WO2000027318A1 - Dispositif de resistance hydraulique commande par ordinateur pour une prothese et autre appareil connexe - Google Patents

Dispositif de resistance hydraulique commande par ordinateur pour une prothese et autre appareil connexe Download PDF

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Publication number
WO2000027318A1
WO2000027318A1 PCT/US1998/023940 US9823940W WO0027318A1 WO 2000027318 A1 WO2000027318 A1 WO 2000027318A1 US 9823940 W US9823940 W US 9823940W WO 0027318 A1 WO0027318 A1 WO 0027318A1
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WO
WIPO (PCT)
Prior art keywords
valve
knee
sensor
control
magnet
Prior art date
Application number
PCT/US1998/023940
Other languages
English (en)
Inventor
Steven H. Petrofsky
William G. Gruesbeck
Original Assignee
Mauch, 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 Mauch, Inc. filed Critical Mauch, Inc.
Priority to AU13946/99A priority Critical patent/AU1394699A/en
Priority to PCT/US1998/023940 priority patent/WO2000027318A1/fr
Publication of WO2000027318A1 publication Critical patent/WO2000027318A1/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/64—Knee joints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
    • A61F2/748—Valve systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/78—Means for protecting prostheses or for attaching them to the body, e.g. bandages, harnesses, straps, or stockings for the limb stump
    • A61F2/80—Sockets, e.g. of suction type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30003—Material related properties of the prosthesis or of a coating on the prosthesis
    • A61F2002/3006—Properties of materials and coating materials
    • A61F2002/30079—Properties of materials and coating materials magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30448—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements using adhesives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/02—Prostheses implantable into the body
    • A61F2/30—Joints
    • A61F2002/30001—Additional features of subject-matter classified in A61F2/28, A61F2/30 and subgroups thereof
    • A61F2002/30316—The prosthesis having different structural features at different locations within the same prosthesis; Connections between prosthetic parts; Special structural features of bone or joint prostheses not otherwise provided for
    • A61F2002/30329—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2002/30518—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements with possibility of relative movement between the prosthetic parts
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5067—Prostheses not implantable in the body having rolling elements between articulating surfaces
    • A61F2002/507—Roller bearings
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2002/5072—Prostheses not implantable in the body having spring elements
    • A61F2002/5073—Helical springs, e.g. having at least one helical spring
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2002/607—Lower legs
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/60—Artificial legs or feet or parts thereof
    • A61F2/66—Feet; Ankle joints
    • A61F2002/6614—Feet
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2002/6863—Operating or control means magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/68—Operating or control means
    • A61F2/70—Operating or control means electrical
    • A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2/00—Filters 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
    • A61F2/50—Prostheses not implantable in the body
    • A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
    • A61F2002/7615—Measuring means
    • A61F2002/7635—Measuring means for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2210/00—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2210/009—Particular material properties of prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof magnetic
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61F—FILTERS 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
    • A61F2220/00—Fixations or connections for prostheses classified in groups A61F2/00 - A61F2/26 or A61F2/82 or A61F9/00 or A61F11/00 or subgroups thereof
    • A61F2220/0025—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements
    • A61F2220/005—Connections or couplings between prosthetic parts, e.g. between modular parts; Connecting elements using adhesives

Definitions

  • the present invention is ideally suited for use with an artificial leg or prosthesis worn by an above knee amputee, but also has other applications and uses.
  • this type of prosthesis involves an artificial knee joint including a socket for receiving and engaging the stump of the user, a knee bracket rigidly connected to the socket, and a frame which extends downwardly from the bracket and is pivotal ly connected to the bracket by a horizontal shaft.
  • a pylon and artificial foot are connected to the base of the frame, and a control unit is connected for locking the knee joint to prevent it from buckling under load in the stance phase of a step, and for freeing the knee joint in the swing phase of the step.
  • the prosthesis controls the knee joint in such a way that the amputee will walk with a normal or natural appearing gait.
  • This gait is characterized by almost identical movements performed by both lower limbs at varying walking speeds.
  • the biological or natural knee joint is powered by the actions of muscles. Each muscle develops an active force by contraction and also provides variable stiffness or resistance. It has not been feasible to duplicate muscle contraction in leg prosthesis because of the weight and bulk that would be required to duplicate this function.
  • Research has focused on implementing stiffness or resistance to rotation of the knee joint. Usually this involves switching the knee joint between one of two modes, locked or free to rotate.
  • the locked mode occurs during the stance phase of the gait cycle, and the free to rotate mode occurs during the swing phase of the gait cycle.
  • the stance phase applies when the foot of the prosthesis is on the ground, and the swing phase applies during the time when the foot of the prosthesis is off the ground.
  • U.S. Patents No. 5,405,409 and No. 5,443,521 which issued to the assignee of the present invention, disclose a linear type 'hydraul ic damper for controlling an above knee prosthesis.
  • This hydraulic damper has independently adjustable and variable resistance in flexion and extension during the swing phase of the gait cycle. Because of the turbulent flow of the hydraulic fluid during the swing phase, this damper can accommodate a wide variation of gait speeds.
  • the control damper has a single damping rate in stance phase that can be manually adjusted for each amputee's need. When the knee joint is fully extended, the damper assumes a non-stance resistance mode. This position activated stance phase can initially require extra gait training and concentration on the part of the amputee to receive full benefit of the damper.
  • Patent No. 5,062,856 and Patents No. 5,383,939 and No. 5,571,205 disclose two systems which use a microprocessor control to adjust the resistance in a pneumatic or hydraulic cylinder during swing phase in an attempt to provide control of rotation of the knee joint over a wider range of walking speeds than is available with standard pneumatic or friction dampers.
  • the present invention is directed to a computer controlled closed-loop electromechanical resistance device.
  • One application of the device is to provide swing resistance to the knee unit of a lower li b prosthesis as worn by an above-knee amputee.
  • Other applications for the invention include rehabil itation equipment, exercise equipment, braking devices or other various damping applications.
  • the device comprises a rotary paddle or vane type rotor or actuator.
  • rotary vane When the rotary vane is rotated, hydraulic fluid is forced through an electronically controlled valve from one side of the vane to the opposite side of the vane. As rotation is reversed, the hydraulic fluid reverses direction and flows back through the same valve.
  • Computer control of the valve creates a variable pressure differential from one side of the rotary vane to the other side.
  • the variable pressure differential is sensed as a variable resistance on the rotary vane.
  • the resistance device of the invention may also be utilized with a linear type of actuator with equal effectiveness.
  • the valve used in one embodiment of the device is a proportional controlled, solenoid actuated, balanced spool valve.
  • the shape of the spool is such that flow across the face of the spool has little or no effect on spool movement, thus eliminating any possibility of unbalanced flow induced forces.
  • the valve spool is also pressure balanced to eliminate any possibility of a hydraulic lock.
  • the magnetic core for the valve is shaped to produce a near constant force in the working stroke of the spool when constant power is supplied.
  • a two stage poppet or pilot operated valve is used to increase the servo valve dynamic range and to reduce significantly the unbalanced forces applied.
  • Valve control includes a high frequency dithering to avoid spool drag, and proportional control is provided to minimize wear rate as normally associated with a pulse width modulated control .
  • the microprocessor changes the valve in smaller increments to compensate for this small error.
  • the control system is able to compensate automatically for machining tolerances, valve solenoid resistance variations, different fluid viscosity, temperature effects and wear. Constants in the state equations adapt with changes in the system operating environment for adaptive control.
  • the control unit detects five significant points in a typical gait cycle.
  • the two major areas of a gait cycle are stance phase and swing phase.
  • Stance phase is the time in which the prosthesis is in contact with the ground.
