Abstract: Features for a prosthetic digit actuator. The various systems and methods allow for smaller volume actuators, which in turn allows for smaller digits and/or more space for other features of the digit. The actuator includes a motor that causes rotation of a worm gear along a fixed worm wheel. The worm gear is unibody with the output shaft. The worm gear climbs along the worm wheel to cause rotation of a digit or digit segment. The arrangement of the actuator parts allows for transmitting axial forces in first and second directions corresponding respectively to performing opening and closing rotations of the digits.

Abstract: Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.

Abstract: A sensor assembly for a prosthetic socket may include one or more sensors, such as an electromyography (EMG) sensor, a force sensor, and/or a displacement sensor, for example a magnetic sensor and a magnet. The sensor assembly may be capable of determining if the socket has a proper fit, by using a displacement or force measured or derived from the sensor assembly to determine if there is sufficient pressure between the sensor assembly and the user's skin.

Abstract: Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.

Abstract: A wrist device for a prosthetic limb is provided. The device (1) comprises a base member (3) connectable to the wearer of the device, and a support member (13) connectable to the limb. The support member (13) is pivotably connected to the base member (3) such that the support member can pivot about a pivot axis (A) relative to the base member. A damping mechanism is located between the base (3) member and the support member (5). The damping mechanism comprises a pinion (47) connected to the support member (5) and rotatable about the pivot axis (A) relative to the base member (3). A rack (35) is engaged with the pinion (47) such that rotational motion of the pinion causes a linear motion of the rack, and at least one biasing member (41) extends between the base member (3) and the rack. The biasing member (41) biases the rack (35) and support member (13) into a neutral position. A prosthetic limb incorporating the wrist device is also provided.

Abstract: A wrist device for a prosthetic limb is provided. The device (1) comprises a base member (3) connectable to the wearer of the device, and a support member (13) connectable to the limb. The support member (13) is pivotably connected to the base member (3) such that the support member can pivot about a pivot axis (A) relative to the base member. A damping mechanism is located between the base (3) member and the support member (5). The damping mechanism comprises a pinion (47) connected to the support member (5) and rotatable about the pivot axis (A) relative to the base member (3). A rack (35) is engaged with the pinion (47) such that rotational motion of the pinion causes a linear motion of the rack, and at least one biasing member (41) extends between the base member (3) and the rack. The biasing member (41) biases the rack (35) and support member (13) into a neutral position. A prosthetic limb incorporating the wrist device is also provided.

Abstract: Features for a prosthetic wrist and associated methods are described. The wrist couples with a prosthetic socket and a prosthetic hand. The wrist may rotate the hand. The wrist includes features to prevent or mitigate undesirable separation of the wrist from the socket. The wrist may have an expanding coupling, such as an expanding ring, to better secure the wrist with the socket. An actuator may cause the coupling to expand outward to prevent or mitigate undesirable separation of the wrist from the socket. Alternatively or in addition, the wrist may include torque control features to prevent undesirable or premature separation of the hand from the wrist, for example when using a “quick wrist disconnect” (QWD) apparatus. A torque control method may tailor or limit multiple torques to be applied by the wrist to the hand based on operational requirements and phases, such as anticipated torque loads and operational timing.

Abstract: A sensor assembly for a prosthetic or orthotic device (POD) may include a housing and a support. The housing may be attached with the POD. The support may be moveably connected with the housing such that the support may move relative to the housing. The support may form an enclosure with the housing. Within the enclosure, the sensor assembly may include one or more sensors and a circuit board. The one or more sensors may include one or more of an inertial measurement unit, an electromyography sensor, or a distance sensor such as a magnetic sensor and a magnet. The circuit board may be attached with the support and in electrical communication with the plurality of sensors. Movement of the support may cause the sensors to move which may be detected for control of the POD. The sensor assembly may be attached to an arm or other prosthetic socket for detection of natural limb movements.

Abstract: A prosthesis or an orthosis and method of operating the same. The prosthesis or orthosis comprising a moveable component, a motor operable to move the component, wherein the motor has at least one operating parameter, the application of which to the motor results in the component having at least one operating condition; and an electronic device operable to: determine at least one operating parameter of the motor and determine at least one instantaneous operating condition of the component from a predetermined operating profile of the motor and component and the determined at least one operating parameter of the motor, the predetermined operating profile of the motor and component being based on one or more operating parameter inputs to the motor and one or more resulting operating condition outputs of the component.

Abstract: A method of controlling a prosthetic hand having at least one motorized component is provided. The method comprises the steps of providing the hand with a first wireless transceiver and a controller in communication with one another, storing at least one manipulation instruction relating to the at least one component, and assigning a code relating to the at least one manipulation instruction to at least one second wireless transceiver. The at least one second transceiver is placed in a location at which the at least one manipulation instruction is to be given, and the controller manipulates the at least one component in accordance with the at least one manipulation instruction when the first transceiver communicates to the controller that the at least one second transceiver is within a predetermined distance of the first transceiver. Related methods and systems for controlling a prosthetic hand are also provided.

