WO2010088616A1 - Powered artificial knee with agonist-antagonist actuation - Google Patents
Powered artificial knee with agonist-antagonist actuation Download PDFInfo
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- WO2010088616A1 WO2010088616A1 PCT/US2010/022760 US2010022760W WO2010088616A1 WO 2010088616 A1 WO2010088616 A1 WO 2010088616A1 US 2010022760 W US2010022760 W US 2010022760W WO 2010088616 A1 WO2010088616 A1 WO 2010088616A1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
- A61F2/64—Knee joints
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/60—Artificial legs or feet or parts thereof
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/74—Operating or control means fluid, i.e. hydraulic or pneumatic
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5003—Prostheses not implantable in the body having damping means, e.g. shock absorbers
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A—HUMAN NECESSITIES
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2002/5072—Prostheses not implantable in the body having spring elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
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- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/68—Operating or control means
- A61F2/70—Operating or control means electrical
- A61F2002/704—Operating or control means electrical computer-controlled, e.g. robotic control
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7625—Measuring means for measuring angular position
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
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- A61F2002/764—Measuring means for measuring acceleration
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F2/00—Filters implantable into blood vessels; Prostheses, i.e. artificial substitutes or replacements for parts of the body; Appliances for connecting them with the body; Devices providing patency to, or preventing collapsing of, tubular structures of the body, e.g. stents
- A61F2/50—Prostheses not implantable in the body
- A61F2/76—Means for assembling, fitting or testing prostheses, e.g. for measuring or balancing, e.g. alignment means
- A61F2002/7615—Measuring means
- A61F2002/7645—Measuring means for measuring torque, e.g. hinge or turning moment, moment of force
Definitions
- the present invention relates to artificial joints and limbs for use in prosthetic, exoskeletal, orthotic or robotic devices and, in particular, to powered artificial knee joints.
- Knee prostheses for above-knee amputees can be classified into three major groups: passive, variable-damping, and powered. Passive prosthetic knees do not require a power supply for their operation, and are generally less adaptive to environmental disturbances than variable-damping prostheses. Variable-damping knees do require a power source, but only to modulate damping levels, whereas powered prosthetic knees are capable of performing non-conservative positive knee work.
- variable-damping knees offer several advantages over mechanically passive designs, including enhanced knee stability and adaptation to different ambulatory speeds. Although variable-damping knees offer some advantages over purely passive knee mechanisms, they are nonetheless incapable of producing positive mechanical power and therefore cannot replicate the positive work phases of the human knee joint for such activities as sit-to-stand maneuvers, level-ground walking, and stair/slope ascent ambulation. Not surprisingly, transfemoral amputees experience clinical problems when using variable-damping knee technology, such as, for example, asymmetric gait patterns, slower gait speeds, and elevated metabolic energy requirements compared to non-amputees.
- the invention is a knee prosthesis that comprises an agonist-antagonist arrangement of two series-elastic actuators positioned in parallel.
- the prosthetic knee design is motivated by a variable-impedance prosthetic knee model, comprising two series-elastic clutch mechanisms and a variable-damper.
- Human gait data are utilized to constrain the model's joint to move biologically.
- Model parameters are then obtained using an optimization scheme that minimizes the sum over time of the squared difference between the model's knee joint torque and biological knee values.
- the optimized values are then used to specify the mechanical and finite state control design of the agonist-antagonist knee prosthesis. Two preferred embodiments have been developed.
- the knee according to the invention can be controlled to behave as agonist-antagonist, series-elastic clutch elements during the stance phase of the gait cycle, and as a variable-damper during the swing phase, resulting in an energetically-economical artificial knee device for level-ground walking.
- the knee embodiments are fully motorized with series-elastic force sensing, thus, knee joint torque can be directly controlled for more energetically expensive tasks, such as stair and ramp ascent gaits, as well as standing from a seated posture.
- the knee architecture is designed to accommodate non-conservative, high mechanical power movements, while still providing for a highly economical level- ground walking mode.
- the invention disclosed is a powered knee prosthesis comprising a knee joint that is rotatable and coupleable to an artificial leg member, a series-elastic flexion actuator connected to the knee joint in parallel with the leg member, for applying a force to cause rotation of the knee joint, resulting in flexion of the leg member, a series-elastic extension actuator, connected to the knee joint in parallel with the leg member on the opposite side of the leg member from the flexion actuator, for applying a force to cause rotation of the knee joint, resulting in extension of the leg member, and a controller for independently energizing the flexion motor and the extension motor at different times to control the movement of the knee joint and coupled leg member.
- the flexion actuator comprises the series combination of a flexion motor and a flexion elastic element and the extension actuator comprises the series combination of an extension motor and an extension elastic element.
- at least one sensor is employed to provide feedback to the controller. Sensors preferably include, but are not limited to, those responsive to angular displacement and acceleration of the knee joint, torque at the knee joint, compression of the flexion elastic element, compression of the extension elastic element, rotation of the flexion motor, rotation of the extension motor, and/or contact with the walking surface.
- the flexion actuator and the extension actuator are unidirectional, and the flexion elastic element and the extension elastic element are series springs.