  • Swing phase is the time in which the prosthesis is not in contact with the ground.
  • the first major point considered is heel strike which is the beginning of the stance phase. This is the point at which the prosthesis first contacts the ground and is no longer swinging in the air.
  • the prosthesis must have stability at this point so that it will not collapse as the amputee's weight is transferred from the opposite leg.
  • a yielding stance is ideal for this situation in which a high resistance is applied to support the amputee, but allowing the prosthesis to flex slightly.
  • the prosthesis should flex about ten degrees so that the amputee does not have to vault over a fully extended prosthesis. This ten degree flexion during stance is the second point of consideration.
  • the prosthesis begins to extend as the amputee propels himself forward. The prosthesis fully extends during this propulsion.
  • the third point is the initiation of flexion in which the amputee begins to move the prosthesis forward by flexing of the hip.
  • the fourth point is toe off in which the prosthesis leaves the ground. This is the start of swing phase.
  • the knee control unit offers significant resistance to limit the swing speed and the amount of angular movement of the lower section of the prosthesis.
  • the knee should flex no more than sixty-five degrees during swing phase. This may be achieved by introducing a high resistance to limit the amount of heel rise. Due to the momentum of the prosthesis, the knee control unit begins to extend while swinging through the air. The fifth point of consideration is terminal deceleration. This occurs just prior to heel strike during the final few degrees of extension in which a high resistance must be applied to limit any harsh knee slap as the prosthesis contacts the extension stops.
  • the microprocessor of the invention reads rotor vane pressure differential, knee position, pressure differential error and prosthetic force at 1-5 ms intervals (200-1000 Hz).
  • the microprocessor calculates the knee position, knee velocity, knee direction and reads user settings (1-10) for flexion and extension at 10-25 ms intervals (40-100 Hz).
  • the user settings for flexion and extension set an area for use, and the adaptive control fine tunes the unit from this baseline.
  • the microprocessor calculates the required knee resistance (pressure differential) required based on state equations, thus creating an automatically adjusting knee control unit. Constants in the state equations are able to adapt with changes in the system operating environment.
  • the microprocessor changes the valve in large increments to compensate for this large error. If the difference between the actual and required pressure differential is small, the microprocessor changes the valve in smaller increments to compensate for this small error. If the knee angle is extending and nearing full extension, the microprocessor starts to close the valve to create a high resistance and slow the prosthesis in the extension direction. When the knee angle is flexing and nearing the ideal heel rise, the microprocessor starts to close the valve to create a high resistance and slow the prosthesis in the flexion direction. The prosthetic measured force allows the microprocessor to distinguish between heel strike, mid-stance, or toe off.
  • This cylinder consists of a spring loaded piston which is compressed when the knee control unit is flexed. Fluid on the opposite side of the bias piston is directed to the opposite side of the rotary vane, thus completing the fluid path. During extension, the flow is reversed with the stored potential energy of the spring biased piston available to assist in extending the prosthesis.
  • FIG. 1 is a side elevation view of a lower limb prosthesis for an above-knee amputee and incorporating a resistance device or knee control unit constructed in accordance with the invention
  • FIG. 2 is an enlarged fragmentary side view of the knee control unit shown in FIG. 1;
  • FIG. 3 is the front view of knee control unit;
  • FIG. 4 is the rear view of knee control unit;
  • FIG. 5 is a section taken generally on the line 5-5 of FIG. 3 and showing internal components;
  • FIG. 6 is a part section taken generally on the line 6-6 of FIG. 3 and showing a knee angle sensing mechanism
  • FIG. 7 is a section taken generally on line 7-7 of FIG. 2 and showing the resistance rotor and rotor housing;
  • FIG. 8 is a section taken generally on the line 8-8 and showing an extension pressure sensor;
  • FIG. 9 is an elevational view of a solenoid control valve
  • FIG. 10 is an axial section of the solenoid control valve shown in FIG. 9
  • FIG. I1A is an exploded view in section of the capacitance pressure sensor shown in FIG. 8;
  • FIG. 14 is a block diagram of the hydraulic circuit for the knee control unit
  • FIG. 15 is an overall block diagram of a computer controlled electro-mechanical closed-loop resistance device constructed in accordance with the invention.
  • FIG. 16 is a block diagram showing an application of the device for exercise or robotics or damping equipment
  • FIG. 17 is a block diagram showing an application of the device for a knee control prosthesis for an amputee;
  • FIG. 18 is a circuit diagram of the electronics for controlling the solenoid control valve in the resistance device;
  • FIG. 19 is a circuit diagram for the Hall position sensor electronics in the resistance device;
  • FIG. 20 is a circuit diagram for the force sensors for the knee control unit;
  • FIG. 21 is a gait knee angle diagram for the knee control unit
  • FIG. 22 is a mainline software routine block diagram for the knee control unit
  • FIG. 23 is a block diagram for the one millisecond interrupt software routine for the knee control unit
  • FIGS. 24A & 24B show the block diagram for the ten millisecond software routine for the knee control unit
  • FIGS. 25A & 25B illustrate diagrammatical ⁇ a magnetic shutter position sensor assembly constructed in accordance with a modification of the invention and its use on a knee control unit;
  • FIG. 28 is an axial section of a two stage pilot operated poppet valve assembly constructed in accordance with a modification of the invention.
  • FIG. 29 is a circuit diagram for the GMR magnetic sensor card assemblies shown in FIGS. 25B, 26 and 27;
  • FIG. 30 is a circuit diagram for the three GMR magnetic signal conditioner input circuits; and FIG. 31 is a chart showing the nonlinear characteristic curve for the magnetic shutter GMR sensor of FIG. 25B.
  • a typical lower limb prosthesis for an above-knee amputee includes a residual limb socket 1 which functions as an interface between the amputee and the prosthesis, a knee control assembly or unit 2 which provides knee rotation and resistance to aid in walking, a mounting pylon 3 and a foot 4.
  • the components 1, 3 and 4 are conventional and commercially available.
  • the knee control assembly or unit 2 is described in connection with FIGS. 2-14 and includes a frame assembly 5 and an inverted U-shaped knee bracket 6 secured to the socket 1.
  • the knee bracket 6 includes a right side retainer plate 7 and a left side retainer plate 8.
  • the knee bracket 6 slides over opposite end portions of a rotor shaft 9 (FIG. 5), and each end portion has parallel flats to key the shaft to the bracket.
  • the side retainer plates 7 and 8 are secured to the bracket 6 by screws, and the shaft 9 rotates with the knee bracket 6 relative to the frame 5.
  • the left side retainer plate 8 also has an outer cam surface (FIG. 6) to actuate a knee angle sensing mechanism.
  • FIG. 5 shows the internal components of the knee control unit or assembly 2.
  • Hydraulic fluid is the working fluid that provides for knee control resistance. Resistance is provided to the knee bracket 6 via the rotor shaft 9 (FIG. 7), and a vane-type rotor 20 (FIGS. 5, 7, 13A- 13C) is attached to the rotor shaft by two cross pins 21.
  • the rotor chamber is defined by a right side rotor housing or cap 22 (FIG. 7) and a left side rotor housing or cap 23.
  • Two endless Teflon seals 24 seal the rotor 20 against the rotor caps 22 and 23, thereby creating two separate rotor chambers 25 and 26 (FIG 5). As shown in FIG.
  • the rotor shaft 9 is supported by roller bearings 27 to support the amputee's weight, while side thrust loads are supported by flat Teflon thrust washers between the caps 22 and 23 and the sides or leg of the bracket 6.
  • the rotor shaft 9 is sealed against hydraulic fluid leakage with spring biased lip seals 28 adjacent the bearings 27.
