Instrumented prosthetic foot

Abstract

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

1 . An instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising: 
 an elongated body comprising a foot plate and a heel plate being cantilevered from the foot plate, the foot plate comprising a toe region thereof;    a connector to connect the instrumented prosthetic foot to the leg prosthesis, the connector being mounted on the elongated body; and    a pair of first and second sensors mounted on the elongated body, the first sensor being positioned at the underside of the heel plate and the second sensor being positioned at the underside of the foot plate at the toe region;    wherein the pair of first and second sensors is configured to detect changes in weight distribution along the prosthetic foot.    
     
     
         2 . An instrumented prosthetic foot according to  claim 1 , wherein the first and second sensor include a strain sensor.  
     
     
         3 . An instrumented prosthetic foot according to  claim 1 , wherein the first and second sensor include a pressure sensor.  
     
     
         4 . An instrumented prosthetic foot according to  claim 3 , wherein the pressure sensor is a force-sensing resistor.  
     
     
         5 . An instrumented prosthetic foot according to  claim 1 , further comprising a rigid plate placed on at least one side of the first and second sensor.  
     
     
         6 . An instrumented prosthetic foot according to  claim 1 , wherein the first and second sensor are sandwiched between respective first and second pairs of rigid plates.  
     
     
         7 . An instrumented prosthetic foot according to  claim 6 , wherein the first pair of rigid plates is interposed between a first resilient pad and the heel plate and the second pair of rigid plates is interposed between a second resilient pad and the foot plate.  
     
     
         8 . An instrumented prosthetic foot according to  claim 1 , wherein the first and second sensor transmit signals to the controller using a wired connection.  
     
     
         9 . An instrumented prosthetic foot according to  claim 1 , wherein the first and second sensor transmit signals to the controller using a wireless connection.  
     
     
         10 . An instrumented prosthetic foot according to  claim 1 , wherein the first and second sensor transmit signals to the controller using an optical interface.  
     
     
         11 . An instrumented prosthetic foot according to  claim 1 , wherein the connector removably connects the instrumented prosthetic foot to the leg prosthesis.  
     
     
         12 . An instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising: 
 an elongated body comprising a foot plate and a heel plate being cantilevered from the foot plate;    a connector to connect the instrumented prosthetic foot to the leg prosthesis, the connector being mounted on the elongated body; and    a pair of first and second sensors mounted on the elongated body, the first sensor being positioned between the connector and the elongated body, the second sensor being positioned at the foot plate;    wherein the pair of first and second sensors is configured to detect changes in weight distribution along the prosthetic foot.    
     
     
         13 . An instrumented prosthetic foot according to  claim 12 , wherein the second sensor is positioned at a junction of the heel plate and the foot plate  
     
     
         14 . An instrumented prosthetic foot according to  claim 12 , wherein the first and second sensor include a strain sensor.  
     
     
         15 . An instrumented prosthetic foot according to  claim 12 , wherein the first and second sensor include a pressure sensor.  
     
     
         16 . An instrumented prosthetic foot according to  claim 15 , wherein the pressure sensor is a force-sensing resistor.  
     
     
         17 . An instrumented prosthetic foot according to  claim 12 , further comprising a rigid plate placed on at least one side of the first and second sensor.  
     
     
         18 . An instrumented prosthetic foot according to  claim 12 , wherein the first and second sensor are sandwiched between respective first and second pairs of rigid plates.  
     
     
         19 . An instrumented prosthetic foot according to  claim 12 , wherein the first and second sensor transmit signals to the controller using a wired connection.  
     
     
         20 . An instrumented prosthetic foot according to  claim 12 , wherein the first and second sensor transmit signals to the controller using a wireless connection.  
     
     
         21 . An instrumented prosthetic foot according to  claim 12 , wherein the first and second sensor transmit signals to the controller using an optical interface.  
     
     
         22 . An instrumented prosthetic foot according to  claim 12 , wherein the connector removably connects the instrumented prosthetic foot to the leg prosthesis.