17 results about "Stance phase" patented technology

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

A risk estimation apparatus includes a data acquisition unit that acquires measured data of foot pressures of the left foot and the right foot obtained by sensors that are provided in shoes and measure the foot pressures, a stance phase identification unit that identifies a starting timing and an ending timing of a stance phase of each of the left foot and the right foot from the measured data of the foot pressures, and a risk estimation unit that estimates a risk of abnormality of a lower limb on the basis of asymmetry between the foot pressures of the left foot and the right foot during the stance phase.

By using the helical axis in the knee joint movement of subjects during walking, we perform gait analysis that can be used to detect early-stage osteoarthritis of the knee. [Solution] A gait analysis method comprising the steps of: calculating the helical axis of the knee joint based on motion data of the subject's lower limbs during walking; extracting the flexion phase and extension phase during the stance phase of the subject's gait cycle; and obtaining an evaluation value to assess the condition of the knee by quantifying the variability of the helical axis group in one or both of the flexion phase and the extension phase.

Systems, devices and methods for detecting ground contact with a lower-limb POD. A sensor array for the POD on a first or second body may include two or more sensors in an array that each detect a distance to a respective target on the other of the first or second body. The first and second bodies may move relative to each other thereby changing an offset distance or distances between the two bodies which is detected by the sensors. In some embodiments, the sensors may include Hall Effect sensors that detect distances to respective magnets. Load data based on the detected distances may be generated for control of the POD, such as for stance phase control.

The present invention relates to a hip exoskeleton assistance control method, and the control method includes the following: training a second neural network using a dataset of kinematic parameters during normal human walking to obtain a neural network joint torque model for predicting the joint torque of the hip joint; the wearer wears the hip exoskeleton and real-time obtains the rotation angles of the hip joint, knee joint and ankle joint in the sagittal plane, coronal plane and horizontal plane, and uses the trained first neural network to determine whether the wearer is in the stance phase or the swing phase during normal human walking; if it is the stance phase, input the real-time kinematic parameters during normal human walking into the neural network joint torque model to obtain the joint torque of each joint for hip joint assistance; if it is the swing phase, the corresponding hip joint assistance torque is provided in real time according to the Newton-Euler joint torque model. This method can solve the problem that the ground reaction force is difficult to predict during daily walking.

An assistive device that can be worn in normal daily activities that improves dorsiflexion in stance phase and correct hyperextension of the knee to help restore a functional gait pattern. The device includes an attachable foot stirrup strap, two long heavy duty elastic cords with hooks to attach to the foot stirrup strap and loops to attach to a shoulder strap, a thigh strap with clamp that allows for adjustment of tension to overcome foot drop and promote knee flexion in the proper direction by providing a point for the elastic cords to cross without entangling. Further, the shoulder strap includes a shoulder pad for comfort and a buckle that allows for adjustment of tension. Furthermore, the foot stirrup strap may be detachably connected to a foot / shoe of the user with the help of elastic connectors or permanently attached to the shoe with the help of an adhesive.

A risk estimation apparatus includes a data acquisition unit that acquires measured data of foot pressures of the left foot and the right foot obtained by sensors that are provided in shoes and measure the foot pressures, a stance phase identification unit that identifies a starting timing and an ending timing of a stance phase of each of the left foot and the right foot from the measured data of the foot pressures, and a risk estimation unit that estimates a risk of abnormality of a lower limb on the basis of asymmetry between the foot pressures of the left foot and the right foot during the stance phase.

To predict the future risk of knee deformation caused by gonarthrosis due to acquired factors, and contribute to the prevention of the knee deformation.SOLUTION: A perception support system according to the present invention comprises: a detection device 12 that detects the plantar pressure of a subject; an evaluation device 13 that performs an evaluation regarding the risk of knee deformation of the subject on the basis of the plantar pressure data; and a presentation device 14 that presents information and stimuli related to the evaluation results of the evaluation device 13. The evaluation device 13 includes: a COP calculation unit 19 that obtains COP representing the central position of the plantar pressure during the subject's walking motion; a COP inclination angle calculation unit 20 that determines a COP straight line connecting respective points of COP at two different times within one stance phase and determines a COP inclination angle being an angle of the COP straight line with respect to the longitudinal axis of the sole; and an information creation unit 21 that creates information related to the deformation risk on the basis of the COP inclination angle.SELECTED DRAWING: Figure 1

The invention describes a method for controlling an orthopedic joint device of a lower extremity, having an upper part (10) and a lower part (20), which are pivotally mounted on one another in an articulated manner about a pivot axis (15), using an actuator (30), the actuator (30) is coupled to the upper part (10) and the lower part (20) and influences the motion state of the upper part (10) and / or the lower part (20), the actuator (30) is coupled to a control device (40), and the control device is coupled to at least one sensor (50) and activates, deactivates or modulates the actuator (30) based on the sensor value of the at least one sensor (50). Wherein at least one movement speed of at least one part of the orthopedic joint device is determined from the sensor values, and the actuator (30) is activated, deactivated or modulated on the basis of the movement speed in the standing phase, the movement speed and the resistance in the standing phase being inversely correlated at least for a part of the movement.

