US2016158032A1PendingUtilityA1

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 2/6607A61F 2002/5018Y10T29/49826A61F 2002/7645A61F 2002/701A61F 2002/7625A61F 2002/5003A61F 2002/764A61F 2002/6614A61F 2002/6854A61F 2002/503A61F 2002/6845A61F 2002/5075A61F 2002/7635A61F 2002/6664A61F 2/70A61F 2002/704A61F 2002/502A61F 2002/5021A61F 2/66A61F 2/68A61F 2/748A61F 2/741A61F 2/74
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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 foot portion or main body by an effective lever arm;   coupling an actuator to the first compliant member and main body; and   adjusting with the actuator a length of the effective lever arm to simultaneously adjust a position and a stiffness of the first joint.   
     
     
         2 . The method of  claim 1 , further including adjusting with the actuator an orientation of the first compliant member with respect to the first joint to simultaneously adjust the position and stiffness of the first joint. 
     
     
         3 . The method of  claim 1 , further including adjusting with the actuator the length of the effective lever arm to release energy stored in the first compliant member. 
     
     
         4 . The method of  claim 1 , further including:
 coupling a sensor to the prosthetic joint device; and   measuring using the sensor a physical state of the prosthetic joint device.   
     
     
         5 . The method of  claim 1 , further including:
 determining a gait activity; and   adjusting with the actuator the length of the effective lever arm based on the gait activity.   
     
     
         6 . The method of  claim 1 , further including:
 detecting a slope of a terrain; and   adjusting with the actuator the length of the effective lever arm to control an orientation of the foot portion based on the slope of the terrain.   
     
     
         7 . 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 or foot portion by an adjustable lever arm;   coupling an actuator to the adjustable lever arm; and   adjusting with the actuator an effective length of the adjustable lever arm to change a stiffness of the first joint.   
     
     
         8 . The method of  claim 7 , further including adjusting with the actuator an orientation of the first compliant member with respect to the first joint to adjust the stiffness of the first joint. 
     
     
         9 . The method of  claim 7 , further including simultaneously adjusting the stiffness and a position of the first joint. 
     
     
         10 . The method of  claim 7 , further including adjusting with the actuator the effective length of the adjustable lever arm to release energy stored in the first compliant member. 
     
     
         11 . The method of  claim 7 , further including:
 coupling a sensor to the prosthetic joint device; and   measuring using the sensor a physical state of the prosthetic joint device.   
     
     
         12 . The method of  claim 11 , further including:
 determining a gait activity based on the physical state; and   adjusting with the actuator the effective length of the adjustable lever arm based on the gait activity.   
     
     
         13 . The method of  claim 7 , further including:
 detecting a slope of a terrain; and   adjusting with the actuator the effective length of the adjustable lever arm 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 coupled to the foot portion by an adjustable lever arm, wherein an effective length of the adjustable lever arm determines a stiffness of the first joint; and   an actuator coupled to the adjustable lever arm, the actuator configured to change the effective length of the adjustable lever arm.   
     
     
         15 . The prosthetic joint device of  claim 14 , wherein the prosthetic joint device includes not more than one actuator. 
     
     
         16 . The prosthetic joint device of  claim 14 , further including a control system coupled to the actuator and configured to control the actuator to change the effective length of the adjustable lever arm based on a gait activity. 
     
     
         17 . The prosthetic joint device of  claim 14 , wherein the actuator is configured to adjust an orientation of the first compliant member with respect to the main body or foot portion. 
     
     
         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 14 , wherein the effective length of the adjustable lever arm determines a position of the first joint. 
     
     
         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, the first compliant member coupled to the main body or foot portion by a linkage including an effective lever arm; and   an actuator coupled to the first compliant member and configured to control an effective stiffness of the first joint by adjusting a length of the effective lever arm.   
     
     
         21 . The prosthetic joint device of  claim 20 , wherein an orientation of the first compliant member with respect to the first joint determines the length of the effective lever arm. 
     
     
         22 . The prosthetic joint device of  claim 20 , wherein the length of the effective lever arm determines 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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