WO2016171548A1 - Energy storing prosthetic knee actuator - Google Patents

Energy storing prosthetic knee actuator Download PDF

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Publication number
WO2016171548A1
WO2016171548A1 PCT/NL2016/050273 NL2016050273W WO2016171548A1 WO 2016171548 A1 WO2016171548 A1 WO 2016171548A1 NL 2016050273 W NL2016050273 W NL 2016050273W WO 2016171548 A1 WO2016171548 A1 WO 2016171548A1
Authority
WO
WIPO (PCT)
Prior art keywords
hydraulic
pneumatic cylinder
user
control valve
prosthetic knee
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.)
Ceased
Application number
PCT/NL2016/050273
Other languages
French (fr)
Inventor
Gerhardus SMIT
Heike Vallery
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.)
Technische Universiteit Delft
Original Assignee
Technische Universiteit Delft
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 Technische Universiteit Delft filed Critical Technische Universiteit Delft
Priority to EP16731369.1A priority Critical patent/EP3285699B1/en
Publication of WO2016171548A1 publication Critical patent/WO2016171548A1/en
Priority to US15/789,803 priority patent/US11058559B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
    • 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
    • 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
    • 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
    • A61F2002/764—Measuring means for measuring acceleration

Definitions

  • the invention relates to an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder with a piston and a piston rod, wherein the piston and the hy ⁇ draulic or pneumatic cylinder are movable with respect to each other and are connected or connectable to a user's upper leg and lower leg respectively or vice versa, and further comprising an energy storage accumulator and at least one control valve provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator for controlling an exchange of fluid or gas between the energy storage accumulator and the hydraulic or pneumatic cylinder.
  • Such an energy storing prosthetic knee actuator is known from EP 1 415 626.
  • US2013/0013085 also teaches such an energy storing prosthetic knee actuator, and is provided with at least two controllable variable fluid flow resisting devices and a control system.
  • the control system is actuable to cause storage of the fluid energy for a predetermined length of time and release of the fluid energy at a predetermined time during the gait cycle. Both the storage and the release of the fluid energy are variable by action of the control system.
  • the invention has as its prime object and aim to pro- vide a mere standing up assist to amputees who have lost at least one of their lower legs including the knee joint.
  • Such an assist is particularly useful for the elderly or other persons having limited physical condition and who would benefit from a device assisting them in standing up from a seated po- sition.
  • Another object and aim is to provide such a standing up assist which is low weight, and which is capable to regenerate energy that is stored during sitting down and use it for standing up.
  • an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder with a piston and a piston rod, wherein the piston and the hydraulic or pneumatic cylinder are movable with respect to each other and wherein the actuator comprises an energy storage accumulator and a control valve provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator, wherein the control valve is auto- matically operable and connected to at least one sensor for detection whether the user is standing up.
  • the control valve is then suitably arranged to close off the piping and stop the flow between the hydraulic or pneumatic cylinder and the energy storage accumulator when the at least one sensor detects that the user is seated and to open said piping and thus enable the flow of gas or fluid when the at least one sensor detects that the user is standing up.
  • the control valve is preferably a single control valve.
  • the cylinder is a pneumatic cylinder .
  • the senor is a load sensor, an accelerometer, an inertial measurement unit, or any suitable combination of any such sensors.
  • the sensor or sensors can be combined with a suitable signal processing unit.