  • the rotor 20 is rotated with the knee bracket 6 and rotor shaft 9, thus forcing hydraulic fluid out of rotor chamber 26 (FIG. 5) and through an arcuate passage 29 which is defined between the rotor caps 22 and 23 and the housing 15. From passage 29, the hydraulic fluid is forced into passages 30a and 30b.
  • Passage 30a connects with a flexion pressure sensor 31 which is sealed by an 0-ring and retained by a retaining ring. Passage 30b feeds into a valve cavity. Fluid passages 30a and 30b and the valve cavity are machined into the housing 15. From the passage 30b, the hydraulic fluid passes through a solenoid control valve 32 which electronically controls the flow and pressure of the hydraulic fluid in the working chambers 25 and 26. Hydraulic fluid exits the solenoid control valve 32 and enters a fluid passage 33 (FIG. 8).
  • Passage 33 extends to an extension pressure sensor 34 (FIGS. 5 & 8) which is also sealed by an 0-ring and retained with a retaining ring within the housing 15.
  • the passage 33 is also connected to a bias tube 35 (FIG. 4), and hydraulic fluid travels through the bias tube 35 and into a cavity 36 (FIG. 5) which is machined into an upper bias cap 37. Hydraulic fluid then travels through a stance valve tube 38 and a tubular stance valve member 39 into a chamber 40. Fluid flowing into chamber 40 pressurizes an annular seal 41 and an adjacent annular piston 42 which moves upwardly to compress a bias spring 43 which is seated against a spring seat member 44 secured to the cap 37.
  • the spring 43 is located in an oil chamber 45 defined by a cylinder 46 which is secured to a lower cap member 47 supporting a stance valve plunger 48 for axial movement.
  • An annular support 50 defines the chamber 40 and forms a bottom seat for the annular seal 41 and piston on the stance valve tube 38 which has an upper end pressed into a hub on the spring seat member 44.
  • Bias cylinder leakage is controlled by a series of 0-rings (FIG. 5), and hydraulic fluid is forced upwardly out of chamber 45 in response to upward movement of the annular piston 42.
  • the fluid travels through ports within the spring seat member 44 and the upper cap 37, through a return tube 57 (FIG. 4) and passages 58 and 59 into the rotor chamber 25 thus creating a flow loop.
  • Passage 58 is machined into the resistance housing 15, and the arcuate passage 59 is defined between the rotor caps 22 and 23 and the resistance housing 15 and is sealed by suitable 0-rings.
  • a spring loaded pressure relief valve (not shown) may be incorporated into the upper bias cap 37 to allow hydraulic flow from the bias tube 35 directly to the return tube 57 in case extremely high fluid pressure is encountered due to rapid flexion.
  • the flow is reversed due to the rotor 20 moving the hydraulic fluid out of chamber 25 and back through the system.
  • the bias spring 43 assists in moving the flow from below the piston 42 to the chamber 26, thus ensuring complete extension of the prosthesis.
  • the stance adjusting screw 69 actuates the stance valve plunger 48 which pushes on a stance valve cap 70 to move the stance valve 39 upwards into the stance valve tube 38 for closing off the radial ports in the stance valve 39. With these ports closed, the knee control unit will be restricted from any flexion movement.
  • the radial ports in the stance valve cap 70 may be adjusted to limit the closing of the ports during stance thus allowing a controlled leakage in the flexion direction giving the amputee a yielding stance.
  • Extension is not affected during stance due a Belleville washer 71 above a stance check valve washer 72 that covers axial ports in the stance valve cap 70.
  • the hydraulic flow lifts the stance washer 72 while compressing the Belleville washer 71 to uncover the axial ports in the stance valve cap 70.
  • hydraulic pressure will force the stance washer 72 to cover the holes in the stance valve cap 70 thus prohibiting any flexion flow moving through the stance valve end cap 70.
  • the stance valve 39 is forced into the open position (FIG. 5) by a return spring 73 within the tube 38 to allow flow to continue through the chamber 40.
  • FIG. 13A-13C show the rotor 20 and its construction.
  • the rotor 20 has two endless grooves 82 and 83 for receiving the endless seals 24.
  • the seals 24 of choice are extruded lathe cut Teflon faced seals, although molded elastomer lip seals will give similar results.
  • Each endless seal is seamless and encompass the full perimeter of the rotor 20.
  • This type of sealing has the advantage of double wiping the sealing surface and as a preseal to the seals 28 (FIG. 7) around the shaft 9 adjacent the legs of the bracket 6 to minimize any external leakage.
  • Two holes 84 (FIGS. 13A & 13B) are provided in the middle of the rotor 20 for receiving the pins 21 which secure the rotor 20 to the rotor shaft 9.
  • FIG. 9 An exterior view of the solenoid control valve 32 is shown in FIG. 9 and a cross-sectional view of the solenoid control valve 32 is shown in FIG. 10.
  • a coil bobbin 100 is wound with a wire coil 101 with a radial step. The number of turns in the coil wire 101 is dependent upon the desired electrical and magnetic characteristics desired to operate the valve. Lead wires 102 are attached to the coil wires, and epoxy 103 is applied for strain relief.
  • a flux core 104 is inserted through the center of the bobbin 100, and a metal cup-like case 105 receives the bobbin 100, coil 101 and the flux core 104.
  • An adjusting screw 106 is threaded into the center of the flux core 104 and is sealed with an 0-ring 107.
  • a valve member or valve spool 108 seats on top of a return spring 109, and a tubular spool seat 110 rests on the flux core 104 and is held in place by a tubular cartridge 111.
  • the spool seat 110 limits the travel or axial movement of the spool 108.
  • a cartridge plug 112 is pressed into the cartridge 111 which is threaded into the case 105.
  • a magnetic material such as low carbon steel, is used for the flux core 104, case 105, adjusting screw 106 and spool 108. These metal parts are preferably hyperannealed for best performance.
  • a nonmagnetic material such as a 300 series stainless steel, is used for the spool seat 110, cartridge plug 112 and the cartridge 111.
  • the pair of ports 113 and 117 and the pair of ports 114 and 116 are at the same level with the ports of each pair spaced 180 degrees from each other, and with each pair of ports spaced 90 degrees from the other pair.
  • the solenoid control valve 32 has two inlet ports 113 and 117 and two outlet ports 114 and 116, although more ports may be used if desired. Although ports 113 and 117 are described as the inlet, and ports 114 and 116 are described as the outlet, the flow may be unidirectional or bi-directional with the same results.
  • the shape of the spool 108 in the flow area 115 provides for counterbalancing any fluid forces that may tend to open or close the spool.
  • the spool 108 has an axial bore or hole through its center to prevent hydraulic lock.
  • the microprocessor uses an external clock generated by a timing generator 201.
  • a system block 202 contains an asynchronous and synchronous serial ports and well as a real-time background mode port.
  • the microprocessor 200 executes its program requiring both sensing and control in a closed-loop manner.
  • the system programs cause a resistance to be applied to the device depending on the sensed position and velocity.
  • the resistance is applied by a hydraulic actuating device 211 which may be either a rotary vane such as the rotor 20 or a linear movable piston within a cylinder.
  • the resistance is applied by restricting the flow in a closed fluid system by a solenoid control valve 210, such as the valve 32, operated by the microprocessor 200 and its control circuitry 207.
  • the mechanical resistance is applied to a device 215 through a coupler 214.
  • the applied device may be, for example, a knee joint of a prosthesis or a piece of exercise equipment, or a robotics platform which requires restriction in movement and/or velocity.
  • the position of the applied device is sensed by 216 which may be a potentiometer, proximity detector or a linear hall effect sensor such as the sensor 18.
  • the output of the position sensor is a signal conditioned and scaled by circuitry 204.
