Abstract: A semi-powered foot and ankle prosthesis (100) has a foot member (128) coupled to the ankle frame (112) and movable with respect to the ankle frame (112). A linear actuator (144) is coupled to and between the ankle frame (112) and the foot member (128) to move the foot member (128) with respect to the ankle frame (112). The linear actuator (144) has a drive motor (150). A locking mechanism (104) selectively engages the drive motor (150) to selectively lock movement of the drive motor (150) to resist a force on the foot member (128) from backdriving the linear actuator (144).

Abstract: Disclosed herein is a robotic ankle foot prosthesis that replicates the key biomechanical functions of the biological ankle and toe joints while matching the weight, size, and battery life of passive microprocessor-controlled prostheses. A single actuator powers the ankle and toe joints. The mechanism maximizes the mechanical energy regeneration during walking while imitating the physiological features of energy injection by way of the ankle joint and energy dissipation by way of the toe joint.

Abstract: Disclosed are prosthetic systems comprising a powered knee prosthesis and a volitional controller configured to provide control of the prosthesis to the user. The prosthetic system may be configured to enable a user to walk on smooth and/or uneven terrain and to ascend and/or descend stairs. The volitional controller may be configured in a contact state when the prosthesis is in contact with a ground surface and a no contact state when the prosthesis is lifted from the ground surface. When in the contact state, the controller may output a knee torque signal for controlling the powered knee of the prosthesis. The knee torque signal may be based on a target knee torque determined by the knee orientation and the torque measured at the ankle of a prosthetic foot. When in the no contact state, the controller may output a knee torque signal based on a desired knee position.

Abstract: Disclosed are prosthetic systems comprising a powered knee upper leg prosthesis and a volitional controller configured to provide control of the prosthesis to the user. The prosthetic system may be configured to enable a user to climb a set of stairs. The prosthetic system may be activated by the activation of an EMG signal source, such as the biceps femoris muscle of the upper leg. The volitional controller of the prosthetic system may be further configured to receive a ground state signal and/or an IMU signal to determine a target knee torque for operating the powered knee of the prosthesis.

Abstract: Disclosed are embodiments of a volitional controller and prosthetic leg system comprising a volitional controller and a powered prosthetic leg. The volitional controller may be configured to control a powered knee joint and a powered ankle joint to enable a user to walk at different speeds and inclines. The orientation of the components of the powered prosthetic leg may be monitored continuously to enable the system to adapt to changes in the duration of the user's gait. The volitional controller may be configured to determine a target knee torque and a target ankle torque that may be based on the global shank orientation, a prosthetic knee velocity, and a prosthetic ankle velocity.

Abstract: Disclosed herein is a robotic ankle foot prosthesis that replicates the key biomechanical functions of the biological ankle and toe joints while matching the weight, size, and battery life of passive microprocessor-controlled prostheses. A single actuator powers the ankle and toe joints. The mechanism maximizes the mechanical energy regeneration during walking while imitating the physiological features of energy injection by way of the ankle joint and energy dissipation by way of the toe joint.

Abstract: A semi-powered foot and ankle prosthesis (100) has a foot member (128) coupled to the ankle frame (112) and movable with respect to the ankle frame (112). A linear actuator (144) is coupled to and between the ankle frame (112) and the foot member (128) to move the foot member (128) with respect to the ankle frame (112). The linear actuator (144) has a drive motor (150). A locking mechanism (104) selectively engages the drive motor (150) to selectively lock movement of the drive motor (150) to resist a force on the foot member (128) from backdriving the linear actuator (144).

Abstract: The present disclosure describes transmission systems for use in artificial joints of assistive devices, such as assistive prostheses, orthoses, and powered exoskeletons. A variable transmission is configured to automatically or manually adapt the torque profile to the demand of different locomotion tasks, such as a relatively high torque and low speed profile for a task such as standing up or ascending stairs, or a relatively low torque and high speed profile for a task such as walking.

Abstract: Disclosed is a lightweight powered ankle exoskeleton with integrated series-elastic actuation capable of providing high torque and power densities while maintaining a compact and lightweight profile. The exoskeleton includes: a frame configured to be worn adjacent a lower leg of a user; a power transmission assembly integrated with the frame and configured to deliver torque to a crank member to rotate the crank member about an ankle joint; and a foot/shoe interface coupled to the crank member and configured to interface with a foot or shoe of the user and to transmit torque generated at the ankle joint to the foot or shoe of the user.

