Powered Lower Limb Orthosis Control for Autonomous Mobility

The patent replaces the purely mechanical passive orthosis system with a powered system that uses electric motors to generate the forces needed for hip extension and knee flexion. This substitution of mechanical systems with powered actuation eliminates the need for users to generate large upper body forces, directly resolving the contradiction between mobility improvement and upper body strength requirements.

The patent divides the powered orthosis into modular segments with dedicated actuators at each joint (hip and knee). Each motor unit is independently controlled and optimized for its specific function. This segmentation allows the system to achieve improved gait speed through coordinated multi-joint actuation while keeping individual component masses manageable and allowing for selective activation to reduce overall system weight during different phases of gait.

The patent implements a control system that autonomously manages the complex coordination of multiple motors and actuation phases without requiring direct user intervention. The system self-regulates motor commands, timing sequences, and force levels based on predefined gait patterns and sensor feedback, enabling autonomous bipedal locomotion while maintaining ease of operation through minimal user input requirements.

The patent replaces complex mechanical reciprocal coupling mechanisms with independent powered actuation at each hip joint. Electric motors and electronic control systems substitute for mechanical linkages, cables, and hydraulic circuits. This substitution maintains gait efficiency through coordinated control of bilateral hip extension while dramatically reducing mechanical complexity, eliminating the need for physical coupling between left and right hip mechanisms.