Abstract: A prosthetic or orthotic device is described for implementation of a locomotion activity. The prosthetic or orthotic device may cause an actuator to perform a provide a first torque. Based on the first torque and one or more values of one or more parameters, the prosthetic or orthotic device may perform a first portion of a flexion action. Subsequent to or during performance of the first portion of the flexion action, the prosthetic or orthotic device may determine an angle associated with the prosthetic or orthotic device. Based on the angle, the prosthetic or orthotic device may perform an adjustment of the one or more parameters. Based on the adjustment, the prosthetic or orthotic device may perform a second portion of the flexion action. For example, the prosthetic or orthotic device may perform the second portion while gradually increasing the one or more values.

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 powered prosthetic or orthotic device (POD) having gait controls is disclosed. The POD may include a control system that modifies the POD's gait controls based on the activity of the user. For example, the POD may have specific gait controls for a slow walk activity, and different gait controls for a fast walk activity. Each activity may have one or more phases and one or more subphases. For example, a standing-up activity may include a stance phase and may include an extension and braking subphase. The POD may modify the gait controls based on the phase and sub-phase of the activity. Thus, the behavior of the POD may be improved for the current activity of the user and may provide mobility, safety, and support in a variety of different terrains and tasks.

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: 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: 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.