Abstract: A variable gain impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint. The controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input for receiving a signal indicative of the torque at the joint, and a variable gain scheduler in communication with the sensor input to receive data therefrom thereby providing a variable torque gain. The variable gain impedance controller adjusts its control on the apparatus based on the variable torque gain and the indicated torque to increase the joint resistance to motion when the signal received from the sensor input indicates an interaction between the apparatus and the ground, and decrease the joint resistance to motion when the signal received from the sensor input indicates an absence of interaction between the apparatus and the ground.

Abstract: An impedance simulating motion controller for orthotic and prosthetic devices includes an equilibrium trajectory generator that receives locomotion data regarding the locomotion of a user, a dynamic trajectory compensator that generates one or more control parameters based on the locomotion data and one or more physiological characteristics of the user, and a dynamic gain tuner that adjusts the one or more control parameters based on a gain scaling factor that is calculated using a measured deflection point and an expected deflection point. The adjusted control parameters are used to control movement of an actuator of an orthotic or prosthetic device.

Abstract: A prosthetic or orthotic device can include at least one device portion and a joint portion for providing for the at least one device portion to pivot between flexion and extension movements relative to another adjacent device portion or an adjacent limb segment of a user. In some embodiments, a prosthetic or orthotic device can include a compliant transmission assembly in operational communication with the joint portion. The compliant transmission assembly can include a compliant member and a pivot. The pivot can be interposed between the compliant member and the joint portion. In some embodiments, the compliant member absorbs energy when a torque is applied.

Abstract: A variable gain impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint. The controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input for receiving a signal indicative of the torque at the joint, and a variable gain scheduler in communication with the sensor input to receive data therefrom thereby providing a variable torque gain. The variable gain impedance controller adjusts its control on the apparatus based on the variable torque gain and the indicated torque to increase the joint resistance to motion when the signal received from the sensor input indicates an interaction between the apparatus and the ground, and decrease the joint resistance to motion when the signal received from the sensor input indicates an absence of interaction between the apparatus and the ground.

Abstract: An impedance simulating motion controller for orthotic and prosthetic devices includes an equilibrium trajectory generator that receives locomotion data regarding the locomotion of a user, a dynamic trajectory compensator that generates one or more control parameters based on the locomotion data and one or more physiological characteristics of the user, and a dynamic gain tuner that adjusts the one or more control parameters based on a gain scaling factor that is calculated using a measured deflection point and an expected deflection point. The adjusted control parameters are used to control movement of an actuator of an orthotic or prosthetic device.

Abstract: A variable gain impedance controller for use in a control system for controlling a motorized prosthetic or orthotic apparatus provided with a joint The controller comprises a sensor input for receiving a signal indicative of an interaction between the apparatus and the ground, a torque sensor input for receiving a signal indicative of the torque at the joint and a variable gain scheduler in communication with the sensor input so as to receive data therefrom thereby providing a variable torque gain. The variable gain impedance controller adjusts its control on the apparatus based on the variable torque gain and the indicated torque so as to a) increase the joint resistance to motion when the signal received from the sensor input indicates an interaction between the apparatus and the ground and b) decrease the joint resistance to motion when the signal received from the sensor input indicates an absence of interaction between the apparatus and the ground.

Abstract: A high torque active mechanism for an orthotic and/or prosthetic joint using a primary brake which can be provide by magnetorheological (MR) rotational damper incorporating and an additional friction brake mechanism driven by the braking force generated by the MR damper. This combination of MR damper and friction brake mechanism allows an increase in torque density while keeping the same level of motion control offered by the MR damper alone. The increased torque density achieved by this high torque active mechanism allows to minimize the size of the actuating system, i.e. its diameter and/or breath, while maximizing its braking torque capability. In this regard, the friction brake mechanism is advantageously positioned around the MR damper, such that the dimension of the package is minimized.

Abstract: A motorized prosthetic device includes a joint member, a limb member, a pressure sensor, and a kinematic sensor. The pressure sensor indicates interaction between the motorized prosthetic device and the ground and the kinematic sensor measures torque at the joint member. A controller receives data from the pressure sensor and kinematic sensor and calculates a control signal based at least on the received data. An electrical motor receives the control signal and operates an actuator in accordance with the received control signal.

Abstract: A prosthetic or orthotic device can include at least one device portion and a joint portion for providing for the at least one device portion to pivot between flexion and extension movements relative to another adjacent device portion or an adjacent limb segment of a user. In some embodiments, a prosthetic or orthotic device can include a compliant transmission assembly in operational communication with the joint portion. The compliant transmission assembly can include a compliant member and a pivot. The pivot can be interposed between the compliant member and the joint portion. In some embodiments, the compliant member absorbs energy when a torque is applied.

Abstract: The present invention discloses an instrumented prosthetic foot for use with an actuated leg prosthesis controlled by a controller, the instrumented prosthetic foot comprising a connector to connect the instrumented prosthetic foot to the leg prosthesis, an ankle structure connected to the connector, a ground engaging member connected to the ankle, at least one sensor for detecting changes in weight distribution along the foot, and an interface for transmitting signals from the sensor to the controller.

Abstract: The actuated leg prosthesis comprises a knee member, a socket connector provided over the knee member, an elongated trans-tibial member having a bottom end under which is connected an artificial foot, and a linear actuator. A first pivot assembly allows to operatively connect the trans-tibial member to the knee member. A second pivot assembly allows to operatively connect an upper end of the actuator to the knee member. A third pivot assembly allows to operatively connect a bottom end of the actuator to the bottom end of the trans-tibial member. The prosthesis can be provided as either a front actuator configuration or a rear actuator configuration.