Actuated leg prosthesis for above-knee amputees

Abstract

The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.

1 . (canceled) 
     
     
         2 . A lower-limb prosthesis comprising:
 a first lower-limb member comprising:
 a powered actuator positioned at a rear portion of the first lower-limb member; and 
 a shell-type architecture defining a space in which most of the actuator is located to form a compact arrangement with overall dimensions generally within that of a normal human limb; 
   a second lower-limb member rotatably coupled to the first lower-limb member such that actuation of the powered actuator affects a rotation of the first lower-limb member relative to the second lower-limb member; and   a connector connected to the first or second lower-limb member, the connector being configured to operably connect the prosthesis to a user.   
     
     
         3 . The lower-limb prosthesis of  claim 2 , wherein the shell-type architecture comprises at least two spaced-apart bars. 
     
     
         4 . The lower-limb prosthesis of  claim 2 , further comprising an energy absorption bumper configured to prevent out of range rotation of the first lower-limb member relative to the second lower-limb member. 
     
     
         5 . The lower-limb prosthesis of  claim 2 , wherein the powered actuator is a serial-elastic actuator. 
     
     
         6 . The lower-limb prosthesis of  claim 2 , wherein the powered actuator comprises a motor. 
     
     
         7 . The lower-limb prosthesis of  claim 2 , wherein the connector comprises a pyramid configuration. 
     
     
         8 . The lower-limb prosthesis of  claim 2 , comprising a prosthetic foot rotatable with respect to the connector. 
     
     
         9 . A lower-limb prosthesis comprising:
 a pyramid connector configured to operably connect the prosthesis to a user;   a prosthetic foot;   a shell-type architecture extending at least partially between the pyramid connector and the prosthetic foot; and   an actuator located in a rearward position with respect to the shell-type architecture, wherein actuation of the actuator causes a change in angle between the pyramid connector and the prosthetic foot.   
     
     
         10 . The lower-limb prosthesis of  claim 9 , wherein the actuator is a linear actuator. 
     
     
         11 . The lower-limb prosthesis of  claim 9 , wherein the actuator is a serial-elastic actuator. 
     
     
         12 . The lower-limb prosthesis of  claim 9 , further comprising a sensor configured to measure torque about an axis of rotation of the lower-limb prosthesis. 
     
     
         13 . The lower-limb prosthesis of  claim 12 , further comprising a controller configured to actuate the actuator based on feedback from the sensor. 
     
     
         14 . The lower-limb prosthesis of  claim 9 , further comprising an energy absorption bumper configured to prevent out of range rotation of the first lower-limb member relative to the second lower-limb member. 
     
     
         15 . A lower-limb prosthesis comprising:
 a first lower-limb member comprising a connector configured to operably connect the prosthesis to a user;   a second lower-limb member rotatably coupled to the first lower-limb member;   a serial-elastic actuator configured to affect a rotation of the first lower-limb member relative to the second lower-limb member;   a sensor configured to measure a torque between the first lower-limb member and the second lower-limb member and provide feedback to a controller; and   a controller configured to adjust parameters of the prosthesis.   
     
     
         16 . The lower-limb prosthesis of  claim 15 , wherein the controller uses the data from the sensor regarding torque as feedback to adjust a force provided by the actuator. 
     
     
         17 . The lower-limb prosthesis of  claim 15 , wherein the controller uses the data from the sensor regarding torque to determine a joint trajectory. 
     
     
         18 . The lower-limb prosthesis of  claim 15 , wherein the sensor is configured to measure torque by measuring the compression of an elastic element of the serial-elastic actuator. 
     
     
         19 . The lower-limb prosthesis of  claim 15 , further comprising an energy absorption bumper configured to prevent out of range rotation of the first lower-limb member relative to the second lower-limb member. 
     
     
         20 . The lower-limb prosthesis of  claim 15 , wherein the connector comprises a pyramid configuration. 
     
     
         21 . The lower-limb prosthesis of  claim 15 , wherein the second lower-limb member comprises a prosthetic foot. 
     
     
         22 . A method for controlling a lower-limb prosthesis comprising:
 measuring a torque between a first lower-limb member and a second lower-limb member rotatably coupled to the first lower-limb member; and   controlling a serial-elastic actuator, the actuator being configured to affect a rotation between the first and second lower-limb members based at least on said torque.   
     
     
         23 . The method of  claim 22 , wherein the step of measuring a torque further comprises measuring the compression of an elastic device. 
     
     
         24 . The method of  claim 22 , further comprising determining a desired joint trajectory for the first and second lower-limb members. 
     
     
         25 . The method of  claim 22 , further comprising determining a desired force to be applied to the first and second lower-limb members. 
     
     
         26 . The method of  claim 22 , wherein the step of controlling the serial-elastic actuator comprises using the measured torque for feedback. 
     
     
         27 . The method of  claim 22 , further comprising preventing out of range motion of the first lower-limb member relative to the second lower-limb member. 
     
     
         28 . The method of  claim 27 , wherein the step of preventing comprises absorbing energy. 
     
     
         29 . The method of  claim 22 , wherein the second lower-limb member comprises a prosthetic foot.