US2016158031A1PendingUtilityA1

Quasi-Active Prosthetic Joint System

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Assignee: SPRINGACTIVE INCPriority: May 3, 2013Filed: Feb 9, 2016Published: Jun 9, 2016
Est. expiryMay 3, 2033(~6.8 yrs left)· nominal 20-yr term from priority
Inventors:Jeffrey A. WardRobert HolgateKevin Hollander
A61F 2002/6614A61F 2002/7645A61F 2002/5003A61F 2002/6845A61F 2/6607A61F 2002/503A61F 2/70A61F 2002/7635A61F 2002/5021A61F 2002/7625Y10T29/49826A61F 2002/5075A61F 2002/5018A61F 2002/6664A61F 2/66A61F 2002/764A61F 2002/502A61F 2002/6854A61F 2002/701A61F 2002/704A61F 2/68A61F 2/74A61F 2/748A61F 2/741
48
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Claims

Abstract

A prosthetic joint device includes a foot portion and a main body pivotally coupled to the foot portion at a first joint. A first compliant member is coupled to the main body and foot portion. A first clutch is coupled to the first compliant member. An actuator is coupled to the first clutch to lock and unlock the first clutch and engage and disengage the first compliant member. A control system is coupled to the actuator to control the actuator based on a gait activity. The first clutch is locked to engage the first compliant member. A second compliant member is coupled to the main body and foot portion. A sensor is coupled to the prosthetic joint device to measure a physical state of the prosthetic joint device. The engagement and disengagement of the first compliant member is timed based on the physical state of the prosthetic joint device.

Claims

exact text as granted — not AI-modified
What is claimed: 
     
         1 . A method of controlling a prosthetic joint device, comprising:
 providing a foot portion;   coupling a main body to the foot portion at a first joint;   coupling a first compliant member to the main body and foot portion;   coupling an actuator to the first compliant member and main body;   positioning the actuator to select a quantity of active coils in the first compliant member; and   simultaneously adjusting with the actuator a position and a stiffness of the first joint.   
     
     
         2 . The method of  claim 1 , further including:
 coupling a sensor to the prosthetic joint device; and   measuring a physical state of the prosthetic joint device.   
     
     
         3 . The method of  claim 2 , further including increasing or decreasing the quantity of active coils in the first compliant member to adjust the position and stiffness of the first joint based on the physical state of the prosthetic joint device. 
     
     
         4 . The method of  claim 1 , further including decreasing the quantity of active coils in the first compliant member to increase the stiffness of the first joint. 
     
     
         5 . The method of  claim 1 , further including:
 detecting a slope of a terrain; and   increasing or decreasing the quantity of active coils in the first compliant member during a swing phase of gait to control an orientation of the foot portion based on the slope of the terrain.   
     
     
         6 . The method of  claim 1 , further including changing the quantity of active coils to release energy stored in the first compliant member. 
     
     
         7 . The method of  claim 1 , further including reducing the stiffness of the first joint by changing the quantity of active coils to release energy stored in the first compliant member. 
     
     
         8 . A method of controlling a prosthetic joint device, comprising:
 providing a foot portion;   coupling a main body to the foot portion at a first joint;   coupling a first compliant member to the main body and foot portion;   coupling an actuator to the first compliant member and main body; and   selecting with the actuator a quantity of active coils in the first compliant member to adjust a stiffness of the first joint.   
     
     
         9 . The method of  claim 8 , further including increasing or decreasing with the actuator a quantity of active coils in the first compliant member to adjust the stiffness of the first joint. 
     
     
         10 . The method of  claim 8 , further including reducing the stiffness of the first joint by changing the quantity of active coils to release energy stored in the first compliant member. 
     
     
         11 . The method of  claim 8 , further including:
 coupling a sensor to the prosthetic joint device; and   measuring a physical state of the prosthetic joint device.   
     
     
         12 . The method of  claim 11 , further including increasing or decreasing the quantity of active coils in the first compliant member based on the physical state of the prosthetic joint device. 
     
     
         13 . The method of  claim 8 , further including:
 detecting a slope of a terrain; and   increasing or decreasing the quantity of active coils in the first compliant member during a swing phase of gait to control an orientation of the foot portion based on the slope of the terrain.   
     
     
         14 . A prosthetic joint device, comprising:
 a foot portion;   a main body coupled to the foot portion at a first joint;   a first compliant member coupled to the main body and foot portion; and   an actuator coupled to the first compliant member and main body and configured to change a quantity of active coils in the first compliant member to adjust a stiffness of the first joint.   
     
     
         15 . The prosthetic joint device of  claim 14 , further including a nut disposed between coils of the first compliant member, the nut configured to be positioned by the actuator. 
     
     
         16 . The prosthetic joint device of  claim 14 , wherein the main body is configured to couple to a limb of a user. 
     
     
         17 . The prosthetic joint device of  claim 14 , wherein the actuator is configured to change a quantity of active coils in the first compliant member to adjust a position of the first joint. 
     
     
         18 . The prosthetic joint device of  claim 14 , further including a sensor disposed on the first joint to determine a gait activity. 
     
     
         19 . The prosthetic joint device of  claim 18 , further including a control system configured to control the actuator based on the gait activity. 
     
     
         20 . A prosthetic joint device, comprising:
 a foot portion;   a main body coupled to the foot portion at a first joint;   a first compliant member coupled to the main body and foot portion; and   an actuator coupled to the first compliant member and main body and configured to change a quantity of active coils in the first compliant member.   
     
     
         21 . The prosthetic joint device of  claim 20 , wherein the main body is configured to couple to a limb of a user. 
     
     
         22 . The prosthetic joint device of  claim 20 , wherein the actuator is configured to change a quantity of active coils in the first compliant member to adjust a position of the first joint. 
     
     
         23 . The prosthetic joint device of  claim 20 , wherein the prosthetic joint device includes not more than one actuator. 
     
     
         24 . The prosthetic joint device of  claim 20 , further including a sensor disposed on the first joint to determine a gait activity. 
     
     
         25 . The prosthetic joint device of  claim 24 , further including a control system configured to control the actuator based on the gait activity.

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