  • the analog position signal leaving 204 is converted to digital 8-16 bit number by the microprocessor's A/D converter or an external A/D device for use in the main program.
  • the position is time sampled at fixed intervals. The difference in position between the fixed intervals of time divided by the time sample duration is the velocity of the device movement to be also used by the main program as well as the direction of movement.
  • the processed analog hydraulic pressures are converted into a usable digital 8-16 bit valve by the microprocessor 200 or an external A/D converter.
  • program state control logical branching into different sections of the main program as well as variations in calculations in the application dependent program 209 are accomplished by additional analog force sensors and/or digital switches or buttons 208 and 224 using auxiliary sensing.
  • the auxiliary sensing will be a user keypad and/or remote switches.
  • the auxiliary sensing function uses two body weight sensors and two 16 position rotary selector switches.
  • FIGS. 16 and 17 show the application of the control system of the invention to prosthetic devices, exercise equipment, and robotics.
  • the device of the invention may also be used as a computerized dampening device such as a truck seat shock absorber which would use the FIG. 16 control and component diagram. Due to the fine resolution microprocessor control provided by the invention sensors and hydraulic actuator and control valve, the same type of implemented exercise equipment may be used for medical rehabilitation, programmed to the small steps in applied weight changes as little as 0.1 pound increments to as much as 500 total pounds. The auxiliary input function tells the main program to limit or reduce the loading to the patient if they become distressed from the exercise.
  • the block diagram shown in FIG. 16 is very similar to the overall invention block diagram of FIG. 15 and illustrates the application of the device to exercise equipment, robotics, or a computerized damping device.
  • the application shows a microprocessor 200, communication and test circuits 202, timing generator 201, reset circuitry 219, valve control circuitry 207 and a solenoid control valve 210, position sensor 226 and circuitry 204, hydraulic internal force sensor circuitry 206, and power circuits 203.
  • the microprocessor used in this typical application is a Motorola MC68HC912B32 16 bit embedded signal chip processor.
  • This application software being executed on the microprocessor 200 proportionally commands the resistance to be applied to the knee joint of the prosthesis during patient gait cycle using the valve control circuitry 207 to control the proportional solenoid actuated valve 210 or 32.
  • a pulse width modulation technique will also work as well in most applications.
  • the proportional control valve restricts the closed system hydraulic flow generated by the moving knee of the patient, and the rotary hydraulic vane actuator 211 connected by coupling 214 to the knee joint 215.
  • the application software algorithm predicts initially how much control current should be applied to the solenoid valve 210 or 32 given the position, direction, and velocity of the knee joint.
  • the exact resistance error is determined in a closed-loop manner using the sensed high and low side hydraulic pressures 212 and 213 to be conditioned and scaled by circuitry 206 then converted to a digital valve by the microprocessor 200 with respect to the commanded level.
  • the microprocessor inner loop senses the high and low side hydraulic pressures on opposite sides of the rotor 20 and updates the control solenoid applied voltage level at. a 1000 -times per second rate.
  • the main control loop of the program executes at a rate of 100 times per second.
  • Power is split off into two circuit applied voltages being 7.2 volts for the system logic supply and raw 14.4 volts for the proportional control solenoid drive circuits.
  • the raw voltage is monitored to detect a low battery condition by circuit 222 which scales the battery voltage into a 0-5 volt level to be read by the microprocessor 200 using its A/D converter.
  • the microprocessor and associated logic circuits require 5V which is regulated from the 7.2 voltage input by the power circuits 203 which include a conventional low dropout three pin regulator integrated circuit.
  • the Lithium ion batteries are recharged in a two hour period and then switched into a trickle charge mode by a LM3420-16.8 integrated circuit produced by National Semiconductor.
  • FIG. 18 illustrates the circuitry 207 for the solenoid control valve drive 210 or 32.
  • the proportional solenoid control valve requires very low power of only a maximum of 1 watt.
  • the drive to the solenoid is a constant current type over a range of 0 to 83 illiamps.
  • the resolution in this application of the 0 to 83 milliamp level is 1 part in 255 or 0.325 milliamps per step using the 8 bit digital potentiometer 243.
  • This AD8400AR10 is an integrated circuit produced by Analog Devices.
  • the microprocessor 200 updates this device level at a 1000 times per second rate.
  • the reference to the digital potentiometer is the 5 volt logic supply.
  • the output of the wiper will change from 0 to 4.9 volts.
  • the voltage signal is converted into a constant current drive by the operational amplifier Ul, transistor QI, and three resisters Rl, R2, R3, R4, and R5.
  • NPN transistor QI is used as a current amplifier in an emitter follower mode.
  • Diode Dl is used in the circuit to eliminate the reverse EMF effects of the solenoid control valve coil.
  • Electrolytic capacitor C2 is used as part of a low pass filter with the solenoid coil to reduce the high frequency bandwidth of the circuit. Cl is used as a high frequency power supply bypass.
  • the circuit applies a voltage across the solenoid coil.
  • the current through the coil is in series with the sense resister 10 ohm R5.
  • This constant current circuit increases or decreases the operational amplifiers output voltage until the voltage seen at the top of the sense resister is equal to the commanded voltage.
  • a 0 to 4.9 volt input is required.
  • the constant current circuit automatically compensates for coil , resistance manufacturing variations and temperature effects.
  • the circuitry for the linear Hall effect position sensor 216 or 18 is signal conditioned, offset, and amplified by the knee position circuitry 204.
  • a magnet 228 or 14 is mounted on the lever arm 12 which is pivoted by a cam surface on the retainer plate 8 so that the lever arm 12 moves directly proportional to the knee angle.
  • the Honeywell SS94A1B sensor 216 or 18 varies its output voltage depending on the north or south pole magnetic field.
  • the sensor 18 outputs a 2.5 volt signal depending on the amplitude of the magnetic field and the magnet polarity.
  • the polarity of the magnet is such that decreasing the distance until the magnet touches the sensor yields 0 volts, and totally removing the magnet from the sensor yields an output of 2.5 volts.
  • the minimum distance at zero degrees knee extension is 0.10 inches yielding a minimum voltage of 1 volt.
  • block 229 buffers and low pass filters the 1 to 2.5 volt hall position signal at a 100 Hz corner frequency to remove any high frequency components.
  • the second stage operational amplifier 230 increases the signal level by 3.33 times as well as removing the offset of 1 volt from reference 231 to yield an output level of 0 to 5 volts. This analog output is then converted into a digital output for use by the main program by the microprocessor 200.
  • FIG. 20 illustrates the force sensor 232 or 68 and its associated circuitry.
  • the weight sensor circuitry 206 is used for closed-loop control of the solenoid proportional control valve 210 or 32.
  • the weight force sensor 220 and 221 (FIG. 12A) and weight sensor circuitry 206 are used for program state control.
  • the circuitry design is identical except for the final amplification gain of U4, R3, and R4 in FIG. 20. This is an improved version of a capacitance sensor.
  • FIGS. 12A & B show the actual sensors 220 and 221 used in the knee control application.
  • the enhanced sensor 232 (FIG. 12D) is constructed of two double sided printed circuit cards and an elastomer separator.
  • the signal applied on the side of the elastomer is coupled proportionally to the plate on the other side.
  • the reference signal level transferred to the second plate is intensified by the increase in capacitance between the plates.
  • the amount of force that can be measured by the sensor is a function of the elastomer density used and the gain of the demodulating circuitry. The stiffer the elastomer, the more force can be applied before fully compressing the plates -together. Too much stiffness in the elastomer reduces the dynamic range of the sensor.
  • the elastomer having a particular durometer is selected for each appl ication.
  • the sensor application uses the microprocessor 200 to generate a 100 kHz square wave reference signal.
