Abstract: A prosthetic foot includes a spring component and a sole component. The spring component comprises two or more stacked beam elements, each beam element including, along the length of the respective beam element, a first portion and a second portion, and the second portion of the beam element includes an extent with a length-varying width. The respective beam elements are fixed to each other and to the sole component proximate the heel portion of the sole component or the toe portion of the sole component at the first portions of the respective beam elements to form a fixed end of a cantilevered composite beam. The second portions of the respective beam elements are laterally movable with respect to each other when the spring component deflects.

Abstract: Various implementations include a compliant element comprising a spring component, a mounting portion, and a transverse shear constraint element. The spring component comprises two or more stacked beam elements. Each beam element has a first and second end with the first end of each beam is attached to the mounting portion. Furthermore, the transverse shear constraint element is located between the first and second ends of the beam elements and prevents the relative sliding of two or more beam elements in the region of the beams between the first beam ends and the transverse shear constraint element.

Abstract: The present disclosure provides an ankle joint mechanism, including a shank member, a first connecting link, a foot member, a second connecting link, and a force providing element. The foot member is coupled to the shank member at a first pivot point and coupled to the first connecting link at a second pivot point. The second connecting link is coupled to the first connecting link at a third pivot point and coupled to the shank member at a fourth pivot point. The force providing element is coupled to the second connecting link at a first end and coupled to either the shank member or the foot member at a second end.

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

Abstract: Systems and methods are provided for controlling a lower limb device having at least one powered joint. The method includes detecting a stumble event based on one or more sensor signals associated with an overall motion lower limb device, classifying the stumble event based on sensor signals following the sensor signals associated with the stumble event, and selecting a stumble recovery strategy for the lower limb device based on the classification of the stumble event.

Abstract: A device includes a first member and a second member disposed in series along a longitudinal axis. The device also includes links coupling first joints of the first member to second joints of the second member. The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor for generating a signal indicating a separation between the first member and the second member.

Abstract: A device includes a first member (120) and a second member (122) disposed in series along a longitudinal axis. The device also includes links coupling first joints (124, 126) of the first member to second joints of the second member (128, 130). The first and second members and the links arranged to define a planar parallelogram linkage. The devices also include a resilient element (142) disposed between the first member and the second member, the first member and the second member preloaded against the resilient element. The first member and the second member are preloaded to provide an arrangement of the first and the second joints in which a motion of the first joints with respect to the second joints is constrained to a direction substantially parallel to the longitudinal axis. The devices further include a sensor (140) for generating a signal indicating a separation between the first member and the second member.

Abstract: Systems and methods are provided for controlling a lower limb device having at least one powered joint. The method includes detecting a stumble event based on one or more sensor signals associated with an overall motion lower limb device, classifying the stumble event based on sensor signals following the sensor signals associated with the stumble event, and selecting a stumble recovery strategy for the lower limb device based on the classification of the stumble event.