  • One other preferable feature is that the piston is movable along and up to an extremity of the piston rod. In this way the piston does not hinder extension of the knee when the user is sitting.
  • the piping comprises a controllable flow restriction member, which can be used to restrict the speed of the extension of the knee.
  • redundant piping is provided between the hydraulic or pneumatic cylinder and the energy storage accumulator, in which redundant piping a oneway valve is included enabling a flow of fluid or gas from the hydraulic or pneumatic cylinder to the energy storage accumu- lator. This enables that the user can sit down also when the control valve closes off the piping between the hydraulic or pneumatic cylinder and the energy storage accumulator.
  • a high-pressure reservoir is provided to connect to the energy storage accumu- lator. This can compensate for energy losses and leakage and - if desired - can also assist the user when he has to deliver power such as when walking the stairs.
  • -figure 1 shows a user standing up and wearing an energy storing prosthetic knee actuator according to the inven- tion
  • a user 1 is shown respectively standing up and sitting down, and wearing an energy storing prosthetic knee actuator 2 according to the invention, comprising a hydraulic or pneumatic cylinder 3 with a piston 4 and a piston rod 5.
  • the piston 4 and the hy ⁇ draulic or pneumatic cylinder 3 are movable with respect to each other and are connected to an upper leg 1' and lower leg V' of the user 1.
  • the connection can of course also be re- versed.
  • a pneumatic cylinder is applied because of its lower weight than an hydraulic cylinder.
  • the actuator 2 further comprises an energy storage accumulator 6 and a control valve 7 provided in piping 8 connecting the hydraulic or pneumatic cylinder 3 with the energy storage accumulator 6.
  • a control valve 7 provided in piping 8 connecting the hydraulic or pneumatic cylinder 3 with the energy storage accumulator 6.
  • the energy storing prosthetic knee actuator 2 of the invention thus enables assisting the standing up of the user 1 by controlling an exchange of fluid or gas between the energy stor- age accumulator 6 and the hydraulic or pneumatic cylinder 3, by executing the steps of:
  • the control valve 7 operates automatically and is there- fore connected to the at least one sensor 9, which is for instance provided at the bottom of the lower leg 1' ' , for detection whether the user 1 is in the process of standing up.
  • the preferably single control valve 7 is then suitably arranged to close off the piping 8 between the hydraulic or pneumatic cylinder 3 and the energy storage accumulator 6 when the sensor 9 detects that the user 1 is seated (as shown in figure 2) and to open said piping 8 and enable again the flow of gas or fluid when the at least one sensor 9 detects that the user 1 is in the process of standing up.
  • the sensor 9 is selected from the group comprising a load sensor, an accelerometer, an inertial measurement unit, or any suitable combination of any such sensors.
  • piston 4 is movable along and up to an extremity of the piston rod 5. In this way the piston 4 does not hinder extension of the knee when the user 1 is sitting.
  • the piping 8 comprises advantageously a controllable flow restriction member 10 which can be used to restrict the speed of the extension of the knee.
  • redundant piping 11 is provided between the hydraulic or pneumatic cylinder 3 and the energy storage accumulator 6, in which redundant piping 11 a one-way valve 12 is included enabling a flow of fluid or gas from the hydraulic or pneumatic cylinder 3 to the energy storage accumulator 6.
  • This enables that the user 1 can sit down also when the control valve 7 closes off the piping 8 between the hydraulic or pneumatic cylinder 3 and the energy storage accumulator 6 which would otherwise prevent that the piston 4 moves in the hydraulic or pneumatic cylinder 3 and correspondingly that the knee of the user 1 would be bent.
  • a high-pressure reservoir 13 can be provided to connect to the energy storage accumulator 6. This can compensate for possible energy losses and leakage. If desired it can also be used to extend the leg in situations that additional power is required that would otherwise have to be de- livered by the user, such as when walking the stairs.

