthetic foot with a processor to manage energy return of adjustable heel and keel springs
WO2010064063A1 (en) * 2008-04-30 2010-06-10 Rizzoli Ortopedia S.P.A. Automatic prosthesis for above-knee amputees
US8685109B2 (en) * 2008-07-01 2014-04-01 össur hf Smooth rollover insole for prosthetic foot
CA2736079A1 (en) 2008-09-04 2010-03-11 Iwalk, Inc. Hybrid terrain-adaptive lower-extremity systems
US9017418B2 (en) * 2009-05-05 2015-04-28 össur hf Control systems and methods for prosthetic or orthotic devices
US9387096B2 (en) * 2009-06-17 2016-07-12 Ossur Hf Feedback control systems and methods for prosthetic or orthotic devices
DE102009030995A1 (en) * 2009-06-30 2011-01-05 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Active prosthetic device with terrain detection and method for controlling an active prosthetic device
US8738122B2 (en) * 2009-08-21 2014-05-27 The Chinese University Of Hong Kong Systems and methods for reproducing body motions via networks
WO2011066354A2 (en) * 2009-11-25 2011-06-03 Otto Bock Healthcare Gmbh Prosthetic foot
US20110295384A1 (en) 2010-04-05 2011-12-01 Herr Hugh M Controlling power in a prosthesis or orthosis based on predicted walking speed or surrogate for same
WO2012047721A1 (en) 2010-09-29 2012-04-12 össur hf Prosthetic and orthotic devices and methods and systems for controlling the same
US9839552B2 (en) 2011-01-10 2017-12-12 Bionx Medical Technologies, Inc. Powered joint orthosis
WO2012100250A1 (en) 2011-01-21 2012-07-26 Iwalk, Inc. Terrain adaptive powered joint orthosis
US9060883B2 (en) 2011-03-11 2015-06-23 Iwalk, Inc. Biomimetic joint actuators
WO2013006585A2 (en) * 2011-07-01 2013-01-10 Orthocare Innovations Llc Prosthetic hydraulic joint with accumulator and methods for controlling joint
US9737419B2 (en) 2011-11-02 2017-08-22 Bionx Medical Technologies, Inc. Biomimetic transfemoral prosthesis
US9221177B2 (en) 2012-04-18 2015-12-29 Massachusetts Institute Of Technology Neuromuscular model-based sensing and control paradigm for a robotic leg
WO2014126768A1 (en) * 2013-02-13 2014-08-21 össur hf Overmould attachments for prosthetic foot
US8926711B2 (en) 2013-03-04 2015-01-06 College Park Industries, Inc. Prosthetics using curved dampening cylinders
US9192487B2 (en) 2013-03-11 2015-11-24 Arizona Board Of Regents On Behalf Of Arizona State University Joint control systems and methods utilizing muscle activation sensing
US9149938B1 (en) 2014-04-11 2015-10-06 Harris Corporation Robotic exoskeleton with adaptive viscous user coupling
US20150320575A1 (en) * 2014-05-07 2015-11-12 The Regents Of The University Of California Intuitive prosthetic interface
US9731416B1 (en) * 2015-03-11 2017-08-15 Google Inc. Legged robot passive fluid-based ankles with spring centering
TWI619488B (en) * 2017-01-19 2018-04-01 National Chin Yi Univ Of Technology Lower limb exoskeleton and aiding method thereof
FR3063887A3 (en) 2017-03-17 2018-09-21 Pm Ingenierie Et Design foot prosthesis has blade

Citations (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4030141A (en) * 1976-02-09 1977-06-21 The United States Of America As Represented By The Veterans Administration Multi-function control system for an artificial upper-extremity prosthesis for above-elbow amputees
US4179759A (en) * 1978-02-16 1979-12-25 Smith James A Artificial leg having a lockable knee joint
US4387472A (en) * 1980-10-02 1983-06-14 Medical Center Prosthetics, Inc. Torque absorber with biofeedback
US4521924A (en) * 1983-03-01 1985-06-11 University Of Utah Electrically driven artificial arm
US4558704A (en) * 1983-12-15 1985-12-17 Wright State University Hand control system
US4994086A (en) * 1989-08-09 1991-02-19 United States Manufacturing Company Universal modular frame for above-knee endoskeletal prosthesis
US5062857A (en) * 1990-06-05 1991-11-05 Advanced Prosthestetics Development Corporation Myoelectrically controlled knee joint locking device
US5062856A (en) * 1988-03-25 1991-11-05 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133773A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133774A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5252102A (en) * 1989-01-24 1993-10-12 Electrobionics Corporation Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine
US5383939A (en) * 1991-12-05 1995-01-24 James; Kelvin B. System for controlling artificial knee joint action in an above knee prosthesis
US5443528A (en) * 1992-11-17 1995-08-22 Allen; Scott Coil spring prosthetic foot
US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US5704946A (en) * 1996-03-13 1998-01-06 United States Manufacturing Company Multi-purpose prosthetic knee component
US5746774A (en) * 1994-09-09 1998-05-05 The University Of Toledo Knee joint mechanism for knee disarticulation prosthesis
US5779735A (en) * 1996-05-17 1998-07-14 Molino; Joseph L. Knee unit for above-knee prosthetic leg
US5888246A (en) * 1994-03-12 1999-03-30 Royal Infirmary Of Edinburgh Nhs Trust Motor drive system and linkage for hand prosthesis
US5888212A (en) * 1997-06-26 1999-03-30 Mauch, Inc. Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US5888213A (en) * 1997-06-06 1999-03-30 Motion Control, Inc. Method and apparatus for controlling an externally powered prosthesis
US5893891A (en) * 1993-06-11 1999-04-13 Chas. A. Blatchford & Sons Limited Prosthesis control system
US5895430A (en) * 1998-02-06 1999-04-20 O'connor; Roderick S. Prosthesis for long femur and knee disarticulation amputation
US6007582A (en) * 1996-03-29 1999-12-28 Ortho Europe Limited Prosthetic foot with means for energy storage and release
US6091977A (en) * 1995-04-07 2000-07-18 The University Of Miami Sensor
US6113642A (en) * 1996-06-27 2000-09-05 Mauch, Inc. Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US6129766A (en) * 1997-05-30 2000-10-10 College Park Industries, Inc. Prosthetic foot assembly having improved resilient cushions and components
US20010029400A1 (en) * 2000-01-20 2001-10-11 Deffenbaugh Bruce W. Electronically controlled prosthetic knee
US6361570B1 (en) * 1997-10-24 2002-03-26 Lothian Primary Care Nhs Trust Upper limb prosthesis
US20020052663A1 (en) * 2000-03-29 2002-05-02 Herr Hugh M. Speed-adaptive and patient-adaptive prosthetic knee
US6423098B1 (en) * 1997-12-10 2002-07-23 Biedermann Motech Gmbh Leg prosthesis with an artificial knee joint provided with an adjustment device
US6425925B1 (en) * 1998-10-01 2002-07-30 Schütt & Grundei Orthopädietechnik GmbH Leg exoprosthesis for adaptation to a thigh stump
US6443995B1 (en) * 2000-12-22 2002-09-03 Barry W. Townsend Prosthetic foot
US20020183803A1 (en) * 2001-03-30 2002-12-05 Neurocontrol Corporation Systems and methods for performing prosthetic or therapeutic neuromuscular stimulation using an external, battery powered controller with power conservation features
US6494039B2 (en) * 2000-03-01 2002-12-17 Massachusetts Institute Of Technology Force-controlled hydro-elastic actuator
US20020198604A1 (en) * 1997-02-26 2002-12-26 Schulman Joseph H. Method and apparatus for coupling an implantable stimulator/sensor to a prosthetic device
US20030029247A1 (en) * 2001-08-10 2003-02-13 Biedermann Motech Gmbh Sensor device, in particular for a prosthesis, and prosthesis having such a sensor device
US20030120353A1 (en) * 2000-06-30 2003-06-26 Christensen Roland J. Variable resistance cell
US20040064195A1 (en) * 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US20040111163A1 (en) * 2002-08-22 2004-06-10 Stephane Bedard Actuated leg prosthesis for above-knee amputees
US20040193286A1 (en) * 2003-02-17 2004-09-30 Eska Implants Gmbh & Co. Leg prosthesis
US20060249315A1 (en) * 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070016329A1 (en) * 2005-03-31 2007-01-18 Massachusetts Institute Of Technology Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics
US20070043449A1 (en) * 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators

Family Cites Families (355)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2619652A (en) 1947-09-18 1952-12-02 A J Hosmer Corp Artificial limb
US2568051A (en) 1947-10-10 1951-09-18 John G Catranis Artificial leg
US2859451A (en) 1956-11-05 1958-11-11 Hans A Mauch Hydraulic system
DE1069827B (en) 1956-11-26
US3316558A (en) 1963-11-12 1967-05-02 La Vaughn L Mortensen Prosthetic leg with a hydraulic knee control
DE1491236A1 (en) 1965-09-28 1969-05-22 Teufel Wilh Jul Fa An artificial knee joint for leg prostheses
NL6612233A (en) 1966-08-30 1968-03-01
DE1922619A1 (en) 1969-05-03 1970-11-19 Otto Bock Kg Adjustable connecting element between the prosthesis parts
US3820168A (en) 1970-05-01 1974-06-28 Bock O Orthopaedische Ind Fa K System for operating a prosthetic limb
US3701368A (en) 1971-06-23 1972-10-31 Rca Corp Fabrication of liquid crystal devices
CH543277A (en) 1971-09-27 1973-10-31 Battelle Memorial Institute replacement prosthesis of a portion of a lower member
US3791375A (en) 1971-09-29 1974-02-12 E Pfeiffer Device for sensing and warning of excessive ambulation force
US3866246A (en) 1972-11-14 1975-02-18 Us Navy Shoulder disarticulation prosthetic system
AT334521B (en) 1974-03-08 1976-01-25 Forsch Orthopadie Technik hock
US4005496A (en) 1974-06-28 1977-02-01 Hosmer/Dorrance Corporation Prosthetic knee joint
FR2293185A1 (en) 1974-12-02 1976-07-02 Bernard Jean Artificial leg with actuator - has unit on good leg moved by body weight coupled by flexible guide to receiver
US3995324A (en) 1975-09-12 1976-12-07 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Actuator device for artificial leg
FR2002163A1 (en) 1976-01-22 1969-10-17 Siemens Ag
US4023215A (en) 1976-02-17 1977-05-17 Moore Robert R Locking prosthetic knee
US4064569A (en) 1976-09-23 1977-12-27 Campbell Harry E Artificial polycentric knee joint
US4065815A (en) 1976-09-28 1978-01-03 Sen Jung Chen Hydraulically controlled artificial leg
US4100918A (en) 1977-03-25 1978-07-18 Indiana University Foundation Dynamic orthotic knee extension assist device
US4209860A (en) 1978-02-13 1980-07-01 The United States of America as represented by the Administrator of Veterans' Affairs System and method for multifunctional control of upper limb prosthesis via EMg signal identification
DE2841999C2 (en) 1978-09-27 1981-11-26 Otto Bock, Orthopaedische Industrie Kg, 3428 Duderstadt, De
US4354676A (en) 1978-10-13 1982-10-19 Pepsico, Inc. Exerciser
US4212087A (en) 1978-11-16 1980-07-15 Mortensen Lavaugh L Prosthetic leg with a hydraulic control
JPS5712616B2 (en) 1979-02-26 1982-03-11
DE3047662C2 (en) 1980-12-18 1985-02-21 Karl M. Reich Maschinenfabrik Gmbh, 7440 Nuertingen, De
US4386891A (en) 1981-04-23 1983-06-07 General Motors Corporation Rotary hydraulic vane pump with undervane passages for priming
US4370977A (en) 1981-05-04 1983-02-01 Kenneth D. Driver Knee and elbow brace
US4433679A (en) 1981-05-04 1984-02-28 Mauldin Donald M Knee and elbow brace
DE3269147D1 (en) 1981-06-09 1986-03-27 Hanger & Co Ltd J E Knee joint for artificial legs
US4657000A (en) 1981-07-23 1987-04-14 Dynasplints Systems, Inc. Adjustable splint and securing means therefor
JPS5932453Y2 (en) 1981-12-07 1984-09-11
CA1222782A (en) 1982-06-01 1987-06-09 Jim Mcarthur Multi-mode exercising apparatus
US4518307A (en) 1982-09-29 1985-05-21 The Boeing Company Compliant robot arm adapter assembly
JPS5971747U (en) 1982-11-05 1984-05-16
US4569352A (en) 1983-05-13 1986-02-11 Wright State University Feedback control system for walking
US4578083A (en) 1983-05-16 1986-03-25 Williams Allton C Artificial leg
JPS59189843U (en) 1983-05-31 1984-12-17
US4556956A (en) 1983-09-16 1985-12-03 General Electric Company Adjustable gain controller for valve position control loop and method for reducing jitter
JPS6081530U (en) 1983-11-09 1985-06-06
CA1276710C (en) 1983-11-30 1990-11-20 Kazuo Asakawa Robot force controlling system
FR2559394B1 (en) 1984-02-10 1986-07-11 Carsalade Charles Device to facilitate alpine skiing including
US4600357A (en) 1984-02-21 1986-07-15 Heath Company Gripper force sensor/controller for robotic arm
US4602619A (en) 1984-10-02 1986-07-29 Wolf Susan G Method and device for producing variable spinal traction
US4657470A (en) 1984-11-15 1987-04-14 Westinghouse Electric Corp. Robotic end effector
JPH0478337B2 (en) 1984-12-20 1992-12-10 Virginia Chemicals Inc
SU1447366A1 (en) 1985-03-04 1988-12-30 Украинский Научно-Исследовательский Институт Протезирования, Протезостроения, Экспертизы И Восстановления Трудоспособности Инвалидов Apparatus for controlling prostheses of the lower extermities
DE3519046C2 (en) 1985-05-28 1987-03-19 Otto Bock Orthopaedische Industrie Besitz- Und Verwaltungs-Kommanditgesellschaft, 3408 Duderstadt, De
DE8515598U1 (en) 1985-05-28 1985-07-11 Otto Bock Orthopaedische Industrie Besitz- Und Verwaltungs-Kommanditgesellschaft, 3408 Duderstadt, De
US4649934A (en) 1985-06-07 1987-03-17 Faro Medical Technologies, Inc. Joint laxity measurement
GB2177603B (en) 1985-07-09 1989-07-19 David Ernest Young Modular lower limb bracing system
AT391076B (en) 1985-11-06 1990-08-10 Bock Orthopaed Ind swivel
DE3543291A1 (en) 1985-12-07 1987-06-11 Bosch Gmbh Robert Hydraulic shock absorber (damper)
CA1260986A (en) 1985-12-11 1989-09-26 Frank R. Bubic Artificial musculoskeletal mechanism
US4711242A (en) 1986-02-18 1987-12-08 Wright State University Control system for knee joint
US4760850A (en) 1986-05-15 1988-08-02 Wright State University Method for balancing assistance
US4814661A (en) 1986-05-23 1989-03-21 Washington State University Research Foundation, Inc. Systems for measurement and analysis of forces exerted during human locomotion
FR2599246B1 (en) 1986-06-02 1991-10-25 Paris Administ Gle Assistance Orthese dynamic knee.
GB8625144D0 (en) 1986-10-21 1986-11-26 Hennequin J R Pneumatic/hydraulic artificial muscle
US4726404A (en) 1986-12-15 1988-02-23 Habley Medical Technology Corporation Combination container and air removal fixture for simplified filling of an implantable hydraulic device
US4730625A (en) 1986-12-15 1988-03-15 Faro Medical Technologies Inc. Posture monitoring system
GB2201260B (en) 1987-02-07 1991-02-13 Christopher Charles Box A method of control of a mechanised artificial leg
JP2645004B2 (en) 1987-02-27 1997-08-25 株式会社東芝 The control device of the multi-degree-of-freedom Manipiyureta
US4805455A (en) 1987-04-24 1989-02-21 Myo-Tech Corp. Muscle testing apparatus and method
US4770662A (en) 1987-07-13 1988-09-13 Giampapa Vincent C Sensate vibratory prosthesis
US4878913A (en) 1987-09-04 1989-11-07 Pfizer Hospital Products Group, Inc. Devices for neural signal transmission
JPS6471686A (en) 1987-09-09 1989-03-16 Komatsu Mfg Co Ltd Flexible arm robot
AT388658B (en) 1987-09-22 1989-08-10 Bock Orthopaed Ind Double-acting hydraulic piston-cylinder unit
AT389393B (en) 1987-10-02 1989-11-27 Bock Orthopaed Ind control valve
US4808187A (en) 1987-10-05 1989-02-28 Iowa State University Research Foundation, Inc. Tactile stimulus receptor for a hand prosthesis
AT391801B (en) 1987-10-30 1990-12-10 Bock Orthopaed Ind hydraulic control
FR2623086B1 (en) 1987-11-17 1994-03-18 Adcro Section Ceraval Knee prosthetic command by a microprocessor
US4892554A (en) 1987-12-21 1990-01-09 Robinson David L Prosthetic foot
US4919418A (en) 1988-01-27 1990-04-24 Miller Jan W Computerized drive mechanism for exercise, physical therapy and rehabilitation
US4790522A (en) 1988-02-25 1988-12-13 Trw Inc. Electroviscous fluid control device
US4876944A (en) 1988-03-03 1989-10-31 Duke University Pneumatic limb control system
US5112356A (en) 1988-03-04 1992-05-12 Chas A. Blatchford & Sons Limited Lower limb prosthesis with means for restricting dorsi-flexion
JP2501862B2 (en) 1988-03-25 1996-05-29 株式会社神戸製鋼所 Femoral prosthesis and the femoral prosthesis for stance swing phase discriminating device
US5219365A (en) 1988-03-31 1993-06-15 Sabolich, Inc. Prosthetic foot
US4843921A (en) 1988-04-18 1989-07-04 Kremer Stephen R Twisted cord actuator
SU1731210A1 (en) 1988-08-29 1992-05-07 Л.А. Максименко Active prosthesis of a lower extremity provided with bioelectric control means
DE3830330C2 (en) 1988-09-07 1993-01-28 Schuett & Grundei Orthopaedietechnik Gmbh, 2400 Luebeck, De
US4865024A (en) 1988-10-21 1989-09-12 Hensley Dvid E Extension deceleration orthosis
CN2043873U (en) 1988-11-21 1989-09-06 张红军 One-sided mobile artificial legs
US5062673A (en) 1988-12-28 1991-11-05 Kabushiki Kaisha Toyota Chuo Kenkyusho Articulated hand
CA2008248A1 (en) 1989-01-24 1990-07-24 Robert D. Singer Electronic range of motion apparatus, for orthosis, prosthesis and cpm machine
US4928676A (en) 1989-02-27 1990-05-29 Timothy Pansiera Knee brace with flexible secondary joint
JPH0724766Y2 (en) 1989-03-20 1995-06-05 シャープ株式会社 Timer
DE3923056A1 (en) 1989-07-13 1991-01-24 Bernd Dr Ing Kuenne Knee-joint with free-wheel - is fitted with brake which is controlled by sensor inside prosthesis
DE3923057A1 (en) 1989-07-13 1991-01-24 Bernd Dr Ing Kuenne Knee-joint prosthesis with free wheel - allows lower leg to be swung to straight position
US5139525A (en) 1989-07-31 1992-08-18 Kristinsson Oessur Prosthetic foot
US5086785A (en) 1989-08-10 1992-02-11 Abrams/Gentille Entertainment Inc. Angular displacement sensors
US5033291A (en) 1989-12-11 1991-07-23 Tekscan, Inc. Flexible tactile sensor for measuring foot pressure distributions and for gaskets
JP2918258B2 (en) 1989-12-12 1999-07-12 株式会社ユニシアジェックス Variable damping force type shock absorber
