Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Abstract: Exemplary embodiments herein relate to a unique 4-bar linkage transmission provided between two adjacent links of a powered augmentation device that provides a varying mechanical advantage. Due to the kinematics of the linkage, the mechanical advantage between the actuator and the augmented joint varies with the position of the linkage. Thus, a high mechanical advantage can be provided in positions at which relatively high joint torque is required, and low mechanical advantage in positions at which relatively high joint speed is required. Consequently, the speed-torque (or velocity-force) operating area of the actuator can be consolidated by mapping the widespread output regions onto a smaller input region. This allows the actuator to be optimized for a narrower range of usage.

Abstract: Methods and apparatus for an orthopedic device. In one embodiment, the orthopedic device includes a first panel defining opposed first and second sides; a second panel having a first end secured to the first side of the first panel along a seam, and a second end securable to the second side of the first panel at a location site; and a first strap having a first end secured to the first side of the first panel along the seam and laying under the second panel, and a second end securable to the second side of the first panel at the location site. The orthopedic device may include a dynamic force strap that includes three ends, that collectively helically extend between upper and lower portions of the orthopedic device and connect to the first panel.

Abstract: A foot prosthesis that includes at least one spring element, an attachment member, and a heel member. The at least one spring element has a toe end portion, a heel end portion, an upper surface, and a lower surface. The attachment member is mounted to the upper surface and is configured to connect the foot prosthesis to a lower limb prosthesis component. A position of the attachment member is adjustable along a length of the at least one spring element. The heel member is mounted below the lower surface of the at least one spring element, and a position of the heel member is adjustable along the length of the at least one spring element.

Abstract: A vacuum pump may be used to attach a prosthetic and/or orthotic device to a residual limb. The vacuum pump may be in line below a socket of a residual limb. The socket may be a portion of the prosthesis that accepts the residual limb. The vacuum pump may generate a vacuum condition between the prosthesis and the residual limb. Generally, a vacuum condition may be generated between a socket and the residual limb. The residual limb may be covered with a sock, elastomeric liner, or sheath covering the limb. The vacuum condition may positively attach the prosthesis to the residual limb without the need for straps, retaining pins, or suction type vacuum which do not use a vacuum pump.

Abstract: An improvement to a prosthetic device which provides a spring member between first and second structural members that are rotatably connected to one another, the spring member providing predictable resistance as it is compressed by the rotation of the first and second structural members with respect to each other. The known resistance of the spring is used as an input to a model controlling a motor control circuit to provide counter-torque as rotational torque is applied to compress the spring.

Abstract: A prosthetic device and related methods having height adjustment features. A prosthetic foot includes an elongate support member comprising fiber reinforced material and having a support surface configured to rest upon a ground surface prior to use, an adapter mounted to the support member and configured to secure the prosthetic foot to another prosthetic device, and a height adjustable feature configured to adjust a height of the adapter relative to the support surface.

Abstract: A time-dependent decay behavior is incorporated into one or more joint actuator control parameters during operation of a lower-extremity, prosthetic, orthotic or exoskeleton device. These parameters may include joint equilibrium, joint impedance (e.g., stiffness, damping) and/or joint torque components (e.g., gain, exponent). The decay behavior may be exponential, linear, piecewise, or may conform to any other suitable function. Embodiments presented herein are used in a control system that emulates biological muscle-tendon reflex response providing for Reflex Parameter Modulation a natural walking experience. Further, joint impedance may depend on an angular rate of the joint. Such a relationship between angular rate and joint impedance may assist a wearer in carrying out certain activities, such as standing up and ascending a ladder.

Abstract: Knee orthoses or prostheses can be used to automatically, when appropriate, initiate a stand-up sequence based on the position of a person's knee with respect to the person's ankle while the person is in a seated position. When the knee is moved to a position that is forward of the ankle, at least one actuator of the orthosis or prosthesis is actuated to help raise the person from the seated position to a standing position.

Abstract: A hydraulic ankle assembly to be used by a user, wherein the ankle assembly includes a base configured to be attached to a spring assembly, a hydraulic cylinder rotatably attached to the base and configured to dampen rotation of the hydraulic ankle assembly, and a prosthetic adapter portion rotatably attached to the base and the hydraulic cylinder and configured to be attached to a prosthetic worn by the user. The base, the hydraulic cylinder, and the prosthetic adapter portion define a force triangle that defines an axis of rotation of the hydraulic ankle assembly. The axis of rotation is positioned in line with the center of mass of the user when the user is standing. The force triangle reduces forces on the hydraulic cylinder.