The invention relates to a method for controlling an artificial knee joint comprising: an upper part (10) and a lower part (20) which are articulatedly mounted on one another so as to be pivotable about a pivot axis (15); and an actuator (30) which is coupled to the upper part (10) and the lower part (20) and influences a movement state of the upper part (10) and / or the lower part (20), wherein the actuator (30) is coupled to a control device (40) which is coupled to at least one sensor (50) and activates, deactivates, or modulates the actuator (30) on the basis of sensor values from the at least one sensor (50), wherein, when walking on a downwardly inclined surface, a stance phase flexion following an initial contact is countered with a resistance, and a stance phase extension is supported by the actuator (30) depending on the surface inclination (α).

Footwear articles for walking are provided. In one example, a footwear article may include a midsole with a lower surface of constant curvature extending from a heel of the midsole to a toe of the midsole, wherein the lower surface maintains the constant curvature throughout a stance phase of a walking gait. In this way, a smooth step-to-step transition and a smaller range of oscillation of the center of mass of the wearer is achieved, and energy expenditure during walking is reduced. In turn, a wearer of the footwear article may smoothly walk for extended periods of time with reduced fatigue.

This invention relates to a phased adaptive control method for an exoskeleton used in rehabilitation training, belonging to the field of human-machine collaborative motion assistance technology. This method identifies gait phases based on hip joint angle and angular velocity, dividing the gait into four phases: early swing phase, late swing phase, early stance phase, and late stance phase. It then uses a polynomial curve with control points to complete basic gait planning. Finally, it adaptively adjusts the gait trajectory control points based on the swing dynamics and stance phase. This invention enables phased adaptive adjustment of gait trajectory and auxiliary torque, improving training flexibility and patient participation, effectively avoiding sensor signal interference and insufficient accuracy, and contributing to improved rehabilitation training outcomes.

A risk estimation apparatus includes a data acquisition unit that acquires measured data of foot pressures of the left foot and the right foot obtained by sensors that are provided in shoes and measure the foot pressures, a stance phase identification unit that identifies a starting timing and an ending timing of a stance phase of each of the left foot and the right foot from the measured data of the foot pressures, and a risk estimation unit that estimates a risk of abnormality of a lower limb on the basis of asymmetry between the foot pressures of the left foot and the right foot during the stance phase.

The invention relates to a method for controlling an artificial knee joint (1), said artificial knee joint having: an upper component (10) with a front side (11) and a rear side (12); a lower component (20) pivotably supported about a knee axis (15) on the upper component (10), the lower component having a front side (21) and a rear side (22); a foot component (30) arranged on the lower component (20); at least one sensor (25, 51, 52, 53, 54); a control device (60) connected to the at least one sensor (25, 51, 52, 53, 54); and an actuator (40), the actuator being coupled to the control device (60) and the knee angle (KA max ) that can be achieved between the rear side (12) of the upper component (10) and the rear side (22) of the lower component (20) during the swing phase being adjustable via the actuator by the control device, and inferring, from the sensor data of the at least one sensor (25, 51, 52, 53, 54), the height difference (ΔH) between the foot component (30) and the opposite foot (33) of the patient or the height difference from the immediately preceding stance phase of the foot component (30) when walking, and adjusting the knee angle (KA max ) that can be achieved during the swing phase.

A prosthetic or orthotic device (POD) can include first and second limb members coupled at a joint, an actuator, and a controller. The actuator can be configured to actuate the first limb member relative to the second limb member. The controller can cause the actuator to exhibit a force rejection behavior during a portion of stance phase and cause the actuator to exhibit a force following behavior during a portion of swing phase. The controller can, based on a determination that a gait parameter satisfies a gait parameter threshold, cause the actuator to at least one of: apply a first torque at the joint to cause the POD to flex during a portion of stance phase, decelerate flexion of the POD during at least a first portion of the swing phase, or decelerate extension of the POD during at least a second portion of the swing phase.

A bipedal walking robot uses a quasi-passive control scheme and a simplified mechanical design. The walking robot has a pair of legs connected to a body through a passive hip joint, which is offset from a center of gravity of the walking robot. A nonconcentric, curved foot is attached at to each leg by a prismatic joint. Extension and retraction of the prismatic joint initiates the walking sequence of the robot, with each foot retracted during the swing phase and extended during the stance phase. Directional changes are controlled by changing a phase offset in the actuation of each foot.

A control unit (10) of an electric prosthetic leg (1) controls to be in a first connection state where any one of a first connection and disconnection mechanism (210) and a second connection and disconnection mechanism (220) is connected, during a stance phase which is a weighted state, and controls to be in a disconnection state where the first connection and disconnection mechanism (210) and the second connection and disconnection mechanism (220) are disconnected, or to be in a second connection state where the other of the first connection and disconnection mechanism (210) and the second connection and disconnection mechanism (220) is connected, during a swing phase which is a non-weighted state.