  • This signal is buffered by operational amplifier Ul.
  • the emitter side of the enhanced capacitance sensor is constructed on a double sided printed circuit card.
  • a conductive reflector 236 is on the outside and a conductive reference pad 238 is on the other.
  • the insulated printed circuit card 237 is made of glass epoxy.
  • the reference 100 kHz signal is coupled across the elastomer 239 to the receiver plate 240 on another card 237 and which is protected from outside emissions by another shield plate 236.
  • the received coupled 100 kHz signal is proportional to the compression of the plates and is developed across resister Rl.
  • the signal is then buffered by operational amplifier U2.
  • the received signal is converted into a proportional DC level by the RMS converter circuit consisting of Dl, R2, Cl and operational amplifier U3.
  • the DC level is scaled into a 5 volt maximum level by operational amplifier U4, R3 and R4.
  • the microprocessor 200 converts this analog signal into a usable digital valve by its onboard analog-to-digital converted.
  • FIGS. 11A & B show one of the two oil pressure sensors 206 or 31 or 34 used for closed-loop control of the solenoid control valve proportional positioning.
  • Oil ports 30a and 30b within the housing 15 have pressure communication with the chambers 25 and 26 on opposite sides of the hydraulic vane rotor 20. Internal pressure changes is transmitted to each sensor 206 by end cap 243 (FIGS. 11A & 11B) and diaphragm 242. The diaphragm pressure compresses the reference printed circuit card 237 containing the reference plate 240 and reflector plate 236 against the elastomer 239. The signal is coupled to the receiver plate 238 and shield plate 236 on another circuit card 237. The assembly is housed by the sensor enclosure cup 241 and with its associated circuitry operates as described above. Referring to FIGS.
  • the body weight force sensor '208 or 68 of the knee control application is constructed of two 2" by 2" double sided printed circuit boards 237 being separated by a sheet of elastomer 239.
  • the capacitive plates 220 and 221 are 0.5" by 1.25", and two reference plates and receiver plates 238 and 240 are used to produce a weight distribution sensor 68.
  • This sensor 208 or 68 is located in the base of the knee control. From the compression in the forward, middle, or aft force distributions, the system software can determine toe off, flat footed, or heal strike for program state control. This assembly with its associated circuitry also operates as described above. In the knee control application (FIG.
  • the system software is written in assembly code for a Motorola MC68HC912B32 microprocessor 200.
  • This microprocessor 200 includes a 16 bit CPU, an interrupt controller, an 8 channel 8 bit A/D converter, 1 kilobyte of RAM, 32 kilobytes of flash EPROM program memory, 756 bytes of EEPROM, one real-time timer interrupt, six timer-counters, a watchdog circuit, and a complex of communication devices for interacting with other systems such as a RS-232 serial peripheral, a synchronous serial peripheral, a BDLC synchronous serial peripheral, and a real-time background mode interface.
  • the device 215 upon which the resistance is applied contains a position sensor 216, such as the sensor 18, which allows the system software to closed the outer control loop as to determining the device's position, velocity, acceleration, and direction of movement.
  • the system software also uses auxiliary analog circuitry 208 and switch inputs 224 for program state control.
  • the system software being executed on the microprocessor 200 outputs the required 8 bit control valve level of the valve control circuitry 207.
  • the digital potentiometer uses three I/O pins on the microprocessor.
  • the software low level driver routine synthesizes the required synchronous serial 10 bit interface which sets the required 0-4.9 volt input drive to the constant current valve control amplifier.
  • the fluid pressure force sensors 212 and 213, such as sensors 31 and 34, are analog processed and scaled by the fluid pressure sensor circuitry 208.
  • the demodulated 0-5 volts proportional signal is read by the microprocessor 200 using the A/D fluid sensor low level drive routine. All the fluid pressure and weight sensors use a 100 kHz reference square wave signal generated by the microprocessor onboard counter-timers and initialized in the software power-on reset routine. This signal is buffered by the hardware and sent to the sensors.
  • the outer control loop feedback is obtained by the linear hall effect position sensor 216, such as the sensor 18, attached to the oveable knee joint housing 15.
  • the analog output of the hall effect sensor 18 is non-linear. Part of the linearization is accomplished by the cam surface on the retainer plate 8 (FIG. 6).
  • the majority of the position interpretation is accomplished by a software lookup table driver routine which converts raw position into actual knee angle in degrees and tenths.
  • the raw position information is scaled and offset by the position sensor circuit 204 which is read by the microprocessor 200 using the A/D position driver software routine.
  • the analog program state sensors 220 and 221 form the dual body weight sensor 68 attached to the bottom on the knee control frame 5.
  • the sensors 220 and 221 sense the amputee's weight being applied to the toe or flat footed, or heel force to aid the main software program control.
  • the two sensors 220 and 221 also use the 100 kHz reference signal.
  • the demodulated and scaled resultant analog signals are read by the microprocessor 200 by A/D software drivers. Variations between the amputee's size, weight, age, strength are accommodated by the setting of ten levels of flexion and ten levels of extension profiles. These settings are made by the prosthetist during the knee control fitting.
  • the main subminiature printed circuit card contains two sixteen position miniature rotary digital hexadecimal switches. The first ten positions are used for the prosthetic adjustments of flexion and extension and the other six are for special modes of operation tailored for sports and geriatrics.
  • the two 4 bit auxiliary switch inputs 224 are read directly by the microprocessor using the switch software driver input routine and the 1/0 input pins and associated internal pull-up resisters. The input signals are normally seen as a digital high TTL level except when grounded by the switch.
  • the battery pack 218, such as the battery pack 19, are conditioned and split into 5, 7.2, and 14.4 volts by the power circuits 203.
  • the battery level is monitored by the microprocessor 200 through the conditioned battery sensed signal 222.
  • the analog 0-5 volt filtered level is read by the microprocessor 200 by the low level software A/D battery driver routine. If the programs determine that the battery is within 30 minutes of a minimum safe level of operation, the two safety software routines will be activated to cause a vibrator circuit 226 to produce an alert to give the user impending notice of shutdown.
  • the communication to the outside world to/from the knee control is through the microprocessor's internal communication ports and interface hardware circuitry 202.
  • the asynchronous (SCI) and synchronous (SPI) serial data ports are used for special clinical data capture and control.
  • the background mode (BDM) port is used for the factory test interface during the manufacturing process as well as during software development. The main programming of the 32 kilobytes flash memory is programmed through the BDM port.
  • FIG. 22 shows the knee control mainline software subroutine.
  • the microprocessor 200 When the microprocessor 200 is energized, the microprocessor will be vectored to the RESET subroutine.
  • This routine initializes the programmable data ports and peripherals, to the desired analog and digital level such as the two weight sensors and the two fluid pressure sensors needing their 100 kHz reference for correct operation.
  • the proportional control valve drive level is set to zero until required to change by the application program.
  • a system built-in test program is entered to determine if the knee control electronics are working according to the factory specification. If not, the system vibrator will be activated 1/2 second on and one second off to alert the user that the system has seen a failure and it is unsafe to use. Until the failure is corrected, normal system application execution will be disabled.
  • the system control and mode determination is accomplished by the two interrupt routines occurring at a rate of 100 and 1000 times per second.
  • FIG. 23 shows the one millisecond software interrupt routine for the knee control unit. This routine captures the raw sensor data and updates the valve control at a 1000 times per second rate. The raw sensor data is read by the individual A/D channels. These 8 bit valves are converted into actual scaled fluid pressures in psi, amputee forward and aft weight distributions in pounds, and knee angle in degrees by the low level software drive routines using lookup conversion tables and numeric calculations. The valve is also controlled in a closed-loop manner at this 1000 times per second rate by calculating a new control level to be written to the control solenoid valve electronic circuit.