US5044360A (en) 1989-12-26 1991-09-03 United States Manufacturing Company Orthosis with variable motion controls
US5217500A (en) 1990-01-12 1993-06-08 Phillips L Van Prosthetic leg
NL9000195A (en) 1990-01-26 1991-08-16 Bock Orthopaed Ind Pivotable connection device prosthetic or orthesedelen.
SE469780B (en) 1990-04-02 1993-09-13 Finn Gramnaes Artificial foot and the use of a ball screw and ball nut at such foot
SE469739B (en) 1990-04-02 1993-09-06 Finn Gramnaes artificial knaeled
GB2244006B (en) 1990-05-04 1994-05-25 Blatchford & Sons Ltd An artificial limb
US5157372A (en) 1990-07-13 1992-10-20 Langford Gordon B Flexible potentiometer
US5092902A (en) 1990-08-16 1992-03-03 Mauch Laboratories, Inc. Hydraulic control unit for prosthetic leg
US5153496A (en) 1990-09-27 1992-10-06 Baxtrer International Inc. Cell monitor and control unit for multicell battery
US5020790A (en) 1990-10-23 1991-06-04 Board Of Supervisors Of Louisiana State University And Agricultural And Mechanical College Powered gait orthosis
JP3078009B2 (en) 1990-11-30 2000-08-21 本田技研工業株式会社 Walking control system of a legged mobile robot
US5265890A (en) 1990-12-03 1993-11-30 Peter J. Balsells Seal with spring energizer
US5201772A (en) 1991-01-31 1993-04-13 Maxwell Scott M System for resisting limb movement
US5397287A (en) 1991-02-06 1995-03-14 Lindfors; Kai Muscle exercising device
US5230672A (en) 1991-03-13 1993-07-27 Motivator, Inc. Computerized exercise, physical therapy, or rehabilitating apparatus with improved features
EP0503775A1 (en) 1991-03-14 1992-09-16 CHAS. A. BLATCHFORD & SONS LIMITED An artificial leg
GB9105464D0 (en) 1991-03-14 1991-05-01 Blatchford & Sons Ltd An artificial leg
US5197488A (en) 1991-04-05 1993-03-30 N. K. Biotechnical Engineering Co. Knee joint load measuring instrument and joint prosthesis
US5246465A (en) 1991-04-19 1993-09-21 Richard G. Rincoe Prosthetic knee joint
US5112296A (en) 1991-04-30 1992-05-12 The Board Of Supervisors Of Louisiana State University Biofeedback activated orthosis for foot-drop rehabilitation
US5253656A (en) 1991-05-23 1993-10-19 Rincoe Richard G Apparatus and method for monitoring contact pressure between body parts and contact surfaces
GB2260495B (en) 1991-10-04 1996-02-07 Steeper Hugh Ltd An orthotic or prosthetic walking brace
JPH05123348A (en) 1991-11-09 1993-05-21 Imasen Gijutsu Kenkyusho:Kk Foot part of artificial leg
JP3181957B2 (en) 1991-12-16 2001-07-03 モーク・ラボラトリーズ・インコーポレーテッド Prosthesis use hydraulic control unit
US5282460A (en) 1992-01-06 1994-02-01 Joyce Ann Boldt Three axis mechanical joint for a power assist device
JP2849882B2 (en) 1992-02-24 1999-01-27 株式会社ナブコ Prosthesis cylinder
US5642096A (en) 1992-03-20 1997-06-24 Paromed Medizintechnik Gmbh Device for prevention of ulcers in the feet of diabetes patients
DE9204448U1 (en) 1992-04-01 1993-08-05 Otto Bock Orthopaedische Industrie Besitz- Und Verwaltungs-Kommanditgesellschaft, 37115 Duderstadt, De
EP0567673B1 (en) 1992-04-29 1995-07-05 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft Knee joint orthesis
US5357696A (en) 1992-05-01 1994-10-25 Gray Frank B Device for measuring force applied to a wearer's foot
US5405510A (en) 1992-05-18 1995-04-11 Ppg Industries, Inc. Portable analyte measuring system for multiple fluid samples
SE500984C2 (en) 1992-06-02 1994-10-10 Lindhs Ortopediska Ab Foot prosthesis comprising a support member cooperating with foot
US5336269A (en) 1992-06-09 1994-08-09 Liberty Mutual Insurance Co. Method and apparatus for switching degrees of freedom in a prosthetic limb
JPH05337146A (en) 1992-06-09 1993-12-21 Hyogo Pref Gov Shakai Fukushi Jigyodan Leg play phase controlled artificial leg
US5277281A (en) 1992-06-18 1994-01-11 Lord Corporation Magnetorheological fluid dampers
US5284330A (en) 1992-06-18 1994-02-08 Lord Corporation Magnetorheological fluid devices
US5327790A (en) 1992-06-19 1994-07-12 Massachusetts Institute Of Technology Reaction sensing torque actuator
US5413611A (en) 1992-07-21 1995-05-09 Mcp Services, Inc. Computerized electronic prosthesis apparatus and method
US5405410A (en) 1992-08-12 1995-04-11 Ohio Willow Wood Company Adjustable lower limb prosthesis having conical support
US5376128A (en) 1992-08-31 1994-12-27 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Control system for prosthetic devices
DE4229330A1 (en) 1992-09-02 1994-03-10 Ludger Springob Limb function restoration using somatronic device - has microchip which responds to detected movement of sound limb to provide signals for stimulating impaired limb
US6500210B1 (en) 1992-09-08 2002-12-31 Seattle Systems, Inc. System and method for providing a sense of feel in a prosthetic or sensory impaired limb
GB2270473B (en) 1992-09-14 1996-01-17 Blatchford & Sons Ltd An artificial leg
DE4233247A1 (en) 1992-10-02 1994-04-07 Biedermann Motech Gmbh Swing phase control device
GB9222732D0 (en) 1992-10-29 1992-12-09 Andrews Brian Improvements in or relating to orthoses and prosthesis
US5382373A (en) 1992-10-30 1995-01-17 Lord Corporation Magnetorheological materials based on alloy particles
DE69321247T2 (en) 1992-10-30 1999-02-25 Lord Corp Magnetorheological thixotropic materials
WO1994010943A1 (en) 1992-11-17 1994-05-26 Allen Scott E Coil spring prosthetic foot
US5405409A (en) 1992-12-21 1995-04-11 Knoth; Donald E. Hydraulic control unit for prosthetic leg
US5443521A (en) 1992-12-21 1995-08-22 Mauch Laboratories, Inc. Hydraulic control unit for prosthetic leg
US5323650A (en) 1993-01-14 1994-06-28 Fullen Systems, Inc. System for continuously measuring forces applied to the foot
US5678448A (en) 1994-01-14 1997-10-21 Fullen Systems, Inc. System for continuously measuring forces applied by the foot
US5422558A (en) 1993-05-05 1995-06-06 Astec International Ltd. Multicell battery power system
US5954621A (en) 1993-07-09 1999-09-21 Kinetecs, Inc. Exercise apparatus and technique
CA2100842C (en) 1993-07-19 1998-11-24 James E. Poil Magnetic motion producing device
US5476441A (en) 1993-09-30 1995-12-19 Massachusetts Institute Of Technology Controlled-brake orthosis
DE4338946C1 (en) 1993-11-15 1995-05-24 Bock Orthopaed Ind Artificial joint
US5437611A (en) 1993-12-01 1995-08-01 Orthotic Rehabilitation Products, Inc. Dynamic brace joint
US5504415A (en) 1993-12-03 1996-04-02 Electronic Power Technology, Inc. Method and apparatus for automatic equalization of series-connected batteries
NL9400269A (en) 1994-02-22 1995-10-02 P G Van De Veen Consultancy B A device for mutually pivotably connecting parts of an orthopedic device.
DE4410730C1 (en) 1994-03-28 1995-06-08 Biedermann Motech Gmbh Servo-hydraulic swing phase control for artificial knee joint
DE9405545U1 (en) 1994-03-31 1994-06-30 Biedermann Motech Gmbh Swing phase control for an artificial knee joint
US5472412A (en) 1994-04-05 1995-12-05 Mauch Laboratories, Inc. Limb brace with adjustable hydraulic resistance unit
DE4418806A1 (en) 1994-05-30 1995-12-14 Bock Orthopaed Ind knee brace
US5586557A (en) 1994-05-31 1996-12-24 Bcam International, Inc. Functional ambulation performance scoring device
US5408873A (en) 1994-07-25 1995-04-25 Cleveland Medical Devices, Inc. Foot force sensor
US5551525A (en) 1994-08-19 1996-09-03 Vanderbilt University Climber robot
AU710101B2 (en) 1994-09-30 1999-09-16 Richard G. Rincoe Artificial ankle joint and prosthetic devices formed therewith
NL9401975A (en) 1994-11-25 1996-07-01 P G Van De Veen Consultancy B A device for mutually pivotably connecting parts of an orthopedic device.
US5687467A (en) 1994-11-30 1997-11-18 Bergmann Orthotic Lab, Inc. Method for preparing an orthotic appliance
FR2728408B1 (en) 1994-12-20 1997-01-31 Alsthom Cge Alcatel Power supply device in particular for portable apparatus
US5571212A (en) 1995-01-10 1996-11-05 M+Ind (Model & Instrument Development Corporation Prosthetic ankle joint for pivotally connecting a residual limb to a prosthetic foot
SE511750C2 (en) 1995-02-21 1999-11-15 Gramtec Innovation Ab An adjustable prosthesis joint, such as ankle prosthesis or prosthetic
DE19506426C1 (en) 1995-02-24 1996-11-28 Bock Orthopaed Ind braking knee joint
DE19507894C2 (en) 1995-03-07 1998-07-02 Bock Orthopaed Ind Lower leg prosthetic leg
US5563458A (en) 1995-03-08 1996-10-08 Ericson; Paul L. Apparatus and method for sensing surface flexure
US5566479A (en) 1995-03-21 1996-10-22 Gray; Frank B. Shoe contruction for use by diabetic persons
DE19511890C1 (en) 1995-03-31 1996-11-07 Bock Orthopaed Ind Prosthetic joint brake
US5662693A (en) 1995-06-05 1997-09-02 The United States Of America As Represented By The Secretary Of The Air Force Mobility assist for the paralyzed, amputeed and spastic person
DE19520585C2 (en) 1995-06-06 1999-11-25 Bock Orthopaed Ind Seat-Braces system
GB9511648D0 (en) 1995-06-08 1995-08-02 Coker Ian Apparatus for helping persons to walk
DE19521147C1 (en) 1995-06-09 1996-12-05 Bock Orthopaed Ind Joint lot Prothesenfußteil
DE19521464C2 (en) 1995-06-13 1999-08-19 Leuven K U Res & Dev Method for controlling the brake of a knee prosthetic knee joint, and thigh prosthesis
GB2302949B (en) 1995-07-01 1999-04-14 Univ Salford A transducer
US5749533A (en) 1995-08-03 1998-05-12 Daniels; John J. Fishing reel with electronically variable brake for preventing backlash
US5656915A (en) 1995-08-28 1997-08-12 Eaves; Stephen S. Multicell battery pack bilateral power distribution unit with individual cell monitoring and control
EP0765646B1 (en) 1995-09-08 2000-12-06 Otto Bock Orthopädische Industrie Besitz- und Verwaltungs-Kommanditgesellschaft Lower leg prosthesis
GB9606219D0 (en) 1995-09-22 1996-05-29 Blatchford & Sons Ltd Knee prosthesis
