Abstract: Methods are provided for controlling a powered lower limb device. A stance phase control method is disclosed in which the required joint torque is determined based on the difference between two joint angles, such as the knee joint and the ankle joint. A swing control method is also disclosed that employs feedback-based minimum jerk trajectory control. A joint assembly for use in a modular lower limb device is also provided. The joint assembly includes a reconfigurable slider-crank mechanism that is configurable to provide a plurality of different ranges of rotational travel, rotational speeds, and torques, for customization according to different anatomical joints. The joint assembly may include a compact coupling device for coupling a ball screw of the slider-crank mechanism to an output shaft of a motor. When employed to form a modular orthosis, the joint assembly may be adapted for self-alignment as its length adjustment method during setup.

Abstract: Systems and methods are provided for configuring a human-machine interface according to a user's relative preference, or weighting, of a set of utility factors, such that a user can customize a human-machine interface in the absence of the direct selection of interface parameters. In some example embodiments, a total utility function (associated with overall utility of a human-machine interface) is calculated based on the sum of a set of weighted utility functions, with each utility function being weighted according to a respective user-tunable weight, and with each user-tunable weight prescribing a relative importance of a respective utility factor to the total utility function. A set of parameters of the human-machine interface that optimize the overall utility function for a selected set of user-tunable weights is determined and employed to configure the human-machine interface.

Abstract: In some aspects, methods are provided for controlling a powered lower limb device. A stance phase control method is disclosed in which the required joint torque is determined based on the difference between two joint angles, such as the knee joint and the ankle joint. A swing control method is also disclosed that employs feedback-based minimum jerk trajectory control. In other embodiments, a joint assembly for use in modular lower limb device is provided. The joint assembly includes a reconfigurable slider-crank mechanism that is configurable to provide a plurality of different ranges of rotational travel, rotational speeds, and torques, for customization according to different anatomical joints. The joint assembly may include a compact coupling device for coupling a ball screw of the slider-crank mechanism to an output shaft of a motor. When employed to form a modular orthosis, the joint assembly may be adapted for self-alignment as its length adjustment method during setup.

Abstract: A gripping device that comprises a first moveable jaw and a second fixed jaw is disclosed. The gripping device has a handle operatively engaged to the first moveable jaw and a connecting link operatively engaged to the first moveable jaw. The connecting link is positioned in at least one of a first position or a second position. The change in the position of the connecting link allows the gripping device to have either a default closed position or a default open position, which can be defined by voluntarily-open or voluntary-close modes of operation, respectively. The first moveable jaw moves in either of the modes of operation. The change in the mode of operation is accomplished through use of a connecting link that is passed through a singularity during the switching process to achieve the different output positions and directions.

Abstract: A gripping device that comprises a first moveable jaw and a second fixed jaw is disclosed. The gripping device has a handle operatively engaged to the first moveable jaw and a connecting link operatively engaged to the first moveable jaw. The connecting link is positioned in at least one of a first position or a second position. The change in the position of the connecting link allows the gripping device to have either a default closed position or a default open position, which can be defined by voluntarily-open or voluntary-close modes of operation, respectively. The first moveable jaw moves in either of the modes of operation. The change in the mode of operation is accomplished through use of a connecting link that is passed through a singularity during the switching process to achieve the different output positions and directions.