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Hybrid terrain-adaptive lower-extremity systems

A technology for lower limbs and orthoses, applied in the field of lower limb prostheses, orthoses and exoskeleton devices, can solve problems such as the inability to properly reproduce the biomechanical characteristics of the gait cycle

Inactive Publication Date: 2011-09-28
IWALK
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0014] Traditional passive prosthetics, orthotics, and exoskeleton devices do not adequately reproduce the biomechanics of the gait cycle

Method used

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  • Hybrid terrain-adaptive lower-extremity systems
  • Hybrid terrain-adaptive lower-extremity systems
  • Hybrid terrain-adaptive lower-extremity systems

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0177] Identify ongoing activities

[0178] Inertial attitude and trajectory estimation

[0179] Figure 2 is a schematic diagram of a method for determining a prosthesis, orthosis or exoskeleton device based on the inertial posture of the calf element 220 connected to the ankle joint 200 and the angle between the calf element 220 and the foot element 208 ( E.g Figure 17A The ankle joint 200, heel 212, and toe 216 of the device 1700) shown are trajectories. The attitude is the position and orientation of the coordinate system. The device 1700 includes an inertial measurement unit 204 connected to the lower leg element 220. The inertial measurement unit 204 includes a three-axis rate gyroscope for measuring angular rate and a three-axis accelerometer for measuring acceleration. The inertial measurement unit is placed on the calf element 220 to measure the angular velocity and acceleration of all three axes of the calf element 220. The inertial measurement unit 204 provides six d...

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PUM

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Abstract

Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Description

[0001] Related application Technical field [0002] This application generally relates to lower limb prostheses, orthoses and exoskeleton devices, their parts and control methods. Background technique [0003] In the United States, more than 100,000 people lose their feet due to amputations each year. Thousands of people all over the world have suffered this debilitating loss. In addition, there are 700,000 stroke survivors in the United States each year, and stroke often causes various lower limb diseases that restrict walking ability. Until recently, lower extremity prosthesis and orthosis systems have been using mainly passive or low-power mechanisms. They cannot output the non-conserved positive power required by the body to achieve economical walking motion even on flat ground every time it takes a step. Not to mention on uneven surfaces such as stairs and steps. [0004] An understanding of the general biomechanics related to the subject's gait cycle helps to understand the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): A61F2/68F16H25/00H02K41/02
CPCA61F2/6607G01P21/00H02K7/06A61F2002/7645H02K7/116B25J9/0006A61F2002/5003A61F2002/7665A61F2002/704A61F2/60A61F2002/5007A61F2002/7635A61F2/68A61F2002/701A61F2002/5018A61F2002/7625A61F2/72A61F2002/503A61F2002/5087A61F2/70A61H3/00G01L5/0028G01L5/0061A61F2/64A61F2002/763A61H2003/001A61F2002/5079A61F2002/6614A61F2002/6836A61F2002/764A61F2005/0155A61F2002/5033A61F2005/0169A61H1/0266
Inventor H·M·赫尔R·卡斯勒C·M·努克A·S·马戈林K·J·塞兹M·T·科瓦尔奇克R·W·斯帕勒G·K·汤普森T·M·达尔林普尔S·S·凯斯勒J·A·韦伯D·W·默里
Owner IWALK
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