US6183425B1 (en) 1995-10-13 2001-02-06 The United States Of America As Represented By The Administrator Of The National Aeronautics And Space Administration Method and apparatus for monitoring of daily activity in terms of ground reaction forces
US5670077A (en) 1995-10-18 1997-09-23 Lord Corporation Aqueous magnetorheological materials
US5900184A (en) 1995-10-18 1999-05-04 Lord Corporation Method and magnetorheological fluid formulations for increasing the output of a magnetorheological fluid device
SE510125C2 (en) 1996-01-22 1999-04-19 Handevelop Ab A prosthetic device
WO1997027822A1 (en) 1996-01-30 1997-08-07 John Chilver Artificial muscle
US20020087216A1 (en) 1996-02-16 2002-07-04 Atkinson Stewart L. Prosthetic walking system
US5800568A (en) 1996-02-16 1998-09-01 Model & Instrument Development Corporation Prosthetic ankle and walking system
US5711746A (en) 1996-03-11 1998-01-27 Lord Corporation Portable controllable fluid rehabilitation devices
US5919149A (en) 1996-03-19 1999-07-06 Allum; John H. Method and apparatus for angular position and velocity based determination of body sway for the diagnosis and rehabilitation of balance and gait disorders
GB9607749D0 (en) 1996-04-15 1996-06-19 Blatchford & Sons Ltd Specification of an artifical limb
US5800561A (en) 1996-05-15 1998-09-01 Massachusetts Institute Of Technology Power-assisted upper extremity orthosis
US5906767A (en) 1996-06-13 1999-05-25 Lord Corporation Magnetorheological fluid
US5683615A (en) 1996-06-13 1997-11-04 Lord Corporation Magnetorheological fluid
US5842547A (en) 1996-07-02 1998-12-01 Lord Corporation Controllable brake
US5878851A (en) 1996-07-02 1999-03-09 Lord Corporation Controllable vibration apparatus
GB9621137D0 (en) 1996-10-10 1996-11-27 Chas A Blatchford And Sons Lim An above-knee lower limb prosthesis and a shin component for the prosthesis
CA2218242C (en) 1996-10-11 2005-12-06 Kenneth R. Fyfe Motion analysis system
US6301964B1 (en) 1997-10-14 2001-10-16 Dyhastream Innovations Inc. Motion analysis system
US5998930A (en) 1996-10-24 1999-12-07 Motorola Inc. Electronic ballast with two-step boost converter and method
DE69710357T2 (en) 1996-11-21 2002-10-17 Advanced Fluid Systems Ltd Flow control valve and damper
DE19709006A1 (en) 1997-03-05 1998-09-24 Biedermann Motech Gmbh Spring device for a prosthetic leg
US5947238A (en) 1997-03-05 1999-09-07 Lord Corporation Passive magnetorheological fluid device with excursion dependent characteristic
US6095486A (en) 1997-03-05 2000-08-01 Lord Corporation Two-way magnetorheological fluid valve assembly and devices utilizing same
US5982156A (en) 1997-04-15 1999-11-09 The United States Of America As Represented By The Secretary Of The Air Force Feed-forward control of aircraft bus dc boost converter
SE512643C2 (en) 1997-04-29 2000-04-17 Handevelop Ab A device for artificial sensibility by the recording of audio touch
US5823309A (en) 1997-05-23 1998-10-20 General Motors Corporation Magnetorheological transmission clutch
JPH11345A (en) 1997-06-12 1999-01-06 Imasen Gijutsu Kenkyusho:Kk Ankle joint device for artificial leg
DE29723632U1 (en) 1997-06-26 1999-01-07 Mauch Inc Computer-controlled hydraulic resistance device for a prosthesis and other devices
AU8558798A (en) 1997-08-01 1999-02-22 Alt Artificial Limb Technology Ltd. Walk induced energy accumulator
US5929332A (en) 1997-08-15 1999-07-27 Brown; Norma Sensor shoe for monitoring the condition of a foot
GB2367753B (en) 1997-08-15 2002-05-29 Blatchford & Sons Ltd A lower limb prosthesis
GB9813904D0 (en) 1997-08-15 1998-08-26 Blatchford & Sons Ltd A lower limb prosthesis
JPH1156885A (en) 1997-08-25 1999-03-02 Nabco Ltd Motor-driven artificial hand
DE29715794U1 (en) 1997-09-03 1997-10-23 Bock Orthopaed Ind orthotic
US6104759A (en) 1997-09-15 2000-08-15 Research In Motion Limited Power supply system for a packet-switched radio transmitter
US5967273A (en) 1997-10-17 1999-10-19 Eaton Corporation Magneto-rheological fluid coupling
US5899869A (en) 1997-12-22 1999-05-04 Barrack, Jr.; Herb J. Orthopedic appliance with weight activated brake and variable extension assist
JPH11215793A (en) 1998-01-26 1999-08-06 Sony Corp Driving equipment
US6151624A (en) 1998-02-03 2000-11-21 Realnames Corporation Navigating network resources based on metadata
US5948021A (en) 1998-02-24 1999-09-07 Hosmer-Dorrance Corporation Hydraulic cylinders for limb gait control
GB9804611D0 (en) 1998-03-04 1998-04-29 Blatchford & Sons Ltd Lower limb prosthesis and control unit
DE19810385C2 (en) 1998-03-11 2000-06-21 Bock Orthopaed Ind Prosthetic joint brake
USD439339S1 (en) 1998-03-25 2001-03-20 Otto Bock Orthopaedische Industrie Besitz-Und Verwaltungs-Kommanditgessellschaft Knee joint
US5960918A (en) 1998-03-27 1999-10-05 Behr America, Inc. Viscous clutch assembly
JP3245828B2 (en) 1998-04-03 2002-01-15 株式会社ナブコ Artificial leg comprising extension auxiliary mechanism
US6206934B1 (en) 1998-04-10 2001-03-27 Flex-Foot, Inc. Ankle block with spring inserts
AT471704T (en) 2000-10-26 2010-07-15 Ossur North America Inc Foot prosthesis with spring-loaded ankle
DE69924366T2 (en) 1998-04-28 2006-03-09 Gramtec Innovation Ab knee prosthesis
US6185614B1 (en) 1998-05-26 2001-02-06 International Business Machines Corp. Method and system for collecting user profile information over the world-wide web in the presence of dynamic content using document comparators
GB2338653A (en) 1998-06-26 1999-12-29 Blatchford & Sons Ltd A lower limb prosthesis
US6129690A (en) 1998-07-29 2000-10-10 Empi Corp. Unidirectional resistance pivot assembly for a splint
US6039091A (en) 1998-08-03 2000-03-21 Mentor Corporation Filling device for use in manufacturing of gel filled prostheses
US6080123A (en) 1998-09-14 2000-06-27 Pansiera; Timothy Thomas Orthotic joint with radial hydraulic force transfer
US6164967A (en) 1998-09-15 2000-12-26 Professional Dental Technologies, Inc. Fluid delivery dental cleaning device
US7410471B1 (en) * 1998-09-18 2008-08-12 Becker Orthopedic Appliance Company Orthosis knee joint and sensor
US6517503B1 (en) 1998-09-18 2003-02-11 Becker Orthopedic Appliance Company Orthosis knee joint
GB9823946D0 (en) 1998-11-03 1998-12-30 Hammond Richard V Prosthesis control unit
AU1394699A (en) 1998-11-10 2000-05-29 Mauch, Inc. Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US6093162A (en) 1998-11-16 2000-07-25 Fairleigh; Angela Dynamic splint for post-operative treatment of flexible implant arthroplasty of the fingers
US6206932B1 (en) 1998-11-24 2001-03-27 Timothy Johnson Alignment device for a prosthetic limb
DE19859931A1 (en) 1998-12-24 2000-07-06 Biedermann Motech Gmbh Leg prosthesis with an artificial knee joint and method for controlling a leg prosthesis
US6117177A (en) 1999-03-12 2000-09-12 Teh Lin Prosthetic & Orthopaedic Inc. Artificial knee joint having a swing phase control member
US6168634B1 (en) 1999-03-25 2001-01-02 Geoffrey W. Schmitz Hydraulically energized magnetorheological replicant muscle tissue and a system and a method for using and controlling same
KR100289537B1 (en) 1999-04-21 2001-05-02 김순택 lithum secondary battery
US6602295B1 (en) 1999-05-24 2003-08-05 Ohio Willow Wood Company Prosthetic foot having shock absorption
US6241775B1 (en) 1999-05-25 2001-06-05 Chas. A. Blatchford & Sons Ltd. Specification of an artificial limb
EP1183273A1 (en) 1999-05-28 2002-03-06 Board Of Regents The University Of Texas System C-cam as an angiogenesis inhibitor
GB9914989D0 (en) 1999-06-28 1999-08-25 Cooper John E Swing phase control for an artifical knee
US6574655B1 (en) 1999-06-29 2003-06-03 Thomson Licensing Sa Associative management of multimedia assets and associated resources using multi-domain agent-based communication between heterogeneous peers
US6409695B1 (en) 1999-07-27 2002-06-25 John D. Connelly Ankle-foot orthotic
GB9921026D0 (en) 1999-09-06 1999-11-10 Blatchford & Sons Ltd A lower limb prosthesis
US6195921B1 (en) 1999-09-28 2001-03-06 Vinncente Hoa Gia Truong Virtual intelligence shoe with a podiatric analysis system
KR200185261Y1 (en) 1999-12-03 2000-06-15 원모콜주식회사 A power supply control circuit for digital electronic device
US6671531B2 (en) 1999-12-09 2003-12-30 Masimo Corporation Sensor wrap including foldable applicator
CN2400072Y (en) 1999-12-10 2000-10-11 郑嘉宝 Improved knee joint
US6599439B2 (en) 1999-12-14 2003-07-29 Delphi Technologies, Inc. Durable magnetorheological fluid compositions
FI110159B (en) 1999-12-17 2002-12-13 Respecta Oy Alaraajaproteesi
TW429637B (en) 1999-12-17 2001-04-11 Synergy Scientech Corp Electrical energy storage device
DE10000781A1 (en) 2000-01-11 2001-11-29 Biedermann Motech Gmbh Apparatus and method for remote maintenance of an electronically activatable prosthesis
EP1125825A3 (en) 2000-02-18 2002-04-24 Delphi Technologies, Inc. Variable road feedback device for steer-by-wire systems
JP2001277175A (en) 2000-03-30 2001-10-09 Hiroshima Pref Gov Multi-fingered movable robot hand and its gripping control method
US6430843B1 (en) 2000-04-18 2002-08-13 Nike, Inc. Dynamically-controlled cushioning system for an article of footwear
US20030149600A1 (en) 2000-04-21 2003-08-07 Eckert Seamans Cherin And Mellott Llc Reservation entry method and system
USD446304S1 (en) 2000-04-29 2001-08-07 Otto Bock Orthopaedische Industrie Besitz- Und Verwaltungs-Kommanditgesellschaft Knee joint prosthesis
US6811571B1 (en) 2000-05-02 2004-11-02 Van L. Phillips Universal prosthesis with cushioned ankle
US6395193B1 (en) 2000-05-03 2002-05-28 Lord Corporation Magnetorheological compositions
