Abstract: Disclosed herein is a wearable article, comprising a fabric. In some embodiments, the fabric comprises an inner material layer which forms an inner surface of the wearable article, an outer material layer which forms an outer surface of the wearable article; and one or more intermediate material layers disposed between the inner and outer material layers. In some embodiments, the inner, outer, and one or more intermediate material layers are knitted together to provide a combination of two or more of: two or more compression zones; two or more mobility zones; two or more materials; or one or more electronic components.

Abstract: An ankle-foot prosthesis comprises a foot structure having a foot keel leaf spring, a heel leaf spring, and an upper J leaf spring above the keel leaf spring. An ankle bearing block is mounted to the keel leaf spring and a shank shell is mounted to the ankle bearing block. A shank interface mounts to the shank shell. A processor controlled active element extends along an axis between the shank shell and the upper leaf-spring.

Abstract: A mechanical interface connecting a biological body segment, such as a limb, portion of a limb or other body segment, to a wearable device such as a prosthetic, orthotic or exoskeletal device, is fabricated by quantitatively mapping a characterized representation of the body segment to form a digital representation of the mechanical interface shape and mechanical interface impedance. The mechanical interface includes a continuous socket defining a contoured inside surface and a contoured outside surface, and includes a material having an intrinsic impedance that varies through the material, so that the intrinsic impedance varies along the contoured inside surface.

Abstract: Systems and methods relating to magnetomicrometry and magnetic-target-based mechanomyography are provided. A method of detecting muscle activation, includes with a magnetic field sensor, detecting lateral vibration of a target implanted at a muscle or a tendon and estimating a level of muscle activation based on the detected lateral vibration. The target comprises a magnetic material.

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 variable stiffness leaf spring mechanism and method of locking parallel leaf springs allow for a wide range of stiffness settings in a low-mass package. By varying the number of parallel leaf springs as well as the thickness and stiffness of each layer the system stiffness and range of stiffness settings can be optimally tuned to each application. Additionally, by locking leaf springs without inducing large normal forces from a clamping mechanism, the frictional wear on the system is greatly diminished. In addition to increasing the life cycles of the system, this will decrease auditory noise emitted during operation. The system and method can be applied to lower extremity prostheses to allow for more biological emulation than passive prostheses in a lower mass package than powered prostheses.

Abstract: An electromyography (EMG) sensor for a wearable device, such as a prosthetic device attachable to a residual limb, includes a flexible substrate comprising an elongated portion and an electrode portion. At least two electrodes are disposed at a surface of the electrode portion of the flexible substrate, and leads from the at least two electrodes extend through the elongated portion of the flexible substrate.

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 nerve in a mammal is optogenetically transduced, wherein the nerve is susceptible to stimulus by selective application of transdermal light, and a light source is applied to dermis of the mammal at or proximate to the optogenetically transduced nerve, to thereby stimulate the nerve. A wearable device for optogenetic motor control and sensation restoration of a mammal includes a wearable support, a power source at the wearable support, a controller at the wearable support and in electrical communication with a power source, and a transdermal light source coupled to the controller.

Abstract: Mechanoneural Interfaces (MIs) and methods of forming MIs are provided, including cutaneous mechanoneural interfaces (CMIs) and proprioceptive mechanoneural interfaces (PMIs). A CMI includes a device in operative arrangement with a muscle actuator to stimulate muscle contraction, the muscle actuator disposed in a substantially circumferential configuration about a skin flap that includes a native or regenerative neurovascular structure of an amputated body segment. A PMI includes an actuator mechanically linked to a muscle end organ and configured to apply a force to the muscle end organ, the actuator including a synthetic actuator or a biological muscle actuator. The muscle end organ is of an agonist-antagonist muscle pair and can include at least one of a native or regenerative neurovascular structure. CMIs and PMIs can each further include a controller configured to provide a stimulation signal or operate an actuator based on a signal received from a sensor of a prosthetic device.

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: A nerve in a mammal is optogenetically transduced, wherein the nerve is susceptible to stimulus by selective application of transdermal light, and a light source is applied to dermis of the mammal at or proximate to the optogenetically transduced nerve, to thereby stimulate the nerve. A wearable device for optogenetic motor control and sensation restoration of a mammal includes a wearable support, a power source at the wearable support, a controller at the wearable support and in electrical communication with a power source, and a transdermal light source coupled to the controller.

Abstract: Artificial limbs and joints that behave like biological limbs and joints employ a synthetic actuator which consumes negligible power when exerting zero force, consumes negligible power when outputting force at constant length (isometric) and while performing dissipative, nonconservative work, is capable of independently engaging flexion and extension tendon-like, series springs, is capable of independently varying joint position and stiffness, and exploits series elasticity for mechanical power amplification.

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: An autonomous wearable leg device employs an array of sensors embedded along a support area, whereby a controller can generate a controlling command and send a controlling command to a prosthetic, orthotic, exoskeletal or wearable component to thereby control the prosthetic, orthotic, exoskeletal or wearable component. A method for controlling autonomous wearable device collects kinetic signals from an array of sensors embedded in a prosthetic, orthotic or exoskeletal component, wherein all values are extracted from at least one feature of the collected kinetic signals, which are applied to a controller that generates a controlling command that is sent to the prosthetic, orthotic exoskeletal component to thereby control the prosthetic, orthotic or exoskeletal component during a portion of a gait cycle.

Abstract: An ankle-foot prosthesis comprises a foot structure having a foot keel leaf spring, a heel leaf spring, and an upper J leaf spring above the keel leaf spring. An ankle bearing block is mounted to the keel leaf spring and a shank shell is mounted to the ankle bearing block. A shank interface mounts to the shank shell. A processor controlled active element extends along an axis between the shank shell and the upper leaf-spring.

Abstract: The system includes an instrument for determining the anatomical, biomechanical, and physiological properties of a body segment that includes one or more force sensitive probes is provided. A human operator actuates one or more force sensitive probes, wherein the force sensitive probes are positioned at the surface of the body segment. The operator pushes on the force sensitive probes with varying force applied on the body segment to measure tissue deflection forces. The instrument may include one or more of gyroscopes, accelerometers, and magnetometers capable of measuring changes in tissue deflection caused by the force sensitive probes relative to a grounded reference frame in 3-D space, wherein the tissue deflection force data and the change in tissue deflection data are used to compute segment tissue viscoelastic properties. The instrument may also be untethered or wireless.

Abstract: A powered ankle-foot prosthesis, capable of providing human-like power at terminal stance that increase amputees metabolic walking economy compared to a conventional passive-elastic prosthesis. The powered prosthesis comprises a unidirectional spring, configured in parallel with a force-controllable actuator with series elasticity. The prosthesis is controlled to deliver the high mechanical power and net positive work observed in normal human walking.

Abstract: A prosthetic device includes a frame defining an output axis, a cantilever beam spring attached to the frame, a moment arm attached to the spring, and a rigid output arm coupled to the frame and rotatable about the output axis. A connector assembly is configured to apply a moment to the cantilever beam spring via the moment arm while applying a torque about the output axis via the output arm. An ankle-foot device includes foot and ankle members connected for two-degree of freedom movement relative to one another, allowing for rotation about an ankle axis and rotation about a subtalar axis. Two linear actuators, each coupled to corresponding series elastic element, link the foot and ankle members. Driving the actuators in the same direction causes rotation about the ankle axis and driving the actuators in opposing directions causes rotation about the subtalar axis. A processor receives sensory information from a sensor and drives the actuators to control an equilibrium position of the series elastic elements.