Abstract: An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.

Abstract: The present disclosure describes transmission systems for use in artificial joints of assistive devices, such as assistive prostheses, orthoses, and powered exoskeletons. A variable transmission is configured to automatically or manually adapt the torque profile to the demand of different locomotion tasks, such as a relatively high torque and low speed profile for a task such as standing up or ascending stairs, or a relatively low torque and high speed profile for a task such as walking.

Abstract: An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.

Abstract: Disclosed herein is a robotic ankle foot prosthesis that replicates the key biomechanical functions of the biological ankle and toe joints while matching the weight, size, and battery life of passive microprocessor-controlled prostheses. A single actuator powers the ankle and toe joints. The mechanism maximizes the mechanical energy regeneration during walking while imitating the physiological features of energy injection by way of the ankle joint and energy dissipation by way of the toe joint.

Abstract: A powered joint system that is configured to adaptively control powered joint movement during movement tasks includes a knee joint, one or more sensors, and a controller. The one or more sensors are configured to capture sensor data associated with a residual limb of a user. The controller comprises one or more processors and one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the controller to perform various acts, including to: obtain a thigh orientation term, a thigh angular velocity term, and a thigh vertical acceleration term based on the sensor data; determine a target knee angle based on the thigh orientation term, the thigh angular velocity term, and the thigh vertical acceleration term; and output a signal configured to cause the knee joint to move toward the respective target joint angles.

Abstract: A powered prosthesis for providing volitional control of knee flexion during swing is configured to (i) determine that a swing phase has initiated, (ii) obtain a thigh angle based on the sensor data associated with a residual limb of a user, (iii) based on a time elapsed since initiation of the swing phase, and based on the thigh angle, determine a desired maximum knee flexion angle, (iv) during the swing phase, continuously update the desired maximum knee flexion angle using subsequent measurements of thigh angle and time elapsed since initiation of the swing phase, and (v) output a signal configured to cause actuation of the knee joint based on the desired maximum knee flexion angle.

Abstract: A powered joint system for providing volitional control of joint movement includes a knee joint, one or more electromyography (EMG) sensors, and a controller. The one or more EMG sensors are adapted for placement on skin of a residual limb of a user to detect EMG signals from a posterior side of a residual limb. The controller is communicatively coupled to the knee joint and the one or more EMG sensors. The controller comprises one or more processors and one or more hardware storage devices storing instructions that are executable by the one or more processors to configure the controller to perform various acts, including to receive an EMG signal from the one or more EMG sensors (the EMG signal being representative of muscle activation at the posterior side of the residual limb of the user) and determine a target knee torque based on the EMG signal.

Abstract: An exoskeleton device that includes an artificial joint and a frame member extending from the artificial joint. The frame member is configured for extension over a limb of a user. The exoskeleton device also includes a self-aligning mechanism connected to the frame member. The self-aligning mechanism includes three passive degrees of freedom (pDOF) provided in a prismatic-revolute-revolute (PRR) configuration. The self-aligning mechanism also includes a limb attachment member configured for mechanically coupling to a portion of the limb of the user.

Abstract: The present disclosure describes transmission systems for use in artificial joints of assistive devices, such as assistive prostheses, orthoses, and powered exoskeletons. A variable transmission is configured to automatically or manually adapt the torque profile to the demand of different locomotion tasks, such as a relatively high torque and low speed profile for a task such as standing up or ascending stairs, or a relatively low torque and high speed profile for a task such as walking.

Abstract: The present disclosure describes sensor devices that can be readily integrated with prosthetic devices to provide sensing of force and torque applied to the prosthetic device during use. The sensor device includes an adaptor section that readily connects to standard prosthetic components and a base section. The base section has a deflectable portion and a fixed portion. Cantilevers in the deflectable portion house magnets and corresponding Hall effect sensors are housed in the fixed portion. When axial and/or torsional forces are applied, the cantilevers deflect relative to the fixed section and the Hall effect sensors provide a corresponding output that correlates to the axial and/or torsional forces applied.

Abstract: Systems and methods are disclosed for operating a joint of a prosthesis during a phase of stance. In an embodiment, a method for such operation comprises determining a joint angle of the joint, determining a walking speed of the prosthesis, retrieving a torque value from a lookup table stored in a memory, on the basis of the joint angle and the walking speed, and initiating a signal to apply a torque to the joint of the prosthesis in an amount based on the torque value.