US7164967B2 (en) 2000-05-04 2007-01-16 Iguana Robotics, Inc. Biomorphic rhythmic movement controller
US6522266B1 (en) 2000-05-17 2003-02-18 Honeywell, Inc. Navigation system, method and software for foot travel
DE20010892U1 (en) 2000-06-20 2000-09-21 Cheng Chia Pao knee
AU7177801A (en) 2000-06-30 2002-01-14 Roland J Christensen Prosthetic foot
FR2811220B1 (en) 2000-07-04 2003-01-31 Francis Artigue active modular prosthesis for arms and forearms
US6780343B2 (en) 2000-07-31 2004-08-24 Bando Chemical Industries Ltd. Stably dispersed magnetic viscous fluid
SE516947C2 (en) 2000-08-25 2002-03-26 Gramtec Innovation Ab Device in bone prosthesis
US6805677B2 (en) 2000-09-20 2004-10-19 John Castle Simmons Wheel-less walking support and rehabilitation device
US7918808B2 (en) 2000-09-20 2011-04-05 Simmons John C Assistive clothing
FR2816463A1 (en) 2000-11-03 2002-05-10 Jean Noel Charpentier DC power supply for electronic equipment has voltage doubler circuit for storing battery energy in capacitor followed by voltage regulator
KR100401457B1 (en) 2000-11-27 2003-10-10 산재의료관리원 Multi-functioning artificial foot
JP2002174243A (en) 2000-12-11 2002-06-21 Matsushita Electric Ind Co Ltd Manufacturing method for dynamic pressure bearing device and dynamic pressure bearing device
JP2002191654A (en) 2000-12-22 2002-07-09 Tama Tlo Kk Walking prosthesis
JP4384822B2 (en) 2001-01-26 2009-12-16 本田技研工業株式会社 Prostheses of the driving device
US6485519B2 (en) 2001-01-29 2002-11-26 Bristol-Myers Squibb Company Constrained prosthetic knee with rotating bearing
EP1241340B1 (en) 2001-03-14 2008-05-07 Honda Giken Kogyo Kabushiki Kaisha Stirling engine
JP2002280121A (en) 2001-03-19 2002-09-27 Jst Mfg Co Ltd Electric connector, and transmission way
US6443993B1 (en) * 2001-03-23 2002-09-03 Wayne Koniuk Self-adjusting prosthetic ankle apparatus
EP1252871A1 (en) 2001-03-30 2002-10-30 I.N.A.I.L. Centro per la Sperimentazione ed Applicazione di Protesi e Presidi Ortopedici per Gli Informtuni Sul Lavoro A system for the control and monitoring of functional devices for disabled with energy from outside the body and a method for the remote control thereof
NL1017771C2 (en) 2001-04-04 2002-10-07 Otto Bock Austria Ges M B H A device for mutually pivotally connecting an orthopedic device.
CA2446875C (en) 2001-05-16 2010-12-14 Fondation Suisse Pour Les Cybertheses A device for re-educating and/or training the lower limbs of a person
GB0116503D0 (en) 2001-07-06 2001-08-29 Univ Reading Rotatable joint stop mechanism
US20030019700A1 (en) 2001-07-25 2003-01-30 Michael Wittig Magnetorheological fluid damper
US6876135B2 (en) 2001-10-05 2005-04-05 Sri International Master/slave electroactive polymer systems
US7209788B2 (en) * 2001-10-29 2007-04-24 Duke University Closed loop brain machine interface
AUPR967301A0 (en) 2001-12-21 2002-01-24 Energy Storage Systems Pty Ltd A control circuit
US7308333B2 (en) 2002-01-31 2007-12-11 Melco Industries, Inc. Computerized stitching including embroidering
AT427699T (en) 2002-02-07 2009-04-15 Ecole Polytech Kírperbewegungsuberwachungsgerat
JP3976129B2 (en) 2002-02-28 2007-09-12 本田技研工業株式会社 Parallel linkage and artificial joint device using the same
WO2003079940A2 (en) 2002-03-19 2003-10-02 The Board Of Trustees Of The University Of Illinois System and method for prosthetic fitting and balancing in joints
DE10214357A1 (en) 2002-03-28 2003-10-16 Bock Healthcare Gmbh Knee-joint prosthesis with a hydraulic damping cylinder
CA2380945A1 (en) 2002-04-08 2003-10-08 Powergenix Systems, Inc. Hybrid battery configuration
WO2003086245A2 (en) 2002-04-12 2003-10-23 James Jay Martin Electronically controlled prosthetic system
FR2839916B1 (en) 2002-05-22 2004-10-15 Agence Spatiale Europeenne Exoskeleton for human arm, including space applications
US6813582B2 (en) 2002-07-31 2004-11-02 Point Research Corporation Navigation device for personnel on foot
US7736394B2 (en) 2002-08-22 2010-06-15 Victhom Human Bionics Inc. Actuated prosthesis for amputees
CA2494363C (en) 2002-08-22 2009-04-28 Victhom Human Bionics, Inc. Positioning of lower extremities artificial proprioceptors
JP4129862B2 (en) 2002-08-30 2008-08-06 本田技研工業株式会社 Prosthesis joint device
US20040083007A1 (en) 2002-10-29 2004-04-29 Molino Joseph L. Prosthetic device
WO2004041132A2 (en) 2002-11-01 2004-05-21 Otto Bock Healthcare Lp Pressure/temperature monitoring device for prosthetics
US7066896B1 (en) 2002-11-12 2006-06-27 Kiselik Daniel R Interactive apparatus and method for developing ability in the neuromuscular system
US7396337B2 (en) 2002-11-21 2008-07-08 Massachusetts Institute Of Technology Powered orthotic device
US6966882B2 (en) 2002-11-25 2005-11-22 Tibion Corporation Active muscle assistance device and method
US7295892B2 (en) 2002-12-31 2007-11-13 Massachusetts Institute Of Technology Speed-adaptive control scheme for legged running robots
AU2004231134A1 (en) 2003-04-17 2004-10-28 Victhom Human Bionics Inc. High power/weight ratio braking device based on shape memory material technology
ITTO20030309A1 (en) 2003-04-18 2004-10-19 St Microelectronics Srl Apparatus for measuring the relative angular position
US7182738B2 (en) 2003-04-23 2007-02-27 Marctec, Llc Patient monitoring apparatus and method for orthosis and other devices
US7101487B2 (en) 2003-05-02 2006-09-05 Ossur Engineering, Inc. Magnetorheological fluid compositions and prosthetic knees utilizing same
US7198071B2 (en) 2003-05-02 2007-04-03 Össur Engineering, Inc. Systems and methods of loading fluid in a prosthetic knee
JP2005000500A (en) 2003-06-13 2005-01-06 Yaskawa Electric Corp Foot joint electric device
US7503900B2 (en) 2003-07-03 2009-03-17 Honda Motor Co., Ltd. Kinematic quantification of gait asymmetry based on bilateral cyclograms
US8007544B2 (en) 2003-08-15 2011-08-30 Ossur Hf Low profile prosthetic foot
US8075633B2 (en) 2003-09-25 2011-12-13 Massachusetts Institute Of Technology Active ankle foot orthosis
US7520904B2 (en) 2003-10-21 2009-04-21 Freedom Innovations, Llc Prosthetic foot with an adjustable ankle and method
US7462201B2 (en) 2003-10-21 2008-12-09 Freedom Innovations, Llc Prosthetic foot with an adjustable ankle and method
US6966933B2 (en) 2003-10-21 2005-11-22 Roland J. Christensen, As Operating Manager Of Rjc Development, Lc, General Partner Of The Roland J. Christensen Family Limited Partnership Prosthetic foot with an adjustable ankle and method
US7025792B2 (en) 2003-10-24 2006-04-11 Collier Milo S Vacuum-assisted prosthetic device
USD501925S1 (en) 2003-10-29 2005-02-15 Victhom Human Bionics, Inc. Leg prosthesis
USD499487S1 (en) 2003-10-29 2004-12-07 Victhom Human Bionics Inc. Leg prosthesis
US20050107889A1 (en) 2003-11-18 2005-05-19 Stephane Bedard Instrumented prosthetic foot
JP4320017B2 (en) 2003-11-18 2009-08-26 ヴィクソム ヒューマン バイオニクス インコーポレーテッド Instrument of prosthetic leg
US7815689B2 (en) 2003-11-18 2010-10-19 Victhom Human Bionics Inc. Instrumented prosthetic foot
US20050137717A1 (en) 2003-12-18 2005-06-23 Finn Gramnas Prosthetic foot with rocker member
EP2564817B1 (en) 2004-02-12 2019-01-16 Ossur HF System and method for motion-controlled foot unit
US7896927B2 (en) 2004-02-12 2011-03-01 össur hf. Systems and methods for actuating a prosthetic ankle based on a relaxed position
WO2005089683A2 (en) 2004-03-16 2005-09-29 Tensegrity Prosthetics, Inc. Tensegrity joints for prosthetic, orthotic, and robotic devices
US7691154B2 (en) 2004-05-07 2010-04-06 össur hf Systems and methods of controlling pressure within a prosthetic knee
CN101128167B (en) 2004-12-22 2011-05-18 奥瑟Hf公司 Systems and methods for processing limb motion
EP1843724B1 (en) 2005-02-02 2018-07-25 Össur hf Sensing systems and methods for monitoring gait dynamics
CA2601778C (en) 2005-02-02 2014-08-12 Ossur Hf Prosthetic and orthotic systems usable for rehabilitation
US20060184280A1 (en) 2005-02-16 2006-08-17 Magnus Oddsson System and method of synchronizing mechatronic devices
US8801802B2 (en) 2005-02-16 2014-08-12 össur hf System and method for data communication with a mechatronic device
US7942935B2 (en) 2005-03-29 2011-05-17 Motion Control Device and system for prosthetic knees and ankles
EP1909708B2 (en) 2005-07-29 2018-02-28 Freedom Innovations, LLC Novel computer controlled prosthetic knee device
US8852292B2 (en) 2005-09-01 2014-10-07 Ossur Hf System and method for determining terrain transitions
US7531006B2 (en) 2005-09-01 2009-05-12 össur hf Sensing system and method for motion-controlled foot unit
US8048172B2 (en) 2005-09-01 2011-11-01 össur hf Actuator assembly for prosthetic or orthotic joint
DE102005051646A1 (en) 2005-10-26 2007-05-10 Otto Bock Healthcare Ip Gmbh & Co. Kg A method for checking the setting of a prosthetic knee joint
US8435309B2 (en) 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission
CA2673915C (en) 2007-01-05 2016-06-28 Victhom Human Bionics, Inc. High torque active mechanism for orthotic and/or prosthetic devices
CA2676067C (en) 2007-01-19 2017-06-20 Victhom Human Bionics, Inc. Reactive layer control system for prosthetic and orthotic devices
DE102007053389A1 (en) 2007-11-07 2009-05-20 Otto Bock Healthcare Ip Gmbh & Co. A method of controlling an orthopedic joint
CN102036626B (en) 2008-03-24 2014-07-02 奥瑟Hf公司 Transfemoral prosthetic systems and methods for operating the same
US8652218B2 (en) 2008-04-21 2014-02-18 Vanderbilt University Powered leg prosthesis and control methodologies for obtaining near normal gait
US8588977B2 (en) 2008-11-20 2013-11-19 University Of Utah Research Foundation Signal modulator for visual indicator