- the flexion actuator is unidirectional, the extension actuator is bidirectional, the flexion elastic element is a series spring, and the extension elastic element is a set of pre-compressed series springs.
- the flexion elastic element is a non-linear softening spring and the extension elastic element is a non-linear hardening spring.
- Figs. IA and IB graphically depict representative knee biomechanics in level-ground walking, with Fig. IA being the knee angle, torque, and power curves of a study participant with intact knee joints plotted against percent gait cycle during level ground walking at a self selected speed and Fig. IB being a plot of knee torque vs. knee angular position, showing the five phases of gait;
- Fig. 2A is an exemplary embodiment of a variable-impedance prosthetic knee model, according to one aspect of the invention;
- Fig. 2B depicts optimization results from the model of Fig. 2A, plotted against the biological torque data from Figs. IA-B;
- FIG. 3 is a simplified mechanical schematic of a powered agonist- antagonist knee, according to one aspect of the present invention.
- Figs. 4A-C are lateral view, sagittal plane cut view, and posterior view schematics, respectively, of the mechanical design of an exemplary embodiment of an active knee prosthesis, according to the present invention;
- Fig. 5 is an exploded view of the main components of an exemplary embodiment of the active knee prosthesis of Figs. 4A-C;
- Fig. 6 is another exploded view of the main components of an exemplary embodiment of the active knee prosthesis of Figs. 4A-C;
- Fig. 7A is a schematic of a finite-state controller for level-ground walking implemented to replicate the intact knee behavior shown in Figs. IA-B, according to one aspect of the present invention;
- Fig. 7B graphically depicts knee finite-state control transitions during amputee level-ground walking for the controller of Fig. 7A;
- Figs. 8A-E depict results obtained from a preliminary gait evaluation of the powered prosthesis during level-ground walking at a self-selected speed, according to one aspect of the present invention;
- Figs. 9A-C are lateral view, sagittal plane cut view, and posterior view schematics, respectively, of the mechanical design of another exemplary embodiment of an active knee prosthesis, according to the present invention.
- Fig. 10 is an exploded view of the main components of an exemplary embodiment of the active knee prosthesis of Figs. 9A-C;
- Fig. 1 IA is a plot of the results of an optimized non-linear polynomial fit for the force vs. displacement behavior of the series-elastic elements of an active knee according to the present invention
- Fig. 1 IB depicts an exemplary embodiment of a variable-impedance prosthetic knee model for variable-speed walking, according to one aspect of the invention.
- Figs. 1 IC-E graphically depict prosthetic knee model output torque compared to the biological knee torque data for three different walking speeds, using the model of Fig. 1 IB.
- a variable-impedance knee prosthesis according to the invention has two series-elastic actuators arranged in parallel in an agonist-antagonist arrangement.
- the prosthetic knee model comprises a variable damper and two series-elastic clutch units spanning the knee joint.
- a variable-impedance control design produces humanlike knee mechanics during steady-state level-ground walking. Because of the variable-impedance nature of the prosthesis, electrical power requirements are modest while walking, allowing for an energetically-economical powered knee.
- a variable-impedance knee prosthesis according to the invention is advantageously employed as a part of a non-tethered biomimetic robotic leg.
- the following terms expressly include, but are not to be limited to:
- Actuator means a type of motor, as defined below.
- Anther means a contracting element that is resisted or counteracted by another element, the antagonist.
- Ant-antagonist actuator means a mechanism comprising (at least) two actuators that operate in opposition to one another: an agonist actuator that, when energized, draws two elements together and an antagonist actuator that, when energized, urges the two elements apart.
- Antagonist means an expanding element that is resisted or counteracted by another element, the agonist.
- Biomimetic means a human-made structure or mechanism that mimics the properties and behavior of biological structures or mechanisms, such as joints or limbs.
- “Dorsiflexion” means bending the ankle joint so that the end of the foot moves upward.
- Elastic means capable of resuming an original shape after deformation by stretching or compression.
- Extension means a bending movement around a joint in a limb that increases the angle between the bones of the limb at the joint.
- Frlexion means a bending movement around a joint in a limb that decreases the angle between the bones of the limb at the joint.
- Motor means an active element that produces or imparts motion by converting supplied energy into mechanical energy, including electric, pneumatic, or hydraulic motors and actuators.
- Plantflexion means bending the ankle joint so that the end of the foot moves downward.
- Spring means an elastic device, such as a metal coil or leaf structure, which regains its original shape after being compressed or extended.
- FIG. IB graphically depict representative human knee biomechanics in level-ground walking.
- knee torque is plotted vs. knee angular position showing the five phases of gait. Key gait events separating the five phases are: heel strike (HS) 105, maximum stance flexion (MSF) 110, maximum stance extension (MSE) 115, toe off (TO) 120, and maximum swing flexion (MWF) 125.
- Figs. IA and IB five distinct stages or gait phases have been used to describe knee biomechanics in level-ground walking. These gait phases are described as follows:
- Swing Flexion 145 the knee begins to extend forward.
- Swing Extension 150 (from 73% to 100% gait cycle)
- knee power is generally negative to decelerate the swinging leg in preparation for the next stance period.