Landscapes

  • Health & Medical Sciences (AREA)
  • Transplantation (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Biomedical Technology (AREA)
  • Cardiology (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

Energy storing prosthetic knee actuator (2) and method of using such an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder (3) with a piston (4) and a piston rod (5), wherein the piston and the hydraulic or pneumatic cylinder are movable with respect to each other, said actuator further comprising an energy storage accumulator (6) and a control valve (7) provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator for controlling an exchange of fluid or gas between the energy storage accumulator and the hydraulic or pneumatic cylinder, wherein: - the hydraulic or pneumatic cylinder and the piston are connected to a user's upper leg and lower leg respectively or vice versa, and wherein the actuator is arranged to - close the control valve when the user is sitting down; and - open the control valve when the user is going to stand or standing up.

Description

Energy storing prosthetic knee actuator
The invention relates to an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder with a piston and a piston rod, wherein the piston and the hy¬ draulic or pneumatic cylinder are movable with respect to each other and are connected or connectable to a user's upper leg and lower leg respectively or vice versa, and further comprising an energy storage accumulator and at least one control valve provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator for controlling an exchange of fluid or gas between the energy storage accumulator and the hydraulic or pneumatic cylinder.
Such an energy storing prosthetic knee actuator is known from EP 1 415 626.
US2013/0013085 also teaches such an energy storing prosthetic knee actuator, and is provided with at least two controllable variable fluid flow resisting devices and a control system. The control system is actuable to cause storage of the fluid energy for a predetermined length of time and release of the fluid energy at a predetermined time during the gait cycle. Both the storage and the release of the fluid energy are variable by action of the control system.
The invention has as its prime object and aim to pro- vide a mere standing up assist to amputees who have lost at least one of their lower legs including the knee joint. Such an assist is particularly useful for the elderly or other persons having limited physical condition and who would benefit from a device assisting them in standing up from a seated po- sition.
Another object and aim is to provide such a standing up assist which is low weight, and which is capable to regenerate energy that is stored during sitting down and use it for standing up.
Surprisingly the inventors have found that the aims and objects of the invention can at low cost be attained in an energy storing prosthetic knee actuator comprising a hydraulic or pneumatic cylinder with a piston and a piston rod, wherein the piston and the hydraulic or pneumatic cylinder are movable with respect to each other and wherein the actuator comprises an energy storage accumulator and a control valve provided in piping connecting the hydraulic or pneumatic cylinder with the energy storage accumulator, wherein the control valve is auto- matically operable and connected to at least one sensor for detection whether the user is standing up. The control valve is then suitably arranged to close off the piping and stop the flow between the hydraulic or pneumatic cylinder and the energy storage accumulator when the at least one sensor detects that the user is seated and to open said piping and thus enable the flow of gas or fluid when the at least one sensor detects that the user is standing up. The control valve is preferably a single control valve. Preferably the cylinder is a pneumatic cylinder .
Using the energy storing prosthetic knee actuator of the invention after connecting the hydraulic or pneumatic cylinder and the piston to a user' s upper leg and lower leg respectively or vice versa, enables assisting the standing up of the user by controlling an exchange of fluid or gas between the energy storage accumulator and the hydraulic or pneumatic cylinder, by executing the steps of:
- providing at least one sensor for detection whether the user is seated or standing up;
- closing the control valve when the sensor detects that the user is sitting down to maintain the stored energy in the energy storage accumulator that corresponds to the flow of fluid or gas received into the accumulator as induced by the piston moving in the hydraulic or pneumatic cylinder by reason of the user's motion from standing up to sitting; and
- opening the control valve when the sensor detects that the user intends to stand or is standing up for release of the stored energy from the energy storage accumulator for driving the piston and move it with respect to the hydraulic or pneumatic cylinder to straighten the user's leg again.
It is possible to use different types of sensors, such as a mechanic, electric or a pneumatic sensor. Preferably the sensor is a load sensor, an accelerometer, an inertial measurement unit, or any suitable combination of any such sensors. Advantageously the sensor or sensors can be combined with a suitable signal processing unit.
One other preferable feature is that the piston is movable along and up to an extremity of the piston rod. In this way the piston does not hinder extension of the knee when the user is sitting.
It may further be preferable that in addition to the control valve the piping comprises a controllable flow restriction member, which can be used to restrict the speed of the extension of the knee.
It may also be preferable that redundant piping is provided between the hydraulic or pneumatic cylinder and the energy storage accumulator, in which redundant piping a oneway valve is included enabling a flow of fluid or gas from the hydraulic or pneumatic cylinder to the energy storage accumu- lator. This enables that the user can sit down also when the control valve closes off the piping between the hydraulic or pneumatic cylinder and the energy storage accumulator.