Abstract: A prosthetic device includes a footshell having a first portion and a second portion. The first portion has a first portion polymer lattice structure and the second portion has a second portion polymer lattice structure. The first portion polymer lattice structure has a first set of mechanical properties and the second portion polymer lattice structure has a second set of mechanical properties different from the first set of mechanical properties. The footshell also includes a sole attached to a bottom of the first portion and the second portion, wherein the sole is formed of a solid material.

Abstract: Hybrid terrain-adaptive lower-extremity apparatus and methods that perform in a variety of different situations by detecting the terrain that is being traversed, and adapting to the detected terrain. In some embodiments, the ability to control the apparatus for each of these situations builds upon five basic capabilities: (1) determining the activity being performed; (2) dynamically controlling the characteristics of the apparatus based on the activity that is being performed; (3) dynamically driving the apparatus based on the activity that is being performed; (4) determining terrain texture irregularities (e.g., how sticky is the terrain, how slippery is the terrain, is the terrain coarse or smooth, does the terrain have any obstructions, such as rocks) and (5) a mechanical design of the apparatus that can respond to the dynamic control and dynamic drive.

Abstract: A powered device augments a joint function of a human during a gait cycle using a powered actuator that supplies an augmentation torque, an impedance, or both to a joint. A controller estimates terrain slope and modulates the augmentation torque and the impedance according to a phase of the gait cycle and the estimated terrain slope to provide at least a biomimetic response. The controller may also modulate a joint equilibrium. Accordingly, the device is capable of normalizing or augmenting human biomechanical function, responsive to a wearer's activity, regardless of speed and terrain, and can be used, for example, as a knee orthosis, prosthesis, or exoskeleton.

Abstract: In a powered actuator for supplying torque, joint equilibrium, and/or impedance to a joint, a motor is directly coupled to a low-reduction ratio transmission, e.g., a transmission having a gear ratio less than about 80 to 1. The motor has a low dissipation constant, e.g., less than about 50 W/(Nm)2. The transmission is serially connected to an elastic element that is also coupled to the joint, thereby supplying torque, joint equilibrium, and/or impedance to the joint while minimizing the power consumption and/or acoustic noise of the actuator.

Abstract: A prosthetic device includes a polymer lattice structure. The lattice structure includes a first surface arranged to face toward a residual limb, a second surface arranged to face away from the residual limb, a thickness between the first and second surfaces, and a variable lattice density across the thickness.

Abstract: Exemplary embodiments relate to techniques for supplying increased power to an augmentation device without increasing battery size. For example, the load may be a motor that provides augmentation power to a joint of a prosthetic ankle, and which is generally powered by a battery. A reconfigurable electrical circuit may connect a supercapacitor in series with the battery to boost the power from the battery at times when a pulse of increased power is demanded. For instance, states of one or more switches of the electrical circuit may be changed in order to briefly disconnect the motor from the circuit just prior to a powered plantarflexion phase of a gait cycle of the ankle, and then to reconnect the motor to a reconfigured circuit to provide a power boost. The circuit may also be reconfigured to allow the battery to recharge the supercapacitor during periods of nominal power demand.

Abstract: A prosthetic device includes an elongate support member of carbon filament material having a first surface, and an adapter. The adapter includes a compressible member, a base portion having a contact surface arranged to contact the first surface of the support member, a cavity sized to receive the compressible member, and a connector portion extending from the base portion and configured to releasably secure the prosthetic foot to a prosthesis, wherein application of a force to the connector portion compresses the compressible member to dampen movement of the base portion relative to the support member until the contact surface contacts the first surface.

Abstract: A prosthetic device and related methods includes an elongate support member having a first surface, and an adapter mounted to the support member. The adapter includes a base portion, a movable member, a connector portion, and an adjustment member. The adjustment member is operable to move the movable member relative to the base portion to change an effective length of an interface between the adapter and the first surface of the support member. The connector portion extends from the base portion and is configured to releasably secure the prosthetic foot to a prosthesis.

Abstract: An improvement to a prosthetic device which provides a spring member between first and second structural members that are rotatably connected to one another, the spring member providing predictable resistance as it is compressed by the rotation of the first and second structural members with respect to each other. The known resistance of the spring is used as an input to a model controlling a motor control circuit to provide counter-torque as rotational torque is applied to compress the spring.

Abstract: In some embodiments of a prosthetic or orthotic ankle/foot, a prediction is made of what the walking speed will be during an upcoming step. When the predicted walking speed is slow, the characteristics of the apparatus are then modified so that less net-work that is performed during that step (as compared to when the predicted walking speed is fast). This may be implemented using one sensor from which the walking speed can be predicted, and a second sensor from which ankle torque can be determined. A controller receives inputs from those sensors, and controls a motor's torque so that the torque for slow walking speeds is lower than the torque for fast walking speeds. A controller determines a desired torque based on the output, and controls the motor's torque based on the determined desired torque.