- Swing Flexion 145 the knee during Swing Extension 150 can be modeled as a variable damper. After the knee has reached full extension, the foot, once again, is placed on the ground, and the next walking cycle begins.
- a variable-impedance knee prosthesis capable of varying both damping and stiffness, that can produce humanlike knee mechanics during steady-state level-ground walking.
- An example of such a prosthesis is the exemplary knee model, shown in Fig. 2A, comprising two antagonistic mono-articular series-elastic clutches 205, 210 (to model the stance phase knee mechanics) and one variable-damping element 215 (to model the swing phase mechanics).
- series springs 220, 225 can each be engaged by activating its respective clutch 205, 225, or disengaged by opening that clutch.
- each clutch can only be engaged once during each gait cycle. Additionally, once a clutch has been engaged, it only can be disengaged when the series spring has released all its energy and the force on the clutch is zero.
- the series-elastic clutch model parameters were varied in order to match biomechanic behavior of the knee joint.
- the model parameters are two spring constants ⁇ k ⁇ , kp) corresponding to the extension and flexion spring stiffness, and the relative knee extension and flexion angles( ⁇ E and ⁇ F ), at which the extension and flexion springs become engaged during stance.
- the extensor spring tends to extend the knee joint when engaged, whereas the flexor spring tends to cause the knee to flex.
- the knee model was fitted to biomechanical data using an optimization scheme that minimized the sum over time of the squared difference between the model's knee joint torque and biological knee values. More specifically, the cost function used for the optimization was
- ⁇ o and ⁇ ' sim are the angular torques applied about the knee joint at the zth percentage of gait cycle from the biological torque data and the knee model, respectively, and T maX b ⁇ o is the maximum biological torque at the joint during the gait cycle.
- the determination of the desired global minimum for cost function (1) was implemented by first using a genetic algorithm to find the region containing the global minimum, followed by an unconstrained gradient optimizer to determine the exact value of that global minimum. After optimizing cost function (1) by varying the parameters of the series-elastic clutch elements, the model's variable damper was used to achieve perfect agreement between the prosthetic knee model and biological torque values in regions where the series-elastic components were not able to absorb sufficient negative mechanical power.
- the biological knee torque values were obtained from an inverse dynamics calculation using kinetic and kinematic data from ten walking trials of a healthy 81.9 kg, 1.87m tall subject walking at 1.31 m/s.
- Fig. 2B shows optimization results from the model of Fig.
- FIG. 2A plotted against the biological torque data from Figs. IA-B.
- Shown in lower plot 270 are the torque contributions from the extension 275 and flexion 280 springs of the series-elastic clutch elements, as well as from the variable damper 285.
- agonist-antagonist active knee prosthesis 300 comprises two unidirectional, series-elastic actuators, series-elastic extension actuator 305 and series-elastic flexion actuator 310.
- Each unidirectional actuator 305, 310 of knee prosthesis 300 consists of a motor 315, 320 and a series spring 325, 330, connected via a transmission 335, 340.
- the extension and flexion motors 315, 320 can be used independently to control the knee angle at which each series spring 325, 330 is engaged.
- Knee joint 345 between upper leg 350 and lower leg 355 is coupled to a linear carriage, that is free to move along the length of the device, by a cable drive transmission.
- both unidirectional, series-elastic actuators 305, 310 feature transmissions 335, 340 comprised of a 2:1 belt drive coupled to a ball screw (Nook industries, 10 x 3 mm).
- an agonist-antagonist active knee prosthesis comprises two unidirectional, series-elastic actuators.
- Figs. 5 and 6 are exploded view of the main components of the exemplary embodiment of an active knee prosthesis of Figs. 4A-C.
- the unidirectional actuators are extension actuator 402 and flexion actuator 404.
- Extension actuator 402 of the knee prosthesis consists of extension motor 406 and series spring 408, connected via a transmission.
- the extension actuator is proximal to knee joint 410.
- the extension transmission consists of timing pulley 412 and belt 414 drive system coupled to precision ball-screw 416 drive.
- Flexion actuator 404 of the knee prosthesis consists of flexion motor 418 and series spring 420, connected via a transmission.
- the flexion transmission consists of a timing pulley 422 and belt 424 drive system coupled to precision ball-screw 426 drive.
- Extension actuator 402 and flexion actuator 404 can be used independently to control the knee joint 410 angle at which each series spring 408, 420 is engaged.
- Series-elastic extension actuator 402 motorized element can be a brushed DC motor (such as Maxon's RE40 motor) or brushless DC motor (such as Maxon's EC-powermax 30).
- the extension motor directly drives a timing pulley-belt drive 412, 414 mechanism. This mechanism has a 1 :2 transmission ratio.
- Timing pulley-belt drive mechanism 412, 414 actuates the rotation of ball-screw 416 (such as Nook industries, 10 x 3 mm).
- extension series spring cage 430 securely contains extension spring 408.
- the ball-nut housing moves along two linear precision steel guide rails 432 with minimal friction due to the linear bearings incorporated in the ball-nut housing.
- Each of the two precision guide rails 432 is attached to a corresponding inner lateral wall of main knee frame 434.