  • the drive byte value obtained are written to the digital potentiometer by the low level driver software routine converting the byte into the required 10 bit serial data as well as controlling the clock and enable bits on a bit-by-bit manner.
  • the knee control unit has a ten millisecond interrupt routine which is the main control loop where the majority of the calculations and program control are accomplished.
  • This routine executes at a rate of 100 times per second.
  • the software application requires knee position, knee velocity, knee direction, extension and flexion patient switch settings, and forward and aft body weight distribution. The position sensing is the most important parameter.
  • the ten 1 millisecond interrupt position samples are stored in an array. These ordered samples are time weighted window averaged to obtain the system knee position used. The previous old position is subtracted from the new position and divided by 10 milliseconds to yield a short term knee velocity.
  • the new position is also subtracted from an old position of 50 milliseconds ago and divided by 50 milliseconds to calculate a long term knee velocity.
  • the short term knee velocity is used for the determination of knee direction.
  • the long term knee velocity is used for the determination of the knee resistance to be applied.
  • the knee applied resistance calculations are based on the mathematical transfer function of a non-electronic hydraulic knee control obtained through extensive engineering characterization. A set of tables and equations are used to calculate the requires applied resistance in terms of PSI for any instantaneous knee position, knee velocity, knee direction, and flexion or extension patient switch setting. When the normal swing phase calculations are completed, the normal swing phase resistance is stored in the RAM for later use.
  • the program flow determines if additional modes of operation are to be executed.
  • the first decision path is Terminal Deceleration (T.D.).
  • T.D. Terminal Deceleration
  • the system software will apply an additional high resistance at less than 10 degrees to stop the knee hyper extending.
  • another routine is used for slowing the prosthetic knee during flexion. This is called Flexion Deceleration (F.D.).
  • F.D. Flexion Deceleration
  • This routine is used to keep the knee from flexing too far.
  • the F.D. routine will increase resistance proportionally past 65 degrees flexion and completely stops the knee control at 70 degrees.
  • Other auxiliary modes include the determination of walking down stairs and the determination of stumbling.
  • the down stairs mode is determined by knee angle and weight distribution as seen by the two weight force sensors 220 and 221.
  • the electronic control extends the decaying stance mode of the mechanical portion of the control. If hike recovery is required, it applies a high resistance to the knee control for a period of time and then delays it to zero. This mode attempts to protect the patient from falling and is detected by knee velocity, knee angle, and weight force distribution.
  • the resistance software flow is complete, the desired force level to be applied is stored in a RAM variable.
  • the application software will compute the best valve control level based on the knee velocity, knee direction, hydraulic characteristics, and valve characteristics. This level is written to a RAM variable location for use by the 1 millisecond interrupt routine previously mentioned.
  • the knee control application gait summary is shown in FIG. 21.
  • the gait knee angle is shown by the curve 248.
  • the swing phase is active when the knee control is off the ground with the knee bending in flexion or extension. Swing phase starts at toe off position 252 and is completed by the time the heel is just ready to strike at position 253.
  • the electronic control is active anytime the knee is at any angle greater than zero except when it detects that the knee has stopped for more than 5 seconds.
  • the stance phase consists of a heel strike position 249, full weight bearing load position 250, and almost toe off but still touching ground position 251.
  • FIGS. 25A - 31 show an alternate electronically controlled proportional servo valve and magnetic sensors for knee position, oil pressure and weight bearing.
  • the knee position sensor is shown in FIGS. 25A & 25B and measures the absolute knee angle between the h'ousing of a hydraulic actuator 300 and a knee plate 301 attached to the patient's socket, by sensing changes in a fixed magnetic field with a magnetic sensor assembly 303. The changes in the magnetic field are caused by the movement of an arcuate magnetic shutter plate 302 mounted on the knee plate 301.
  • the magnetic position sensor assembly 303 consists of a sensor housing enclosing a high output permanent magnet 304 (FIG. 25B) and defining a flux air gap which receives a tapered wall of the shutter plate 302.
  • a magnetic sensor electronic printed circuit card 305 is secured to the housing by a screw 308.
  • the sensor electronics measure the amplitude of the magnetic field as generated by the high output permanent magnet 304 and sensed through the air gap.
  • the sensing of the magnetic field is accompl ishe by a GMR sensor IC 306, and the signal is conditioned by an instrumentation amplifier 307.
  • the signal level is transmitted to a microprocessor controller card by a cable assembly 309 for further signal conditioning and conversion to a usable digital value for use in the closed-loop control.
  • the curved wall of the magnetic shutter plate 302 is tapered along its length for causing a disturbance or variation of the fixed magnetic field by moving the magnetically conductive material of the shutter plate into and out of the air gap between the magnet 304 and the GMR IC sensor 306 in response to relative rotation between the plate 302 and the actuator 300.
  • the magnetic shutter position sensor assembly 303 generates a nonlinear output which is shown by the chart of FIG. 31.
  • the curve is divided into 13 equations representing 10 degrees of movement each which can be approximated by a series of straight line equations. This approach requires significantly less memory than a 12 bit 8192 byte lookup table which would require 25% of the imbedded microprocessor's program memory capacity.
  • the sensor is calibrated by measuring the magnetic levels every 10 degrees over 0-130 degrees, the correct equation coefficients and stores these in the micro-controller's nonvolatile electrically erasable memory for use by the main executable application program.
  • FIG. 26 shows an alternate pressure sensor embodiment comprising a GMR magnetic differential fluid or oil pressure sensor.
  • This sensor is contained in the main hydraulic actuator housing 300.
  • the 'high side hydraulic pressure 313 is applied to one end of a movable piston 310 containing a high output magnet 311, while the low side oil pressure 314 is applied to the opposite end of the piston.
  • the hydraulic force being applied to the high pressure end of the piston pushes against a bias spring 312 having a sufficient spring constant to allow the piston to move about 0.050 inch with 500 PSI applied differentially.
  • the maximum movement of the piston is about 0.100 inch.
  • the actuator housing 300 is constructed of aluminum and is sealed from leakage of the hydraulic fluid to the environment.
  • the sensor electronic assembly 303 is similar to the position sensor electronic assembly 303 described above in reference to FIG. 25B and is mounted in a cavity outside of the sealed housing for sensing the internal magnetic field of the magnet 311 through the aluminum housing.
  • the common sensor card electronics contain the instrumentation amplifier 307 for signal conditioning.
  • the signal level is transmitted to the microprocessor controller card using the cable assembly 309 for further signal conditioning and being converted to a usable digital value for use in the closed-loop control of the hydraul ically applied resistance to the knee.
  • a patient weight bearing sensor mechanism (FIG. 27) is accomplished in a similar manner.
  • one or two weight sensors may be used. If mechanical weight being stance is used, then only one weight bearing sensor is required to assist the mechanical stance and is used in a stumble recovery mode. If the application requires a smaller size system with less of a mechanical fail safe, a full electronic weight bearing stance is implemented using two weight sensors indicating heal and toe applied forces. Regardless, the one or two sensor application operate in a similar manner.
  • FIG. 27 shows a weight bearing heal sensor example.
  • a bottom attachment plate 316 of the knee control contains a high output magnet 317.
  • the mounting plate is attached to a rod 318 which allows easy sliding movement between a lower knee control assembly 315 and the plate 316.
  • a 50 pound spring 319 surrounds the rod 318 and biases the plate 316 downwardly to its fully extended position of about a 0.040 inch travel.
  • the maximum air gap is seen between the magnet 317 and the GMR sensor bridge IC 306 having its signal conditioned by the instrumentation amplifier 307.
