Abstract: A prosthetic or orthotic device has an elongate frame that houses electronics and an actuator rotatably mounted to the frame. The actuator can rotate in an anterior-posterior direction about a medial-lateral axis and includes magnetorheological (MR) fluid and a coil operable to selectively apply a magnetic field to the MR fluid to vary its viscosity and thereby vary a torsional resistance of the actuator about the medial-lateral axis. The device contains a layered control system that makes use of data collected by the embedded sensors in a prosthetic device for intent recognition, management, and actuator control. The layered control system uses a Luenberger observer for estimating joint velocity and a heuristic torque-setpoint component to control the function of a MR actuated knee prosthesis.

Abstract: 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.

Abstract: 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.

Abstract: Systems, devices and methods for control of a prosthetic or orthotic device (POD) based on electromyography (EMG) signals are described. The POD may be a lower or upper limb POD having one or more joints. One or more EMG sensors may detect the EMG signals. The EMG sensors may be external, subcutaneous, intraperitoneal, epimysial, intramuscular, or other types. Control of the POD may be based on EMG and non-EMG signals, such as velocity, acceleration, position, force, etc. Voluntary and/or automatic control may be implemented, for example with voluntary muscle contractions and/or data based on velocity, acceleration, position, force, etc. In some embodiments, the neutral position of an ankle POD is adjusted based on EMG signals.

Abstract: A powered prosthetic thigh can have a proximal portion configured to couple to a prosthetic hip socket and can have a distal portion attached to the proximal portion. The distal portion can have a distal connector configured to couple to a prosthetic knee. The powered prosthetic thigh can also have a computer controlled actuator configured to rotate the prosthetic thigh relative to the prosthetic hip socket.

Abstract: Systems, devices and methods for control of a prosthetic or orthotic device (POD) based on electromyography (EMG) signals are described. The POD may be a lower or upper limb POD having one or more joints. One or more EMG sensors may detect the EMG signals. The EMG sensors may be external, subcutaneous, intraperitoneal, epimysial, intramuscular, or other types. Control of the POD may be based on EMG and non-EMG signals, such as velocity, acceleration, position, force, etc. Voluntary and/or automatic control may be implemented, for example with voluntary muscle contractions and/or data based on velocity, acceleration, position, force, etc. In some embodiments, the neutral position of an ankle POD is adjusted based on EMG signals.

Abstract: A powered prosthetic thigh can have a proximal portion configured to couple to a prosthetic hip socket and can have a distal portion attached to the proximal portion. The distal portion can have a distal connector configured to couple to a prosthetic knee. The powered prosthetic thigh can also have a computer controlled actuator configured to rotate the prosthetic thigh relative to the prosthetic hip socket.

Abstract: A powered prosthetic thigh can have a proximal portion configured to couple to a prosthetic hip socket and can have a distal portion attached to the proximal portion. The distal portion can have a distal connector configured to couple to a prosthetic knee. The powered prosthetic thigh can also have a computer controlled actuator configured to rotate the prosthetic thigh relative to the prosthetic hip socket.

Abstract: Systems, devices and methods for control of a prosthetic or orthotic device (POD) based on electromyography (EMG) signals are described. The POD may be a lower or upper limb POD having one or more joints. One or more EMG sensors may detect the EMG signals. The EMG sensors may be external, subcutaneous, intraperitoneal, epimysial, intramuscular, or other types. Control of the POD may be based on EMG and non-EMG signals, such as velocity, acceleration, position, force, etc. Voluntary and/or automatic control may be implemented, for example with voluntary muscle contractions and/or data based on velocity, acceleration, position, force, etc. In some embodiments, the neutral position of an ankle POD is adjusted based on EMG signals.

Abstract: Systems, devices and methods for control of a prosthetic or orthotic device (POD) based on electromyography (EMG) signals are described. The POD may be a lower or upper limb POD having one or more joints. One or more EMG sensors may detect the EMG signals. The EMG sensors may be external, subcutaneous, intraperitoneal, epimysial, intramuscular, or other types. Control of the POD may be based on EMG and non-EMG signals, such as velocity, acceleration, position, force, etc. Voluntary and/or automatic control may be implemented, for example with voluntary muscle contractions and/or data based on velocity, acceleration, position, force, etc. In some embodiments, the neutral position of an ankle POD is adjusted based on EMG signals.

Abstract: A powered prosthetic thigh can have a proximal portion configured to couple to a prosthetic hip socket and can have a distal portion attached to the proximal portion. The distal portion can have a distal connector configured to couple to a prosthetic knee. The powered prosthetic thigh can also have a computer controlled actuator configured to rotate the prosthetic thigh relative to the prosthetic hip socket.

Abstract: A powered prosthetic thigh can have a proximal portion configured to couple to a prosthetic hip socket and can have a distal portion attached to the proximal portion. The distal portion can have a distal connector configured to couple to a prosthetic knee. The powered prosthetic thigh can also have a computer controlled actuator configured to rotate the prosthetic thigh relative to the prosthetic hip socket.

Abstract: Apparatus, method, and system for combining a plurality of items into a batch having a set number of items. Number of items are put together onto a production line to form a batch along with non-batch items which are not suitable for inclusion within the batch onto the production line. The batch is advanced on the production line as a partial batch without the non-batch item being added to it when a batch is not complete. A reminder batch is created after the non-batch items have been added to the production line and the remainder batch includes the number of items that must be added to the partial batch to make a full batch.

Abstract: Apparatus, method, and system for combining a plurality of items into a batch having a set number of items. Number of items are put together onto a production line to form a batch along with non-batch items which are not suitable for inclusion within the batch onto the production line. The batch is advanced on the production line as a partial batch without the non-batch item being added to it when a batch is not complete. A reminder batch is created after the non-batch items have been added to the production line and the remainder batch includes the number of items that must be added to the partial batch to make a full batch.

Abstract: A powered prosthetic thigh can have a proximal portion configured to couple to a prosthetic hip socket and can have a distal portion attached to the proximal portion. The distal portion can have a distal connector configured to couple to a prosthetic knee. The powered prosthetic thigh can also have a computer controlled actuator configured to rotate the prosthetic thigh relative to the prosthetic hip socket.

Abstract: Apparatus, method, and system for combining a plurality of items into a batch having a set number of items. Number of items are put together onto a production line to form a batch along with non-batch items which are not suitable for inclusion within the batch onto the production line. The batch is advanced on the production line as a partial batch without the non-batch item being added to it when a batch is not complete. A reminder batch is created after the non-batch items have been added to the production line and the remainder batch includes the number of items that must be added to the partial batch to make a full batch.