- Series-elastic flexion actuator 404 motorized element can be a brushed DC motor (such as Maxon's RE40, RE30 motors) or brushless DC motor (such as Maxon's EC-powermax 30 or 22).
- the extension motor directly drives a timing pulley-belt drive 422, 424 mechanism. This mechanism has a 1 :2 transmission ratio.
- Pulley-belt drive mechanism 422, 424 actuates the rotation of ball-screw 426 (such as Nook industries, 10 x 3 mm).
- ball-screw 426 of flexion actuator 404 rotates, there is a linear displacement of coupled ball-nut housing 436.
- Ball-nut housing 436 is directly attached to flexion series spring cage 438.
- Flexion series spring cage 438 securely contains flexion spring 420.
- the flexion series spring cage can have a linear displacement.
- Ball-nut support 436 moves along two linear precision steel guide rails 432 with minimal friction due to the linear bearings incorporated in the ball-nut housing.
- Each of the two precision guide rails 432 is attached to a corresponding inner lateral wall of the main knee frame 434.
- Knee joint 410 rotation is coupled to the linear displacement of linear carriage 442 attached to a cable drive transmission.
- the cable drive transmission is comprised of two steel cables 440.
- the two ends of each of steel cables 440 are attached to knee joint clevis support 444.
- Each lateral joint pulley 446 has its axis attached to lower adaptor 448.
- Linear carriage 442 is supported and guided on two steel precision rail guides 432.
- Each rail runs along an inner lateral wall of main knee frame 434. Low friction between the precision rails and linear carriage 442 is obtained by the linear bearings incorporated inside linear carriage 442.
- Steel cables 440 allow the coupling of linear displacement from linear carriage 442 to the rotary motion of knee joint 410.
- Linear carriage 442 can be independently be engaged by extension spring 408 and flexion spring 420 by means of their linear motion. Both springs are independently positioned by driving action of their corresponding series-elastic actuator. Each of series-elastic actuators 402, 404 are capable of providing sufficient power for both level-ground walking and more energetically expensive tasks such as stair ascent.
- knee main frame 434 which has a design that resembles the lower limb anatomical envelope.
- the knee main frame has lower adaptor 448 that allows conventional and advanced robotic foot-ankle prosthesis to be attached to it.
- the coupling of knee joint clevis support 444 and the knee main frame produces the rotational degree of freedom that corresponds to knee joint 410.
- Knee joint clevis support 444 allows the mounting of a standard prosthetic pyramid adaptor 450, so that the knee prosthesis can be attached to a regular transfemoral socket and be worn by an amputee.
- the angular displacement of the knee is measured indirectly with digital linear encoder 452 that is fixed on the external left side of knee main frame 434.
- the rotary motion of knee joint 410 is coupled to the displacement of linear carriage 442 via steel cable 440 transmission.
- the compression of each of the series elastic actuator's springs 408, 420 is measured with a corresponding hall-effect sensor 454, 456. These sensors measure the magnetic field change that occurs when there is a change to the proximity of a magnet that is attached to each of spring cages 430, 438 while springs 408, 420 are being compressed.
- the rotation of each motor is measured by motor digital encoder 458, 460 attached to the back of corresponding motor 406, 418.
- the interaction with the ground is measured with a force sensitive footpad (not pictured). This footpad allows detection of when the leg is on or off the walking surface and it assists the controller in determining what gait phase the user wearing the robotic knee prosthesis is in.
- Finite-State Control Strategy A finite-state controller for level- ground walking was implemented to replicate the intact knee behavior shown in Figs. IA-B. This state machine is depicted in Fig. 7A. Three states are shown with control actions and transitional conditions. The three states of the controller are Early Stance (ES) 710, Pre-Swing (PW) 720 and Swing (SW) 730. A quasi-passive equilibrium point control was implemented for states ES 710 and PW 720, while during the SW state 730 variable-damping control was employed. Transitions between states were determined primarily by three measurements: heel ground contact, toe ground contact, and knee angle.
- ES Early Stance
- PW Pre-Swing
- SW Swing
- Knee angle ( ⁇ ) is the relative angle of the knee joint. All knee angles are flexion angles. Angles ⁇ E and ⁇ F define the angles at which the extension and flexion springs become engaged during stance, respectively. Further, ⁇ + is the angle of the knee during swing flexion, and ⁇ _ is the angle of the knee during swing extension.
- Early Stance (ES) 710 begins at Heel Strike (HS).
- H Heel Strike
- the extension motor shaft is locked using a high PD gain control with a desired shaft velocity equal to zero.
- the extension spring is then engaged with a spring equilibrium angle equal to the knee's position at heel strike ⁇ E .
- the extension spring then stores energy during early stance knee flexion in preparation for knee extension.
- the equilibrium point of the flexion spring ⁇ F is servoed via position control to closely track the linear carriage linked to the knee output joint.
- the flexion spring As the knee continues to extend past 15 degrees in late swing, the flexion spring is engaged.
- a low gain damping control on the flexion motor shaft causes the flexion motor and transmission to backdrive, acting as a variable damper to smoothly decelerate the swing leg until the flexion spring reaches an equilibrium angle ⁇ F is of 3 degrees.