  • the signal level is transmitted to the microprocessor controller card using the cable assembly 309 for further signal conditioning and for conversion to a usable digital value for use in the closed-loop control.
  • the compression of the spring 319 decreases the distance between the magnet 317 and the GMR sensor 306 for increasing the electrical signal level to its maximum at approximately 50 pounds of applied force.
  • the sensor remote assembly circuitry is shown on FIG. 29.
  • the magnetic field is detected and measured by a Magnetoresistive GMR 5 00/27318 31
  • kilo-ohm 100 oersted sensitivity bridge manufactured by Nonvolatile Electronics as part number AA005, and designated as Ul.
  • the bridge is excited by a precision 2.5 voltage reference.
  • the same 2.5 volt reference is applied to a Burr-Brown INA122 designated as a U2 instrumentation micro-powered a pl ifier.
  • the instrumentation amplifier uses a 14K gain resistor RG which converts the low level differential GMR bridge output into a 19.29 times increased level.
  • the amplifier also conditions the signal to a low impedance drive level for transmitting to the main microprocessor control card in a low noise manner.
  • Capacitor Cl is used as a power noise decoupler, and the output signal is at a level of 0-2.5 volts.
  • the maximum magnet to sensor distance is selected to obtain a minimum amplifier output voltage of
  • the resultant signal produced is a 0-2.5 volt level free of the 1.25 volt offset.
  • This signal is applied to one of the four inputs of a 12 bit analog-to-digital converter using the same 2.5 volt precision reference.
  • a two stage proportional electronically controlled pilot operated valve is used as an alternate in the electronic knee control and is shown in FIG. 28.
  • the valve has two stages, a main stage poppet valve 320 which controls pressure for the main flow and a normally open pilot stage needle 332 to control the pressure and flow used to control the main stage.
  • the magnetic force applied by a solenoid coil 327 directly controls or closes the needle valve 332 which is subject to relatively small hydraulic forces but regulates the larger hydraulic forces acting on the valve 320.
  • the pilot stage needle valve 332 is biased towards an open position by a spring 333 and controls fluid flowing through an orifice 326.
  • the electromagnetic force acts mechanically through a steel armature 330 and is applied for closing the needle valve 332 for resisting flow, resulting in a proportional increase of pilot fluid pressure.
  • This fluid pressure acts on the main poppet 320 to increase the system pressure.
  • the main stage has two moving parts, the poppet valve 320 and a bias spring 324.
  • the clearance between the poppet valve bore and its support spool is very small such as .0005 inch on the diameter in order to minimize pressure and flow losses due to leakage.
  • the forces acting on the main poppet valve 320 are relatively large but provide for smooth motion, low leakage and rapid response with a relative weak bias spring 324.
  • the pilot stage has the moving parts of steel armature 330 and needle valve 332 and a compression spring 333.
  • the armature 330 is mounted on a nonferrous or aluminum cylindrical pusher tube 331 that slides axially on a ground pin 329. The concentricity of these pieces with a bore in a flux plate 328 and a good surface finish between these pieces minimizes the friction of the pusher tube 331 and consequently minimize system hysterisis, helps repeatability and maximizes the efficiency of the magnetic system.
  • the pilot needle valve 332 moves relative to the pilot orifice 326 for reducing its effective flow area and resulting in an increase in pilot pressure.
  • the smooth surface finish of the needle and the bore and the relatively close radial clearance between them minimize effects due to side loading from angular or radial misalignment of the needle and pusher tube 331. This helps reduce hysterisis and improves armature efficiency.
  • the magnetic field is carried through a steel core 335, steel flux ring 336, steel case 338 and steel flux plate 328. These components are designed in accordance with dimensional requirements of the electromagnetic forces required for the system.
  • a set of 0-ring seals 325, 334 and 337 are used to keep the high pressure hydraulic fluid from leaking into the outside environment.
  • a device or apparatus constructed in accordance with the present invention provides desirable features and advantages. For example, by sensing the differential pressure across the movable hydraulic actuator member and using this differential pressure in a computer controlled closed-loop system for the valve which controls the flow of hydraulic fluid to the actuator, a precisely controlled variable resistance is obtained regardless of variations in manufacturing tolerances, wear of parts, or variations in the viscosity of the hydraulic fluid.
  • apparatus constructed in accordance with the invention is ideally suited for producing a precise knee gait damping resistance for a knee prosthesis without returning by the patient or prosthetist.
  • the magnetic rotary or linear position sensor, pressure sensor and weight bearing sensor described in connection with FIGS. 25A - 27 provide low cost, highly accurate and repeatable results without any mechanical connections.
  • the sensors are also substantially less sensitive to poor environmental conditions such as particles or dirt in the air, and further provide a low noise/high signal transmission to the controlling microprocessor.
  • the pilot operated two stage solenoid valve described in connection with FIG. 28 provides for controlling a high pressure hydraulic fluid flow, for example, 900 psi at 1.5 gpm, with very low power consumption, such as only 0.1 watt. This feature is ideally suited for a prosthetic knee control where light weight, small size and very low power consumption of rechargeable batteries, are highly desirable.

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  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Vascular Medicine (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Prostheses (AREA)

Abstract

L'invention concerne un dispositif de résistance hydraulique commandé par ordinateur pour un appareil tel qu'une prothèse de genou pour des personnes amputées au-dessus du genou. Ce dispositif comprend une électrovanne (220) pilotée à deux étages reliée de manière à réguler l'écoulement de liquide vers et en provenance d'un élément d'actionnement hydraulique (211) qui exerce une résistance sur la prothèse du genou ou sur un autre appareil à travers un raccord. La pression hydraulique est captée sur les côtés haut et bas du dispositif d'actionnement par un aimant (311) sollicité par un ressort et par un capteur électronique (306) actionné par magnétisme. La pression hydraulique est aussi utilisée par un microcontrôleur (200) en circuit fermé de manière à corriger automatiquement les variations du dispositif et de la viscosité du fluide hydraulique. Le dispositif comprend également des capteurs électroniques (303) actionnés par magnétisme qui détectent les positions de l'appareil et renvoient les données au minicontrôleur afin d'exercer une résistance prédéterminée sur l'appareil.