Patent Citations (50)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4030141A (en) * 1976-02-09 1977-06-21 The United States Of America As Represented By The Veterans Administration Multi-function control system for an artificial upper-extremity prosthesis for above-elbow amputees
US4179759A (en) * 1978-02-16 1979-12-25 Smith James A Artificial leg having a lockable knee joint
US4387472A (en) * 1980-10-02 1983-06-14 Medical Center Prosthetics, Inc. Torque absorber with biofeedback
US4521924A (en) * 1983-03-01 1985-06-11 University Of Utah Electrically driven artificial arm
US4558704A (en) * 1983-12-15 1985-12-17 Wright State University Hand control system
US5062856A (en) * 1988-03-25 1991-11-05 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133773A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5133774A (en) * 1988-03-25 1992-07-28 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
US5252102A (en) * 1989-01-24 1993-10-12 Electrobionics Corporation Electronic range of motion apparatus, for orthosis, prosthesis, and CPM machine
US4994086A (en) * 1989-08-09 1991-02-19 United States Manufacturing Company Universal modular frame for above-knee endoskeletal prosthesis
US5062857A (en) * 1990-06-05 1991-11-05 Advanced Prosthestetics Development Corporation Myoelectrically controlled knee joint locking device
US5383939A (en) * 1991-12-05 1995-01-24 James; Kelvin B. System for controlling artificial knee joint action in an above knee prosthesis
US5571205A (en) * 1991-12-05 1996-11-05 James; Kelvin B. System for controlling artificial knee joint action in an above knee prosthesis
US5443528A (en) * 1992-11-17 1995-08-22 Allen; Scott Coil spring prosthetic foot
US5571213A (en) * 1992-11-17 1996-11-05 Allen; Scott Prosthetic foot
US5893891A (en) * 1993-06-11 1999-04-13 Chas. A. Blatchford & Sons Limited Prosthesis control system
US5888246A (en) * 1994-03-12 1999-03-30 Royal Infirmary Of Edinburgh Nhs Trust Motor drive system and linkage for hand prosthesis
US5746774A (en) * 1994-09-09 1998-05-05 The University Of Toledo Knee joint mechanism for knee disarticulation prosthesis
US6091977A (en) * 1995-04-07 2000-07-18 The University Of Miami Sensor
US5650704A (en) * 1995-06-29 1997-07-22 Massachusetts Institute Of Technology Elastic actuator for precise force control
US5704946A (en) * 1996-03-13 1998-01-06 United States Manufacturing Company Multi-purpose prosthetic knee component
US6007582A (en) * 1996-03-29 1999-12-28 Ortho Europe Limited Prosthetic foot with means for energy storage and release
US5779735A (en) * 1996-05-17 1998-07-14 Molino; Joseph L. Knee unit for above-knee prosthetic leg
US6113642A (en) * 1996-06-27 2000-09-05 Mauch, Inc. Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US20020198604A1 (en) * 1997-02-26 2002-12-26 Schulman Joseph H. Method and apparatus for coupling an implantable stimulator/sensor to a prosthetic device
US6129766A (en) * 1997-05-30 2000-10-10 College Park Industries, Inc. Prosthetic foot assembly having improved resilient cushions and components
US6537322B1 (en) * 1997-05-30 2003-03-25 Christopher Lyle Johnson Prosthetic foot assembly having improved resilient cushions and components
US5888213A (en) * 1997-06-06 1999-03-30 Motion Control, Inc. Method and apparatus for controlling an externally powered prosthesis
US5888212A (en) * 1997-06-26 1999-03-30 Mauch, Inc. Computer controlled hydraulic resistance device for a prosthesis and other apparatus
US6361570B1 (en) * 1997-10-24 2002-03-26 Lothian Primary Care Nhs Trust Upper limb prosthesis
US6423098B1 (en) * 1997-12-10 2002-07-23 Biedermann Motech Gmbh Leg prosthesis with an artificial knee joint provided with an adjustment device
US5895430A (en) * 1998-02-06 1999-04-20 O'connor; Roderick S. Prosthesis for long femur and knee disarticulation amputation
US6425925B1 (en) * 1998-10-01 2002-07-30 Schütt & Grundei Orthopädietechnik GmbH Leg exoprosthesis for adaptation to a thigh stump
US20010029400A1 (en) * 2000-01-20 2001-10-11 Deffenbaugh Bruce W. Electronically controlled prosthetic knee
US6764520B2 (en) * 2000-01-20 2004-07-20 Massachusetts Institute Of Technology Electronically controlled prosthetic knee
US6494039B2 (en) * 2000-03-01 2002-12-17 Massachusetts Institute Of Technology Force-controlled hydro-elastic actuator
US20020052663A1 (en) * 2000-03-29 2002-05-02 Herr Hugh M. Speed-adaptive and patient-adaptive prosthetic knee
US20030120353A1 (en) * 2000-06-30 2003-06-26 Christensen Roland J. Variable resistance cell
US6443995B1 (en) * 2000-12-22 2002-09-03 Barry W. Townsend Prosthetic foot
US20020183803A1 (en) * 2001-03-30 2002-12-05 Neurocontrol Corporation Systems and methods for performing prosthetic or therapeutic neuromuscular stimulation using an external, battery powered controller with power conservation features
US20030029247A1 (en) * 2001-08-10 2003-02-13 Biedermann Motech Gmbh Sensor device, in particular for a prosthesis, and prosthesis having such a sensor device
US20040064195A1 (en) * 2002-07-15 2004-04-01 Hugh Herr Variable-mechanical-impedance artificial legs
US20040111163A1 (en) * 2002-08-22 2004-06-10 Stephane Bedard Actuated leg prosthesis for above-knee amputees
US7147667B2 (en) * 2002-08-22 2006-12-12 Victhom Human Bionics Inc. Control system and method for controlling an actuated prosthesis
US20040193286A1 (en) * 2003-02-17 2004-09-30 Eska Implants Gmbh & Co. Leg prosthesis
US20070162152A1 (en) * 2005-03-31 2007-07-12 Massachusetts Institute Of Technology Artificial joints using agonist-antagonist actuators
US20060249315A1 (en) * 2005-03-31 2006-11-09 Massachusetts Institute Of Technology Artificial human limbs and joints employing actuators, springs, and variable-damper elements
US20070016329A1 (en) * 2005-03-31 2007-01-18 Massachusetts Institute Of Technology Biomimetic motion and balance controllers for use in prosthetics, orthotics and robotics
US20070043449A1 (en) * 2005-03-31 2007-02-22 Massachusetts Institute Of Technology Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking

Cited By (101)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9649206B2 (en) 2002-08-22 2017-05-16 Victhom Laboratory Inc. Control device and system for controlling an actuated prosthesis
US9358137B2 (en) 2002-08-22 2016-06-07 Victhom Laboratory Inc. Actuated prosthesis for amputees
US20060074493A1 (en) * 2003-05-02 2006-04-06 Bisbee Charles R Iii Systems and methods of loading fluid in a prosthetic knee
US8007544B2 (en) 2003-08-15 2011-08-30 Ossur Hf Low profile prosthetic foot
US8858649B2 (en) 2003-08-15 2014-10-14 össur hf Low profile prosthetic foot
US9579220B2 (en) 2003-08-15 2017-02-28 össur hf Low profile prosthetic foot
US8377144B2 (en) 2003-08-15 2013-02-19 Ossur Hf Low profile prosthetic foot
US8377146B2 (en) 2003-08-15 2013-02-19 Ossur Hf Low profile prosthetic foot
US8323354B2 (en) 2003-11-18 2012-12-04 Victhom Human Bionics Inc. Instrumented prosthetic foot
US8986397B2 (en) 2003-11-18 2015-03-24 Victhom Human Bionics, Inc. Instrumented prosthetic foot
US9526636B2 (en) 2003-11-18 2016-12-27 Victhom Laboratory Inc. Instrumented prosthetic foot
US10195057B2 (en) * 2004-02-12 2019-02-05 össur hf. Transfemoral prosthetic systems and methods for operating the same
US20060224247A1 (en) * 2004-02-12 2006-10-05 Clausen Arinbjorn V Systems and methods for actuating a prosthetic ankle based on a relaxed position
US20050197717A1 (en) * 2004-02-12 2005-09-08 Ragnarsdottir Heidrun G. System and method for motion-controlled foot unit
US20120016492A1 (en) * 2004-02-12 2012-01-19 össur hf. Transfemoral prosthetic systems and methods for operating the same
US8657886B2 (en) 2004-02-12 2014-02-25 össur hf Systems and methods for actuating a prosthetic ankle
US8057550B2 (en) 2004-02-12 2011-11-15 össur hf. Transfemoral prosthetic systems and methods for operating the same
US7896927B2 (en) 2004-02-12 2011-03-01 össur hf. Systems and methods for actuating a prosthetic ankle based on a relaxed position
US9271851B2 (en) 2004-02-12 2016-03-01 össur hf. Systems and methods for actuating a prosthetic ankle
US20060224246A1 (en) * 2004-02-12 2006-10-05 Clausen Arinbjorn V Systems and methods for adjusting the angle of a prosthetic ankle based on a measured surface angle
US7811334B2 (en) 2004-02-12 2010-10-12 Ossur Hf. System and method for motion-controlled foot unit
US20050283257A1 (en) * 2004-03-10 2005-12-22 Bisbee Charles R Iii Control system and method for a prosthetic knee
US9345591B2 (en) 2004-03-10 2016-05-24 össur hf Control system and method for a prosthetic knee
US8617254B2 (en) 2004-03-10 2013-12-31 Ossur Hf Control system and method for a prosthetic knee
US7691154B2 (en) 2004-05-07 2010-04-06 össur hf Systems and methods of controlling pressure within a prosthetic knee
US20060136072A1 (en) * 2004-05-07 2006-06-22 Bisbee Charles R Iii Magnetorheologically actuated prosthetic knee
US7891258B2 (en) * 2004-05-28 2011-02-22 össur hf Method of measuring the performance of a prosthetic foot
US20090293641A1 (en) * 2004-05-28 2009-12-03 Clausen Arinbjoern V Method of measuring the performance of a prosthetic foot
US8025699B2 (en) 2004-05-28 2011-09-27 össur hf Foot prosthesis with resilient multi-axial ankle
US9668887B2 (en) 2004-05-28 2017-06-06 össur hf Foot prosthesis with resilient multi-axial ankle
US20090287315A1 (en) * 2004-05-28 2009-11-19 össur hf. Foot prosthesis with resilient multi-axial ankle
US20070106395A9 (en) * 2004-05-28 2007-05-10 Clausen Arinbjorn V Foot prosthesis with resilient multi-axial ankle
US20050267603A1 (en) * 2004-05-28 2005-12-01 Lecomte Christophe G Foot prosthesis with resilient multi-axial ankle
US7846213B2 (en) 2004-05-28 2010-12-07 össur hf. Foot prosthesis with resilient multi-axial ankle
US7581454B2 (en) * 2004-05-28 2009-09-01 össur hf Method of measuring the performance of a prosthetic foot
US20060058893A1 (en) * 2004-05-28 2006-03-16 Clausen Arinbjorn V Method of measuring the performance of a prosthetic foot
US7347877B2 (en) 2004-05-28 2008-03-25 össur hf Foot prosthesis with resilient multi-axial ankle
US20050267602A1 (en) * 2004-05-28 2005-12-01 Clausen Arinbjorn V Foot prosthesis with resilient multi-axial ankle
US20120010730A1 (en) * 2004-05-28 2012-01-12 Christophe Guy Lecomte Foot prosthesis with resilient multi-axial ankle
US7998221B2 (en) 2004-05-28 2011-08-16 össur hf Foot prosthesis with resilient multi-axial ankle
US9132022B2 (en) * 2004-05-28 2015-09-15 össur hf Foot prosthesis with resilient multi-axial ankle
US7811333B2 (en) 2004-12-22 2010-10-12 Ossur Hf Systems and methods for processing limb motion
US9078774B2 (en) 2004-12-22 2015-07-14 össur hf Systems and methods for processing limb motion
US20060206214A1 (en) * 2005-02-02 2006-09-14 Clausen Arinbjorn V Sensing systems and methods for monitoring gait dynamics
US8048007B2 (en) 2005-02-02 2011-11-01 össur hf Prosthetic and orthotic systems usable for rehabilitation
US20060195197A1 (en) * 2005-02-02 2006-08-31 Clausen Arinbjorn V Sensing systems and methods for monitoring gait dynamics
US9462966B2 (en) 2005-02-02 2016-10-11 össur hf Sensing systems and methods for monitoring gait dynamics
US20110098606A1 (en) * 2005-02-02 2011-04-28 Ossur Hf Sensing systems and methods for monitoring gait dynamics
US7867285B2 (en) 2005-02-02 2011-01-11 össur hf Sensing systems and methods for monitoring gait dynamics
US8122772B2 (en) 2005-02-02 2012-02-28 össur hf Sensing systems and methods for monitoring gait dynamics
US7862620B2 (en) 2005-02-02 2011-01-04 össur hf Sensing systems and methods for monitoring gait dynamics
US8858648B2 (en) 2005-02-02 2014-10-14 össur hf Rehabilitation using a prosthetic device
US20060206215A1 (en) * 2005-02-02 2006-09-14 Clausen Arinbjorn V Sensing systems and methods for monitoring gait dynamics
US7794505B2 (en) 2005-02-02 2010-09-14 Ossur Hf. Sensing systems and methods for monitoring gait dynamics
US8869626B2 (en) 2005-02-02 2014-10-28 össur hf Sensing systems and methods for monitoring gait dynamics
US8801802B2 (en) 2005-02-16 2014-08-12 össur hf System and method for data communication with a mechatronic device
US9717606B2 (en) 2005-04-19 2017-08-01 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US8814949B2 (en) 2005-04-19 2014-08-26 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US9066819B2 (en) 2005-04-19 2015-06-30 össur hf Combined active and passive leg prosthesis system and a method for performing a movement with such a system
US8709097B2 (en) 2005-09-01 2014-04-29 össur hf Actuator assembly for prosthetic or orthotic joint
US20070050045A1 (en) * 2005-09-01 2007-03-01 Clausen Arinbjorn V Sensing system and method for motion-controlled foot unit
US8702811B2 (en) 2005-09-01 2014-04-22 össur hf System and method for determining terrain transitions
US8048172B2 (en) 2005-09-01 2011-11-01 össur hf Actuator assembly for prosthetic or orthotic joint
US9351854B2 (en) 2005-09-01 2016-05-31 össur hf Actuator assembly for prosthetic or orthotic joint
US8852292B2 (en) 2005-09-01 2014-10-07 Ossur Hf System and method for determining terrain transitions
US20070156252A1 (en) * 2005-09-01 2007-07-05 Ossur Hf Actuator assebmly for prosthetic or orthotic joint
WO2007041527A3 (en) * 2005-10-03 2007-08-02 Jennifer L Coleman Lower limb prosthesis
WO2007041527A2 (en) * 2005-10-03 2007-04-12 Sandia Corporation Lower limb prosthesis
EP1962736A2 (en) * 2005-12-22 2008-09-03 U.S. GOVERNMENT, as represented by the secretary of THE U.S. ARMY Modular prosthetic foot
WO2007111752A3 (en) * 2005-12-22 2008-09-25 Joseph Miller Modular prosthetic foot
EP1962736A4 (en) * 2005-12-22 2010-09-01 Us Gov Sec Army Modular prosthetic foot
US8172909B2 (en) 2005-12-22 2012-05-08 The United States Of America, As Represented By The Secretary Of The Army Modular prosthetic foot
US20080312752A1 (en) * 2005-12-22 2008-12-18 Miller Joseph A Modular Prosthetic Foot
US8298293B2 (en) * 2006-04-28 2012-10-30 College Park Industries, Inc. Prosthetic sensing systems and methods
WO2007127973A3 (en) * 2006-04-28 2008-11-06 College Park Ind Inc Prosthetic sensing systems and methods
WO2007127973A2 (en) * 2006-04-28 2007-11-08 College Park Industries, Inc. Prosthetic sensing systems and methods
US20070255424A1 (en) * 2006-04-28 2007-11-01 Leydet Michael G Prosthetic sensing systems and methods
US9526635B2 (en) 2007-01-05 2016-12-27 Victhom Laboratory Inc. Actuated leg orthotics or prosthetics for amputees
US9066817B2 (en) 2007-01-05 2015-06-30 Victhom Human Bionics Inc. High torque active mechanism for orthotic and/or prosthetic devices
US9730824B2 (en) 2007-01-05 2017-08-15 Victhom Laboratory Inc. High torque active mechanism for orthotic and/or prosthetic devices
US8435309B2 (en) 2007-01-05 2013-05-07 Victhom Human Bionics Joint actuation mechanism for a prosthetic and/or orthotic device having a compliant transmission
US20090299480A1 (en) * 2007-01-05 2009-12-03 Victhom Human Bionics Inc. Joint Actuation Mechanism for a Prosthetic and/or Orthotic Device Having a Compliant Transmission
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US8486156B2 (en) 2010-02-26 2013-07-16 össur hf Prosthetic foot with a curved split
US20110213471A1 (en) * 2010-02-26 2011-09-01 össur hf Prosthetic foot with a curved split
US8555715B2 (en) 2010-07-07 2013-10-15 össur hf. Ground contact sensing systems and methods for lower-limb orthotic and prosthetic devices
WO2012006462A1 (en) * 2010-07-07 2012-01-12 össur hf Ground contact sensing systems and methods for lower-limb orthotic and prosthetic devices
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
CN102499797A (en) * 2011-10-25 2012-06-20 中国科学院深圳先进技术研究院 Artificial limb control method and system
US8961618B2 (en) 2011-12-29 2015-02-24 össur hf Prosthetic foot with resilient heel
US9017419B1 (en) 2012-03-09 2015-04-28 össur hf Linear actuator
US9044346B2 (en) 2012-03-29 2015-06-02 össur hf Powered prosthetic hip joint
US9895240B2 (en) 2012-03-29 2018-02-20 Ösur hf Powered prosthetic hip joint
US9561118B2 (en) 2013-02-26 2017-02-07 össur hf Prosthetic foot with enhanced stability and elastic energy return
US9707104B2 (en) 2013-03-14 2017-07-18 össur hf Prosthetic ankle and method of controlling same based on adaptation to speed
US9999524B2 (en) 2014-06-30 2018-06-19 össur hf Prosthetic feet and foot covers
USD797292S1 (en) 2014-06-30 2017-09-12 össur hf Prosthetic foot plate
US10251762B2 (en) 2015-05-27 2019-04-09 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications
USD795433S1 (en) 2015-06-30 2017-08-22 Össur Iceland Ehf Prosthetic foot cover
US9949850B2 (en) 2015-09-18 2018-04-24 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
RU2675467C2 (en) * 2017-03-31 2018-12-19 Общество С Ограниченной Ответственностью "Экзоатлет" Method of determining the position and orientation of the foot and phases of the movement of the foot support of the exoskeleton and integrated foot of the exoskeleton