- the extension spring equilibrium angle ⁇ E is servoed to 3 degrees, in preparation for engagment and energy storage at heel strike of the subsequent gait cycle.
- the finite-state control diagram indicating transitions for the state machine of Fig. 7A is shown in Fig. 7B.
- the diagram in Fig. 7B exemplifies controller state transition performance for three consecutive, level-ground walking cycles of the implemented controls strategy in the embodiment of Figs. 4A-C, 5, and 6.
- the control states for level-ground walking are defined as follows: Early Stance (ES - State 1) 750, Pre-Swing (PW - State 2) 760, and Swing (SW - State 3) 770.
- the system went through the state sequence 1-2-3 (ES-PW-SW) for each walking cycle.
- the controller transitions robustly from states 1-2-3 across three consecutive walking cycles.
- Figs. 8A-E Results obtained from a preliminary gait evaluation of the powered prosthesis during level-ground walking at a self-selected speed (0.81 m/sec) are presented in Figs. 8A-E.
- Fig. 8D the torque contributions from the extension (lower line) and flexion (upper line) springs of the series-elastic actuators are plotted.
- Fig. 8D the torque contributions from the extension (lower line) and flexion (upper line) springs of the series-elastic actuators are plotted.
- Fig. 8D the torque contributions from the extension (lower line) and flexion (upper line) springs of the series-e
- knee torque is plotted versus knee angular position, showing two characteristic stiffnesses during stance.
- These prosthetic knee values show qualitative agreement with intact knee mechanics shown in Fig. IA from a weight and height-matched non-amputee. Similar to the knee kinematics of an intact knee, as shown in Fig. 8A, the prosthetic knee exhibits early stance knee flexion (peak flexion angle of -14.5 degrees) following by knee extension. At terminal stance, the prosthetic knee undergoes rapid knee flexion in preparation for the swing phase. During the swing phase, the knee extends to a peak flexion angle of -61 degrees, before extending forward prior to heel strike. As shown in Fig.
- prosthetic knee torque and power are negative during early stance knee flexion.
- knee torque and power are initially positive following heel strike, but quickly become negative as the knee continues to flex.
- the prosthetic knee exhibited a similar behavior at the beginning of early stance as shown in Fig. 8B. This occurred because the amputee initially extended the knee right at heel strike, engaging the flexion spring and but quickly continued to knee flex engaging the extension spring. Compressing the extension spring immediately after heel strike helped limit the knee from undergoing excessive buckling so as to better ensure the amputee wearer's safety.
- torque is initially negative and then becomes positive
- knee power is initially positive and then becomes negative.
- torque and power are initially positive and then become negative in preparation for the swing phase.
- power is generally negative to limit peak knee flexion (negative torque) and then to smoothly decelerate the swinging leg during swing extension (positive torque).
- Fig. 8D The torque contributions from each unidirectional, series-elastic actuator are plotted in Fig. 8D versus percent gait cycle.
- the flexion spring is briefly engaged right after heel strike due to amputee's short knee extension.
- the extension spring is engaged, similar to the prosthetic knee model.
- the flexion spring loses its energy quickly as it closely tracks the linear carriage linked to the knee output joint.
- the flexion spring is engaged again at peak knee flexion during early stance and stores energy during stance extension and pre-swing.
- prosthetic knee torque is plotted versus knee angular position.
- the prosthesis has two characteristic stiffnesses during stance. During early stance flexion and extension phases, knee stiffness is relatively greater than during pre-swing.
- the prosthesis knee embodiment of Figs. 4A-C, 5, and 6 takes advantage of the incorporated series-elastic components in combination with the variable-impedance control to minimize the electrical energy during walking. With this strategy the knee behavior demonstrates agreement between prosthesis and intact knee mechanics. With the combination of mechanical design architecture and control, the prosthesis' electrical motors do not perform positive work on the knee joint during level-ground walking, resulting in modest electrical power requirements. [0081] Because of the variable-impedance prosthetic control during level- ground walking, the knee prosthesis' electrical power requirements low (8 Watts electrical) during steady- state walking trials at an average walking speed of 0.81 m/sec. Using step count monitoring systems, researchers have determined that active unilateral leg amputees walk 3060 ⁇ 1890 steps per day.
- an active knee prosthesis comprises two actuators arranged in an agonist antagonist architecture.
- Fig. 10 is an exploded view of the main components of the exemplary embodiment of an active knee prosthesis of Figs. 9A-C.
- the two actuators are one extension series elastic actuator 902 and one flexion actuator 904.
- Extension actuator 902 is bidirectional and flexion actuator 904 is unidirectional.
- Extension actuator 902, proximal to knee joint 906 of prosthesis consists of extension motor 908 and a set of pre-compressed series springs 910, connected via a transmission.
- the extension transmission consists of timing pulley set 912 and belt 914 drive system coupled to precision ball-screw 916 drive.
- Unidirectional flexion actuator 904 of the knee prosthesis consists of flexion motor 918 and series spring 920, connected via a transmission.
- the flexion transmission consists of timing pulley set 922 and belt 924 drive system coupled to lead-screw 926 drive.