One other preferable feature is that a high-pressure reservoir is provided to connect to the energy storage accumu- lator. This can compensate for energy losses and leakage and - if desired - can also assist the user when he has to deliver power such as when walking the stairs.
The invention will hereinafter be further elucidated with reference to the drawing of an exemplary embodiment of an apparatus according to the invention that is not limiting as to the appended claims.
In the drawing:
-figure 1 shows a user standing up and wearing an energy storing prosthetic knee actuator according to the inven- tion;
-figure 2 the user of figure 1 sitting down; and
-figure 3 schematically shows the energy storing prosthetic knee actuator according to the invention.
Whenever in the figures the same reference numerals are applied, these numerals refer to the same parts.
Making reference first to figure 1 and figure 2 a user 1 is shown respectively standing up and sitting down, and wearing an energy storing prosthetic knee actuator 2 according to the invention, comprising a hydraulic or pneumatic cylinder 3 with a piston 4 and a piston rod 5. The piston 4 and the hy¬ draulic or pneumatic cylinder 3 are movable with respect to each other and are connected to an upper leg 1' and lower leg V' of the user 1. The connection can of course also be re- versed. Preferably a pneumatic cylinder is applied because of its lower weight than an hydraulic cylinder.
Making now reference to figure 3, it is shown that the actuator 2 further comprises an energy storage accumulator 6 and a control valve 7 provided in piping 8 connecting the hydraulic or pneumatic cylinder 3 with the energy storage accumulator 6. Preferably there is only a single control valve. The energy storing prosthetic knee actuator 2 of the invention thus enables assisting the standing up of the user 1 by controlling an exchange of fluid or gas between the energy stor- age accumulator 6 and the hydraulic or pneumatic cylinder 3, by executing the steps of:
- providing at least one sensor 9 for detection whether the user 1 is seated or standing up
- closing the control valve 7 when the sensor 9 de- tects that the user is sitting down to maintain the stored energy in the energy storage accumulator 6 that corresponds to the flow of fluid or gas received in the accumulator 6 as induced by the piston 4 moving in the hydraulic or pneumatic cylinder 3 by reason of the user' s motion from standing up {figure 1) to sitting down (figure 2) ; and
- opening the control valve 7 when the sensor 9 detects that the user 1 intends to stand up or is standing up for release of the stored energy from the energy storage accumulator 6 for driving the piston 4 and move it with respect to the hydraulic or pneumatic cylinder 3 to straighten the user' s leg so that the user 1 eventually can assume again the position shown in figure 1.
Although it is possible to include a manual operation, the control valve 7 operates automatically and is there- fore connected to the at least one sensor 9, which is for instance provided at the bottom of the lower leg 1' ' , for detection whether the user 1 is in the process of standing up. According to what is mentioned above the preferably single control valve 7 is then suitably arranged to close off the piping 8 between the hydraulic or pneumatic cylinder 3 and the energy storage accumulator 6 when the sensor 9 detects that the user 1 is seated (as shown in figure 2) and to open said piping 8 and enable again the flow of gas or fluid when the at least one sensor 9 detects that the user 1 is in the process of standing up. It is possible to use different types of sensors, such as a mechanic, electric or a pneumatic sensor. Preferably the sensor 9 is selected from the group comprising a load sensor, an accelerometer, an inertial measurement unit, or any suitable combination of any such sensors.
One other preferable feature is that the piston 4 is movable along and up to an extremity of the piston rod 5. In this way the piston 4 does not hinder extension of the knee when the user 1 is sitting.
In addition to the application of a preferably single control valve 7 the piping 8 comprises advantageously a controllable flow restriction member 10 which can be used to restrict the speed of the extension of the knee.
It may also be preferable that redundant piping 11 is provided between the hydraulic or pneumatic cylinder 3 and the energy storage accumulator 6, in which redundant piping 11 a one-way valve 12 is included enabling a flow of fluid or gas from the hydraulic or pneumatic cylinder 3 to the energy storage accumulator 6. This enables that the user 1 can sit down also when the control valve 7 closes off the piping 8 between the hydraulic or pneumatic cylinder 3 and the energy storage accumulator 6 which would otherwise prevent that the piston 4 moves in the hydraulic or pneumatic cylinder 3 and correspondingly that the knee of the user 1 would be bent.
Finally a high-pressure reservoir 13 can be provided to connect to the energy storage accumulator 6. This can compensate for possible energy losses and leakage. If desired it can also be used to extend the leg in situations that additional power is required that would otherwise have to be de- livered by the user, such as when walking the stairs.
Although the invention has been discussed in the foregoing with reference to an exemplary embodiment of the energy storing prosthetic knee actuator of the invention, the invention is not restricted to this particular embodiment which can be varied in many ways without departing from the principles of the invention. The discussed exemplary embodiment shall therefore not be used to construe the appended claims strictly in accordance therewith. On the contrary the embodiment is merely intended to explain the wording of the appended claims without intent to limit the claims to this exemplary embodiment. The scope of protection of the invention shall therefore be construed in accordance with the appended claims only, wherein a possible ambiguity in the wording of the claims shall be resolved using this exemplary embodiment.