Also Published As

Publication number Publication date
US8986397B2 (en) 2015-03-24
US8323354B2 (en) 2012-12-04
US7955398B2 (en) 2011-06-07
US20080058959A1 (en) 2008-03-06
US20120191221A1 (en) 2012-07-26
US20120191220A1 (en) 2012-07-26
US20080046096A1 (en) 2008-02-21

Similar Documents

Publication Publication Date Title
Schmalz et al. Energy expenditure and biomechanical characteristics of lower limb amputee gait:: The influence of prosthetic alignment and different prosthetic components
Strausser et al. The development and testing of a human machine interface for a mobile medical exoskeleton
Martinez-Villalpando et al. Agonist-antagonist active knee prosthesis: a preliminary study in level-ground walking.
Au et al. Powered ankle--foot prosthesis improves walking metabolic economy
JP4300213B2 (en) Control system and method for controlling the driving source with prosthetics
US8512415B2 (en) Powered ankle-foot prothesis
US7942935B2 (en) Device and system for prosthetic knees and ankles
Au et al. Powered ankle-foot prosthesis to assist level-ground and stair-descent gaits
US4911724A (en) Energy responsive prosthetic leg
Mueller et al. Differences in the gait characteristics of patients with diabetes and peripheral neuropathy compared with age-matched controls
US5376139A (en) Artificial foot and ankle
US5314499A (en) Artificial limb including a shin, ankle and foot
US9333097B2 (en) Artificial human limbs and joints employing actuators, springs, and variable-damper elements
CA2546858C (en) Actuated prosthesis for amputees
EP2340789B1 (en) Methods and systems for gathering information regarding a prosthetic foot
CN102316828B (en) For automatic prosthetic knee amputees
US20180000615A1 (en) Modular Prosthetic Sockets and Method for Making Same
EP0549855A2 (en) System for controlling artificial knee joint action in an above knee prosthesis
Lehmann et al. Comprehensive analysis of dynamic elastic response feet: Seattle Ankle/Lite Foot versus SACH foot
US5443528A (en) Coil spring prosthetic foot
Michaud et al. A preliminary investigation of pelvic obliquity patterns during gait in persons with transtibial and transfemoral amputation
CA2442113C (en) Prosthetic foot with tunable performance
US6514293B1 (en) Prosthetic foot
US20090030530A1 (en) Electronically controlled prosthetic system
Blaya et al. Adaptive control of a variable-impedance ankle-foot orthosis to assist drop-foot gait

Legal Events

Date Code Title Description
AS Assignment

Owner name: VICTHOM HUMAN BIONICS INC., CANADA

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:BEDARD, STEPHANE;ROY, PIERRE-OLIVIER;REEL/FRAME:015235/0054

Effective date: 20040407

AS Assignment

Owner name: VICTHOM LABORATORY INC., CANADA

Free format text: MERGER AND CHANGE OF NAME;ASSIGNORS:VICTHOM HUMAN BIONICS INC.;VICTHOM LABORATORY INC.;REEL/FRAME:038505/0011

Effective date: 20130426