- Extension actuator 902 and flexion actuator 904 can be used independently to control the knee joint 906 angle at which series springs 910, 920 can be engaged.
- the extension actuator's 902 electric motor 908 can be a brushed DC motor (such as Maxon's RE40 motor) or brushless DC motor (such as Maxon's EC- powermax 30).
- the extension motor directly drives a timing pulley-belt drive 914, 928 mechanism. This mechanism has a 1 :2 transmission ratio.
- Timing pulley-belt drive mechanism 914, 928 actuates the rotation of ball-screw 916 (such as Nook industries, 10 x 3 mm).
- ball-screw 916 of extension actuator 902 is rotated, there is a linear displacement of coupled ball-nut housing 930.
- Ball nut housing 930 is directly attached to extension series-elastic spring cage 932.
- Extension series-elastic spring cage 932 securely contains spring set 910 of two identical pre-compressed passive mechanical springs whose stiffness match that of the model's extension actuator.
- extension series elastic cage 932 has a linear displacement.
- Ball-nut housing 930 moves along two linear steel guide rails 934. Each of the rails is attached to a corresponding lateral wall housing 936.
- Spring cage 932 moves along the guide rails supported by its incorporated roller bearings 938.
- Extension actuator 902 is directly coupled to the rotary motion of knee joint 906, as it is attached to steel cable drive system 940.
- the flexion actuator's 904 electric motor 918 can be a brushed DC motor (such as Maxon's RE40, RE30 motors) or brushless DC motor (such as Maxon's EC-powermax 30 or 22).
- the extension motor directly drives timing pulley- belt drive 922, 924 mechanism. This mechanism has a 1 :2 transmission ratio.
- Pulley- belt drive mechanism 922, 924 actuates the rotation of lead-screw 926 (such as Nook industries, 10 x 3 mm).
- lead-screw 926 of flexion actuator 904 is rotated, there is a linear displacement of coupled ball-nut housing 942.
- Ball-nut housing 942 is directly attached to flexion series spring cage 944.
- Flexion series spring cage 944 securely contains flexion spring 920.
- the flexion series spring cage can have a linear displacement.
- Ball-nut housing 942 moves along two linear steel guide rails 934 with minimal friction due to rollers 938 incorporated in the ball-nut housing.
- Flexion actuator 904 is not directly coupled to the rotary motion of knee joint 906, however it can flex the knee when in action, back-drives the extension's series elastic spring cage 932.
- Knee joint 932 is coupled to a set of two steel cable drives 940 connected to the extension's series elastic spring cage 932.
- the series elastic-cage is supported and guided by two steel precision guide rails 934.
- Steel cables 940 allow the coupling of linear displacement from series elastic spring cage 932 to the rotary motion of knee joint 906.
- each of steel cables 940 are attached to the knee joint's driving hubs 944.
- Driving hubs 944 are supported by knee joint housing 946.
- Each cable loops around its corresponding joint pulley 948 located on each side of the knee, distally from knee joint 906.
- Each lateral joint pulley 948 has its axis attached to its corresponding lateral wall 936.
- Each cable drive 940 can be independently tensioned by adjusting lateral joint pulley 948 by tuning the corresponding cable tensioner 949.
- Each of the series-elastic actuators 902, 904 is capable of providing sufficient power for both level-ground walking and more energetically expensive tasks such as stair ascent.
- All actuation mechanisms are fully supported by an aluminum structure that corresponds to the assembly of lateral knee walls 936, upper pyramid adaptor 928 and lower pyramid adaptor 950.
- This structure provides a support frame that resembles the lower limb anatomical envelope.
- Lower pyramid adaptor 950 allows conventional and advanced robotic foot-ankle prosthesis to be attached to the knee prosthesis.
- the standard prosthetic upper pyramid adaptor 928 allows the knee prosthesis to be attached to a regular transfemoral socket and be worn by an above- knee amputee.
- the design of the prosthesis facilitates its maintenance as it as detachable side and front covers that allow easy access to the driving actuators and mechanisms.
- the knee's intrinsic sensory system provides feedback to the onboard control electronics. These sensors are listed in Table 4.
- the sensors monitor the angular displacement of knee joint 906, the displacement and deformation of each series elastic element and the force/contact interaction of the knee with the environment (ground) during walking.
- the angular displacement of the knee is measured directly with absolute encoder 952 located at knee joint 906.
- This sensor 952 is mounted on encoder housing 953 that aligns with the joint rotation.
- the compression of each the series elastic actuator's springs 910, 920 is measured with corresponding hall-effect sensor 954, 956.
- These sensors measure the magnetic field change that occurs when there is a change to the proximity of a magnet attached to each of spring cages 932, 944 while springs 910, 920 are being compressed.
- the rotation of each motor is measured by motor digital encoder 958, 960 attached to the back of corresponding motor 908, 918.
- the interaction with the ground is measured with a force sensitive footpad (not pictured).
- This footpad allows detection of when the leg is in contact with the walking surface, and it allows the controller to determine what gait phase the user wearing the robotic knee prosthesis is in.