Claims

1. Energy storing prosthetic knee actuator (2) comprising a hydraulic or pneumatic cylinder (3) with a piston (4) and a piston rod (5), wherein the piston (4) and the hydraulic or pneumatic cylinder (3) are movable with respect to each other and are connected or connectable to a user's upper leg (1' ) and lower leg (1'') respectively or vice versa, and further comprising an energy storage accumulator (6) and at least one control valve (7) provided in piping (8) connecting the hydraulic or pneumatic cylinder (3) with the energy stor- age accumulator (6) for controlling an exchange of fluid or gas between the energy storage accumulator (6) and the hydraulic or pneumatic cylinder (3), characterized in that the control valve (7) is automatically operable and connected to at least one sensor (9) for detection whether the user (1) is standing up.
2. Energy storing prosthetic knee actuator according to claim 1, characterized in that the cylinder (3) is a pneumatic cylinder.
3. Energy storing prosthetic knee actuator according to claim 1 or 2, characterized in that the control valve (7) is arranged to close off the piping (8) when the sensor (9} detects that the user (1} is seated and to open the piping (8) when the sensor (9) detects that the user (1) is standing up.
4. Energy storing prosthetic knee actuator according to any one of claims 1 - 3, characterized in that the sensor
(9} is selected from the group comprising a load sensor, an accelerometer, an inertial measurement unit, or any suitable combination of any such sensors.
5. Energy storing prosthetic knee actuator according to any one of the previous claims 1 - 4, characterized in that the piston (4) is movable along and up to an extremity of the piston rod (5} .
6. Energy storing prosthetic knee actuator according to any one of the previous claims 1 - 5, characterized in that in the piping (8) comprising the control valve (7) a controllable flow restriction member (10) is included.
7. Energy storing prosthetic knee actuator according to any one of the previous claims 1 - 6, characterized in that it comprises redundant piping (11) between the hydraulic or pneumatic cylinder (3) and the energy storage accumulator (6), in which redundant piping (11) a one-way valve (12) is includ- ed enabling a flow of fluid or gas from the hydraulic or pneumatic cylinder (3) to the energy storage accumulator (6).
8. Energy storing prosthetic knee actuator according to any one of the previous claims 1 - 7, characterized in. that: it comprises a high-pressure reservoir (13) connected to the energy storage accumulator (6).
9. Energy storing prosthetic knee actuator according to any one of the previous claims 1 - 8, characterized in that the control valve is a single control valve (7).
10. Method of using an energy storing prosthetic knee actuator (2) comprising a hydraulic or pneumatic cylinder (3) with a piston (4) and a piston rod (5), wherein the piston (4) and the hydraulic or pneumatic cylinder (3) are movable with respect to each other, said actuator (2) further comprising an energy storage accumulator (6) and a control valve (7) provid- ed in piping (8) connecting the hydraulic or pneumatic cylin¬ der (3) with the energy storage accumulator (6) for control¬ ling an exchange of fluid or gas between the energy storage accumulator (6) and the hydraulic or pneumatic cylinder (3), comprising the step of:
- connecting the hydraulic or pneumatic cylinder (3) and the piston (3) to a user's upper leg (1') and lower leg (I'M respectively or vice versa, and characterized by the steps of:
- providing at least one sensor (9) for detection whether the user (1) is seated or standing up;
- closing the control valve (7) when the sensor (9) detects that the user (1) is sitting down; and
- opening the control valve (7) when the sensor (9} detects that the user (1) is standing up.
PCT/NL2016/050273 2015-04-20 2016-04-19 Energy storing prosthetic knee actuator Ceased WO2016171548A1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP16731369.1A EP3285699B1 (en) 2015-04-20 2016-04-19 Energy storing prosthetic knee actuator
US15/789,803 US11058559B2 (en) 2015-04-20 2017-10-20 Energy storing prosthetic knee actuator

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US11058559B2 (en) 2015-04-20 2021-07-13 Technische Universiteit Delft Energy storing prosthetic knee actuator
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US12454047B2 (en) 2020-05-27 2025-10-28 Roam Robotics Inc. Fit and suspension systems and methods for a mobile robot
EP4094731A1 (en) 2021-05-27 2022-11-30 Reev SAS Orthopaedic device comprising at least one actuator
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US12515358B2 (en) 2021-08-17 2026-01-06 Roam Robotics Inc. Cable management systems and methods for a wearable mobile robot

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US20180036150A1 (en) 2018-02-08
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NL2014674A (en) 2016-10-24
NL2014674B1 (en) 2017-01-20
EP3285699B1 (en) 2019-06-19

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