Abstract: Features for prosthetic digits and actuation systems including transmission features for a worm wheel rotation by a lead screw. A keyed member such as a central axle is spring-biased and transmits rotation from the worm wheel to the digit while allowing for manual rotation of the digit without damaging the worm wheel or other components. In some embodiments, the digit may include a link having flexibility to cause rotation of the digit segments while absorbing shock or otherwise high rotational loads. The digit may include a single-sided drive mechanism, where the opposite side provides support in case of high lateral loads. The digit may include a motor and gearbox in parallel and connected mechanically via a transfer gearbox. The digit may include a variable speed and variable torque gearbox.

Abstract: Features for prosthetic digits are described. The digits mimic natural fingers by having multiple articulating segments, for example three, that can rotate varying amounts. Rotatable and/or linearly expandable mechanical links are configured to provide the digit segments with multiple degrees of rotational freedom. The digit may have an actuator that outputs linear actuation to cause rotation of the digit segments. The digit may have an expandable proximal link to allow for variable relative rotational positions of the segments. Middle and/or distal digit segments may fully rotate independent of rotation of a proximal digit segment. The rotated digit may thus fully surround and grasp small or large objects, objects with irregular outer contours, etc.

Abstract: Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

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 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: 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: Methods of operating a prosthesis having at least one moveable component and an electronic control device are provided, where the at least one moveable component has two or more operating modes and at least one operating parameter. The method comprises receiving at least one input control signal from the wearer of the prosthesis, comparing the at least one input control signal with an operating profile stored in the electronic control device in order to determine a desired operating mode and operating parameter, and instructing the moveable component to move in accordance with the desired operating mode and operating parameter. Prostheses are also provided, at least one such prosthesis comprising at least one moveable component and an electronic device operable to select both an operating mode of the at least one moveable component and at least one operating parameter of the at least one moveable component in response to an input command signal from the wearer of the prosthesis.

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: Routines and methods disclosed herein can increase a power efficiency of a prosthetic hand without drastically reducing the speed at which it operates. A prosthesis can implement an acceleration profile, which can reduce an energy consumption of a motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from an idle state to a non-idle state. A prosthesis can implement a deceleration profile, which can reduce the energy consumption of the motor, or an amount of electrical and/or mechanical noise produced by a motor, as the motor transitions from a non-idle state to an idle state.

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 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: 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 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: Methods of operating a prosthesis (10a) having at least one moveable component (12) and an electronic control device (18) are provided, where the at least one moveable component (12) has two or more operating modes (30) and at least one operating parameter (28). The method comprises receiving at least one input control signal (p1,p2,pn) from the wearer of the prosthesis (10a), comparing the at least one input control signal (p1,p2,pn) with an operating profile (26) stored in the electronic control device in order to determine a desired operating mode (30) and operating parameter (28), and instructing the moveable component (12) to move in accordance with the desired operating mode (30) and operating parameter (28).

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.