- Another method used to measure interaction with the ground is with the use of strain gauges mounted on the frame of the knee (specifically in shin cover 962) and through instrumented lower pyramid 950. This sensory information will provide information on forces and torques that interact in the knee and can provide information to calculate torque at the knee joint. This information will assist the controller in determining the gait phase.
- Another sensor that is considered for this embodiment is the use of an inertial measurement unit (not pictured) which attaches to the knee's main frame, allowing the controller identify orientation and acceleration during the gait cycle.
- the electronic suite is self-contained providing autonomy to the knee prosthesis (non-tethered control).
- the electronics have been implemented in a group of five printed circuit boards (PCB's) that are assembled on the lateral and back walls of the knee. Two of these boards are dedicated to the control of the actuators, one board is in charge of overseeing the overall knee control strategy, one board is dedicated to the connection and communication with a an external monitoring PC/laptop system and a final board that will be in charge of processing data of an inertial measurement unit installed in the knee.
- the electronic suit is based on PIC microcontroller technology and is powered by a six cell lithium polymer battery with a 22.2 V nominal supply. Motor boards include brushless controllers with controls up to 20KHz. The system behavior can be monitored and updated via USB or wirelessly via wi-fi interconnection.
- the stance knee begins to flex slightly (-15 degrees).
- This Stance Flexion phase allows for shock absorption upon impact.
- the knee's extension actuator will engange its series elastic components by maintaing the spring equilibrium position as energy is stored during knee flexion.
- the motor in this case is acting as the engaging clutch.
- the knee joint After reaching maximum stance flexion, the knee joint begins to extend (-15% gait cycle), until maximum stance extension (MSE) is reached (-42% gait cycle). This knee extension period is called the Stance Extension phase.
- the flexion actuator positions its series spring such that when the knee starts to extend, energy is stored, allowing the energy in the extension spring to be transfered. This energy transfer allows to modulate the stiffness during stance. Is important to mention that as the flexion actuator's transmission includes a lead screw, as soon as it positions its linear spring, the motor doesn't provide anymore positive power, thus, minimizing overall energy consumption. This is effectively using the model's clutch engagment behavior in a "normally closed" setting.
- the knee's extension actuator allows is utilized as a regenerative element, the energy that is dampened during the swing phase can be stored in the on-board battery as the actuator is back driven and the leg is repositioned to start a new gait cycle.
- Prosthetic Knee Design for Variable-Speed Walking The active prosthetic knee embodiments described are intended for amputees with a capacity to ambulate at a K3 level (i.e. having the ability or potential for ambulation with variable cadence). In order to have a prosthetic knee that can adapt to amputee speed variations and still maintain an optimal level of energetic economy, both series-elastic components have to be non-linear and adjusted to the amputee's weight. [0099] To evaluate speed adaptation, the variable-impedance knee model was fitted to biomechanical data from an intact subject walking at 1.0 m/s, 1.3 m/s and 1.6 m/s speeds using the optimization scheme previously described.
- Fig. 1 IA is a plot of the results of an optimized non-linear polynomial fit for the force vs. displacement behavior of the series-elastic elements of an active knee according to the present invention.
- a second order polynomial fit was implemented for the model's extension spring 1105, and a piece wise polynomial fit for the flexion spring 1110.
- Fig. 1 IB depicts an exemplary embodiment of a variable-impedance prosthetic knee model for variable-speed walking, according to one aspect of the invention.
- the model comprises two monoarticular series-elastic clutches 1120, 1125, two non-linear springs 1130, 1135, and variable-damping element 1140.
- the prosthetic knee model output torque was compared to the biological knee torque data.
- Figs. 1 IC-E show this comparison for the three different walking speeds using the model shown in Fig. 1 IB.
- the prosthetic knee model for variable-speed walking may be physically implemented in a manner similar to the implementation of the embodiments described for the model of Fig. 2, using components and materials that will be readily apparent to one of skill in the art, and that any of the variations and modifications that would be suitable for the embodiments of Figs. 4A-C and 9A-C would also be suitable for use in an implementation of the model of Fig. 1 IB.