Abstract: Features for a prosthetic wrist and associated methods are described. The wrist couples with a prosthetic socket and a prosthetic hand. The wrist may rotate the hand. The wrist includes features to prevent or mitigate undesirable separation of the wrist from the socket. The wrist may have an expanding coupling, such as an expanding ring, to better secure the wrist with the socket. An actuator may cause the coupling to expand outward to prevent or mitigate undesirable separation of the wrist from the socket. Alternatively or in addition, the wrist may include torque control features to prevent undesirable or premature separation of the hand from the wrist, for example when using a “quick wrist disconnect” (QWD) apparatus. A torque control method may tailor or limit multiple torques to be applied by the wrist to the hand based on operational requirements and phases, such as anticipated torque loads and operational timing.

Abstract: Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.

Abstract: A digit for a prosthetic hand is provided. The digit has a base member (12) attachable to the hand and at least one digit member (18) pivotably connected to the base member. The at least one digit member (18) has a digit tip (22) remote from the base member (12), and the digit member is at least partially covered with at least one conductive substance (26,40) which defines a conductive path which leads from the digit tip towards the base member. A method of manufacturing such a digit is also provided.

Abstract: Features for a prosthetic digit actuator. The various systems and methods allow for smaller volume actuators, which in turn allows for smaller digits and/or more space for other features of the digit. The actuator includes a motor that causes rotation of a worm gear along a fixed worm wheel. The worm gear is unibody with the output shaft. The worm gear climbs along the worm wheel to cause rotation of a digit or digit segment. The arrangement of the actuator parts allows for transmitting axial forces in first and second directions corresponding respectively to performing opening and closing rotations of the digits.

Abstract: Features for a powered prosthetic thumb are described. The thumb provides for rotation of a digit that mimics the natural movement possible with a sound thumb. The thumb may attach to a full or partial prosthetic hand or socket on a residual limb. The thumb may include an upper assembly, including a prosthetic thumb digit, rotatably attached to a mount about a pinch axis and a lateral axis. The digit may rotate about only the pinch axis, only the lateral axis, or both the pinch and lateral axes simultaneously. A first actuator may actuate to cause rotation of the digit about the pinch axis. A second actuator may actuate to cause rotation of the digit about the lateral axis. The first and second actuators may be actuated together at appropriate speeds to cause rotation about both the pinch and lateral axes simultaneously. A swaying chassis may be rotatably connected with the upper assembly and a lower assembly about various offset axes to provide for rotation about the lateral axis.

Abstract: A prosthesis or an orthosis and method of operating the same. The prosthesis or orthosis comprising a moveable component, a motor operable to move the component, wherein the motor has at least one operating parameter, the application of which to the motor results in the component having at least one operating condition; and an electronic device operable to: determine at least one operating parameter of the motor and determine at least one instantaneous operating condition of the component from a predetermined operating profile of the motor and component and the determined at least one operating parameter of the motor, the predetermined operating profile of the motor and component being based on one or more operating parameter inputs to the motor and one or more resulting operating condition outputs of the component.

Abstract: A wrist device for a prosthetic limb is provided. The device (1) comprises a base member (3) connectable to the wearer of the device, and a support member (13) connectable to the limb. The support member (13) is pivotably connected to the base member (3) such that the support member can pivot about a pivot axis (A) relative to the base member. A damping mechanism is located between the base (3) member and the support member (5). The damping mechanism comprises a pinion (47) connected to the support member (5) and rotatable about the pivot axis (A) relative to the base member (3). A rack (35) is engaged with the pinion (47) such that rotational motion of the pinion causes a linear motion of the rack, and at least one biasing member (41) extends between the base member (3) and the rack. The biasing member (41) biases the rack (35) and support member (13) into a neutral position. A prosthetic limb incorporating the wrist device is also provided.

Abstract: A wrist device for a prosthetic limb is provided. The device (1) comprises a base member (3) connectable to the wearer of the device, and a support member (13) connectable to the limb. The support member (13) is pivotably connected to the base member (3) such that the support member can pivot about a pivot axis (A) relative to the base member. A damping mechanism is located between the base (3) member and the support member (5). The damping mechanism comprises a pinion (47) connected to the support member (5) and rotatable about the pivot axis (A) relative to the base member (3). A rack (35) is engaged with the pinion (47) such that rotational motion of the pinion causes a linear motion of the rack, and at least one biasing member (41) extends between the base member (3) and the rack. The biasing member (41) biases the rack (35) and support member (13) into a neutral position. A prosthetic limb incorporating the wrist device is also provided.

Abstract: A prosthesis (1) or an orthosis and method of operating the same. The prosthesis or orthosis comprising a moveable component (2), a motor (7) operable to move the component, wherein the motor has at least one operating parameter, the application of which to the motor results in the component having at least one operating condition; and an electronic device (28) operable to: determine at least one operating parameter of the motor and determine at least one instantaneous operating condition of the component from a predetermined operating profile of the motor and component and the determined at least one operating parameter of the motor, the predetermined operating profile of the motor and component being based on one or more operating parameter inputs to the motor and one or more resulting operating condition outputs of the component.

Abstract: Features for a prosthetic wrist and associated methods of rotation are described. The prosthetic wrist attaches to a prosthetic hand. Rotation of the prosthetic wrist is performed in combination with grip formation of the prosthetic hand. An IMU provides data associated with the orientation of the prosthetic hand. A desired grip for the prosthetic hand is selected, for example by gesture control. A rotation for the prosthetic wrist is determined based on the orientation of the prosthetic hand from the IMU data and on the selected desired grip. The prosthetic wrist techniques can also be used in combination with prosthetic arms, elbows and/or shoulders. Example structural configurations for the prosthetic wrist and hand are also provided.