PCT/US1998/023940 1998-11-10 1998-11-10 Dispositif de resistance hydraulique commande par ordinateur pour une prothese et autre appareil connexe WO2000027318A1 (fr)

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AU13946/99A AU1394699A (en) 1998-11-10 1998-11-10 Computer controlled hydraulic resistance device for a prosthesis and other apparatus
PCT/US1998/023940 WO2000027318A1 (fr) 1998-11-10 1998-11-10 Dispositif de resistance hydraulique commande par ordinateur pour une prothese et autre appareil connexe

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Cited By (28)

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EP1262155A1 (fr) * 2001-05-29 2002-12-04 Ohio Willow Wood Company Dispositif de commande à phase d'inertie pour articulation des membres inférieurs
US6613097B1 (en) 1999-06-28 2003-09-02 Ohio Willow Wood Company Swing phase control for an artificial lower limb
WO2007027808A3 (fr) * 2005-09-01 2007-06-28 Oessur Hf Systeme et methode pour determiner des transitions de terrain
EP1909708A1 (fr) * 2005-07-29 2008-04-16 Freedom Innovations, Inc. Nouveau dispositif prothetique pour genou commande par ordinateur
US20080306324A1 (en) * 2007-06-05 2008-12-11 Bonutti Peter M Magnetic joint implant
US7485152B2 (en) 2005-08-26 2009-02-03 The Ohio Willow Wood Company Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature
CN101803967A (zh) * 2010-03-17 2010-08-18 黄元清 肌电膝关节
US8858648B2 (en) 2005-02-02 2014-10-14 össur hf Rehabilitation using a prosthetic device
US8986397B2 (en) 2003-11-18 2015-03-24 Victhom Human Bionics, Inc. Instrumented prosthetic foot
US9017419B1 (en) 2012-03-09 2015-04-28 össur hf Linear actuator
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
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
US9271851B2 (en) 2004-02-12 2016-03-01 össur hf. Systems and methods for actuating a prosthetic ankle
US9351854B2 (en) 2005-09-01 2016-05-31 össur hf Actuator assembly for prosthetic or orthotic joint
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
US9526635B2 (en) 2007-01-05 2016-12-27 Victhom Laboratory Inc. Actuated leg orthotics or prosthetics for amputees
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
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US9895240B2 (en) 2012-03-29 2018-02-20 Ösur hf Powered prosthetic hip joint
US9949850B2 (en) 2015-09-18 2018-04-24 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US10195057B2 (en) 2004-02-12 2019-02-05 össur hf. Transfemoral prosthetic systems and methods for operating the same
US10390974B2 (en) 2014-04-11 2019-08-27 össur hf. Prosthetic foot with removable flexible members
US10543109B2 (en) 2011-11-11 2020-01-28 Össur Iceland Ehf Prosthetic device and method with compliant linking member and actuating linking member
US10575970B2 (en) 2011-11-11 2020-03-03 Össur Iceland Ehf Robotic device and method of using a parallel mechanism
RU214484U1 (ru) * 2021-11-24 2022-10-31 Общество с ограниченной ответственностью "Салют Орто" Коленный модуль протеза нижней конечности

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US5062856A (en) * 1988-03-25 1991-11-05 Kabushiki Kaisha Kobe Seiko Sho Teaching playback swing-phase-controlled above-knee prosthesis
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Cited By (52)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6613097B1 (en) 1999-06-28 2003-09-02 Ohio Willow Wood Company Swing phase control for an artificial lower limb
EP1262155A1 (fr) * 2001-05-29 2002-12-04 Ohio Willow Wood Company Dispositif de commande à phase d'inertie pour articulation des membres inférieurs
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
US9526636B2 (en) 2003-11-18 2016-12-27 Victhom Laboratory Inc. Instrumented prosthetic foot
US8986397B2 (en) 2003-11-18 2015-03-24 Victhom Human Bionics, Inc. Instrumented prosthetic foot
US10195057B2 (en) 2004-02-12 2019-02-05 össur hf. Transfemoral prosthetic systems and methods for operating the same
US9271851B2 (en) 2004-02-12 2016-03-01 össur hf. Systems and methods for actuating a prosthetic ankle
US8858648B2 (en) 2005-02-02 2014-10-14 össur hf Rehabilitation using a prosthetic device
US10290235B2 (en) 2005-02-02 2019-05-14 össur hf Rehabilitation using a prosthetic 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
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
EP2762108A1 (fr) * 2005-07-29 2014-08-06 Freedom Innovations, LLC Nouveau dispositif prothétique de genou commande par ordinateur
US8444704B2 (en) 2005-07-29 2013-05-21 Freedom Innovations, Llc Enhanced methods for mimicking human gait with prosthetic knee devices
EP1909708A4 (fr) * 2005-07-29 2011-11-30 Freedom Innovations Llc Nouveau dispositif prothetique pour genou commande par ordinateur
EP1909708A1 (fr) * 2005-07-29 2008-04-16 Freedom Innovations, Inc. Nouveau dispositif prothetique pour genou commande par ordinateur
US7485152B2 (en) 2005-08-26 2009-02-03 The Ohio Willow Wood Company Prosthetic leg having electronically controlled prosthetic knee with regenerative braking feature
CN101453964B (zh) * 2005-09-01 2013-06-12 奥瑟Hf公司 用于确定地形转换的系统和方法
WO2007027808A3 (fr) * 2005-09-01 2007-06-28 Oessur Hf Systeme et methode pour determiner des transitions de terrain
US9351854B2 (en) 2005-09-01 2016-05-31 össur hf Actuator assembly for prosthetic or orthotic joint
US9526635B2 (en) 2007-01-05 2016-12-27 Victhom Laboratory Inc. Actuated leg orthotics or prosthetics for amputees
US11007072B2 (en) 2007-01-05 2021-05-18 Victhom Laboratory Inc. Leg orthotic device
US9808357B2 (en) 2007-01-19 2017-11-07 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US11607326B2 (en) 2007-01-19 2023-03-21 Victhom Laboratory Inc. Reactive layer control system for prosthetic devices
US10405996B2 (en) 2007-01-19 2019-09-10 Victhom Laboratory Inc. Reactive layer control system for prosthetic and orthotic devices
US9757585B2 (en) 2007-06-05 2017-09-12 P Tech, Llc Magnetic joint implant
US20080306324A1 (en) * 2007-06-05 2008-12-11 Bonutti Peter M Magnetic joint implant
US20230200996A1 (en) * 2007-06-05 2023-06-29 P Tech, Llc Magnetic joint implant
US20200253737A1 (en) * 2007-06-05 2020-08-13 P Tech, Llc Magnetic joint implant
US11944543B2 (en) 2007-06-05 2024-04-02 P Tech, Llc Magnetic joint implant
US10299943B2 (en) 2008-03-24 2019-05-28 össur hf Transfemoral prosthetic systems and methods for operating the same
CN101803967A (zh) * 2010-03-17 2010-08-18 黄元清 肌电膝关节
US9060884B2 (en) 2011-05-03 2015-06-23 Victhom Human Bionics Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US11185429B2 (en) 2011-05-03 2021-11-30 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US10251762B2 (en) 2011-05-03 2019-04-09 Victhom Laboratory Inc. Impedance simulating motion controller for orthotic and prosthetic applications
US10543109B2 (en) 2011-11-11 2020-01-28 Össur Iceland Ehf Prosthetic device and method with compliant linking member and actuating linking member
US10575970B2 (en) 2011-11-11 2020-03-03 Össur Iceland Ehf Robotic device and method of using a parallel mechanism
US9017419B1 (en) 2012-03-09 2015-04-28 össur hf Linear actuator
US10940027B2 (en) 2012-03-29 2021-03-09 Össur Iceland Ehf Powered prosthetic hip joint
US9895240B2 (en) 2012-03-29 2018-02-20 Ösur hf Powered prosthetic hip joint
US11285024B2 (en) 2013-02-26 2022-03-29 Össur Iceland Ehf Prosthetic foot with enhanced stability and elastic energy return
US9561118B2 (en) 2013-02-26 2017-02-07 össur hf Prosthetic foot with enhanced stability and elastic energy return
US10369019B2 (en) 2013-02-26 2019-08-06 Ossur 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
US10695197B2 (en) 2013-03-14 2020-06-30 Össur Iceland Ehf Prosthetic ankle and method of controlling same based on weight-shifting
US11576795B2 (en) 2013-03-14 2023-02-14 össur hf Prosthetic ankle and method of controlling same based on decreased loads
US11446166B2 (en) 2014-04-11 2022-09-20 Össur Iceland Ehf Prosthetic foot with removable flexible members
US10390974B2 (en) 2014-04-11 2019-08-27 össur hf. Prosthetic foot with removable flexible members
US10722386B2 (en) 2015-09-18 2020-07-28 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US9949850B2 (en) 2015-09-18 2018-04-24 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
US11707365B2 (en) 2015-09-18 2023-07-25 Össur Iceland Ehf Magnetic locking mechanism for prosthetic or orthotic joints
RU214484U1 (ru) * 2021-11-24 2022-10-31 Общество с ограниченной ответственностью "Салют Орто" Коленный модуль протеза нижней конечности

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