Abstract
Description
Claims
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EP10736533.0A EP2398425A4 (en) | 2009-01-30 | 2010-02-01 | Powered artificial knee with agonist-antagonist actuation |
CN2010800152076A CN102481194A (en) | 2009-01-30 | 2010-02-01 | Powered artificial knee with agonist-antagonist actuation |
AU2010208020A AU2010208020A1 (en) | 2009-01-30 | 2010-02-01 | Powered artificial knee with agonist-antagonist actuation |
JP2011548374A JP2012516717A (en) | 2009-01-30 | 2010-02-01 | Actuator-powered knee prosthesis with antagonistic muscle action |
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US14854509P | 2009-01-30 | 2009-01-30 | |
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PCT/US2010/022760 WO2010088616A1 (en) | 2009-01-30 | 2010-02-01 | Powered artificial knee with agonist-antagonist actuation |
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- 2010-02-01 CN CN2010800152076A patent/CN102481194A/en active Pending
- 2010-02-01 CN CN2010800152080A patent/CN102378669A/en active Pending
- 2010-02-01 EP EP10736550.4A patent/EP2391486A4/en not_active Withdrawn
- 2010-02-01 WO PCT/US2010/022783 patent/WO2010088635A1/en active Application Filing
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- 2010-02-01 WO PCT/US2010/022760 patent/WO2010088616A1/en active Application Filing
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- 2010-02-01 AU AU2010208020A patent/AU2010208020A1/en not_active Abandoned
- 2010-02-01 CA CA2787955A patent/CA2787955A1/en not_active Abandoned
- 2010-02-01 EP EP10736533.0A patent/EP2398425A4/en not_active Withdrawn
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Cited By (27)
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US10307272B2 (en) | 2005-03-31 | 2019-06-04 | Massachusetts Institute Of Technology | Method for using a model-based controller for a robotic leg |
US10137011B2 (en) | 2005-03-31 | 2018-11-27 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US11491032B2 (en) | 2005-03-31 | 2022-11-08 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US10485681B2 (en) | 2005-03-31 | 2019-11-26 | Massachusetts Institute Of Technology | Exoskeletons for running and walking |
US9149370B2 (en) | 2005-03-31 | 2015-10-06 | Massachusetts Institute Of Technology | Powered artificial knee with agonist-antagonist actuation |
US11273060B2 (en) | 2005-03-31 | 2022-03-15 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US9333097B2 (en) | 2005-03-31 | 2016-05-10 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs, and variable-damper elements |
US9339397B2 (en) | 2005-03-31 | 2016-05-17 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US9539117B2 (en) | 2005-03-31 | 2017-01-10 | Massachusetts Institute Of Technology | Method for controlling a robotic limb joint |
US8864846B2 (en) | 2005-03-31 | 2014-10-21 | Massachusetts Institute Of Technology | Model-based neuromechanical controller for a robotic leg |
US10588759B2 (en) | 2005-03-31 | 2020-03-17 | Massachusetts Institute Of Technology | Artificial human limbs and joints employing actuators, springs and variable-damper elements |
US11278433B2 (en) | 2005-03-31 | 2022-03-22 | Massachusetts Institute Of Technology | Powered ankle-foot prosthesis |
US8870967B2 (en) | 2005-03-31 | 2014-10-28 | Massachusetts Institute Of Technology | Artificial joints using agonist-antagonist actuators |
US10342681B2 (en) | 2005-03-31 | 2019-07-09 | Massachusetts Institute Of Technology | Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components |
US9975249B2 (en) | 2012-04-18 | 2018-05-22 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US9221177B2 (en) | 2012-04-18 | 2015-12-29 | Massachusetts Institute Of Technology | Neuromuscular model-based sensing and control paradigm for a robotic leg |
US11096804B2 (en) | 2012-07-03 | 2021-08-24 | Ottobock Se & Co. Kgaa | Orthotic or prosthetic joint device, and method for controlling same |
WO2014005679A3 (en) * | 2012-07-03 | 2014-03-27 | Otto Bock Healthcare Gmbh | Orthotic or prosthetic joint device, and method for controlling same |
WO2015034741A1 (en) * | 2013-09-03 | 2015-03-12 | The General Hospital Corporation | Stabilization system for robotic technology |
EP3616670A1 (en) * | 2014-03-31 | 2020-03-04 | Parker Hannifin Corporation | Wearable robotic device |
US11110025B2 (en) | 2014-03-31 | 2021-09-07 | Parker-Hannifin Corporation | Wearable robotic device |
CN106730604A (en) * | 2016-12-30 | 2017-05-31 | 西安交通大学 | A kind of human body based on CPG models tempers treadmill adaptive active control method |
EP4023400A4 (en) * | 2019-08-29 | 2022-10-12 | Honda Motor Co., Ltd. | Joint device |
GB2599579B (en) * | 2019-09-17 | 2023-12-06 | Bionicm Inc | Assist device and artificial limb |
CN113673153A (en) * | 2021-08-11 | 2021-11-19 | 追觅创新科技(苏州)有限公司 | Method and device for determining electromagnetic torque of robot, storage medium and electronic device |
WO2024052257A1 (en) * | 2022-09-07 | 2024-03-14 | Rijksuniversiteit Groningen | Variable stiffness prosthetic joint |
NL2032980B1 (en) * | 2022-09-07 | 2024-03-21 | Univ Groningen | Variable stiffness prosthetic joint |
Also Published As
Publication number | Publication date |
---|---|
JP2012516780A (en) | 2012-07-26 |
AU2010208020A1 (en) | 2011-09-15 |
WO2010088635A1 (en) | 2010-08-05 |
CN102481194A (en) | 2012-05-30 |
KR20110122150A (en) | 2011-11-09 |
CA2787955A1 (en) | 2010-08-05 |
EP2391486A1 (en) | 2011-12-07 |
EP2391486A4 (en) | 2013-09-04 |
EP2398425A4 (en) | 2013-09-18 |
EP2398425A1 (en) | 2011-12-28 |
KR20110120927A (en) | 2011-11-04 |
CN102378669A (en) | 2012-03-14 |
AU2010207942A1 (en) | 2011-09-15 |
JP2012516717A (en) | 2012-07-26 |
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