Abstract: The present invention is intended to provide a teaching playback swing-phase-controlled above knee prosthesis which enables an external data setting to set the mechanism of the teaching playback swing-phase-controlled above knee prosthesis for conditions that enable the mechanism to operate for motions according to a walking speed. The teaching playback swing-phase-controlled above knee prosthesis includes a structural body having a thigh frame and a leg frame pivotally joined to the thigh frame for swing motion relative to the thigh frame, an air cylinder having a cylinder body, a piston axially slidably fitted in the cylinder body and provided with a valve, and a piston rod having one end fixed to the piston and the other end pivotally joined to the thigh frame, and a stepping motor for adjusting the opening of the valve of the cylinder.

Abstract: A prosthetic foot formed by one continuous coil spring which has a foot center coil section, a heel extension section, and a forefoot extension section. Lateral and medial and torsional movement are accommodated. Energy is absorbed and stored by the prosthetic foot during heel strike in the gait cycle, energy is transferred to the forefoot extension section during foot roll-forward to toe-off in the gait cycle, and energy is released to provide a propelling force on the prosthetic foot at toe-off in the gait cycle. An apparatus allowing the wearer of the prosthetic foot to feel by physical sensation forces being applied to the prosthetic foot is included in one embodiment.

Abstract: A computerized electronic hand prosthesis apparatus and method utilizing input, feedback, control, and operating systems configurable to provide precise control and gripping forces corresponding to the particular capabilities and requirements of an individual wearer. An articulated prosthesis is capable of exerting a mechanical gripping force and contains a programmable microcomputer. Electrodes on the prosthesis contact muscles of the remnant portion of a limb and produce an electric command signal responsive to the myoelectric signal created by the wearer contracting and relaxing the muscles in the remnant portion. A drive motor in the prosthesis causes the prosthesis to exert a mechanical gripping force responsive and proportional to the electric command signal. Force sensors in the digits of the prosthesis detect the force exerted and produce an electric sensor signal responsive and proportional thereto.

Abstract: This invention relates to an above knee prosthesis which employs a hydraulic damper to passively regulate the angular velocity or rotation of the artificial knee joint. A programmed microprocessor recognizes common gait patterns from information received from bending moment strain and knee angle sensors on the prosthesis. The microprocessor, under the control of a rule-based program, reacts at various transition points in the gait by activating a motor which in turn adjusts a valve assembly in the damper. The valve assembly is capable of variably and separately damping the knee joint motion in each of flexion and extension at the same time. Gait is improved because of the improved extent of control of knee action. In addition, distinct routines such as stair descending and sitting down can also be practiced.

Abstract: A control system and method for prosthetic devices is provided. The control system comprises a transducer for receiving movement from a body part for generating a sensing signal associated with that movement. The sensing signal is processed by a linearizer for linearizing the sensing signal to be a linear function of the magnitude of the distance moved by the body part. The linearized sensing signal is normalized to be a function of the entire range of body part movement from the no-shrug position of the moveable body part through the full-shrug position of the moveable body part. The normalized signal is divided into a plurality of discrete command signals. The discrete command signals are used by typical converter devices which are in operational association with the prosthetic device. The converter device uses the discrete command signals for driving the moveable portions of the prosthetic device and its sub-prosthesis.

Abstract: A teaching playback swing-phase-controlled above-knee prosthesis comprises a thigh frame, a leg frame, an air cylinder interconnecting the thigh and leg frames and provided with adjusting means for adjusting the degree of opening the valve of the air cylinder to a plurality of degrees respectively for a plurality of walking speeds selected during trial walking, a mode selecting switch having positions respectively for setting degrees of opening of the valve of the air cylinder in a teaching mode and for a playback mode in which one of the degrees of opening is selected according to an actual walking speed, an opening detector for detecting the degree of opening of the valve of the air cylinder, an opening storage device for storing a plurality of set degrees of opening of the valve of the air cylinder, a phase detector for detecting swing phases and stance phases, walking speed detector for detecting an actual walking speed, and control unit for adjusting the degree of opening of the valve of the air cylinder

Abstract: The invention comprises a method and apparatus for switching between degrees of freedom in a prosthesis responsive to myoelectric signals generated by muscles. In the invention, an average pattern corresponding to a specified muscle contraction is stored in memory. In operation, the invention continuously stores a specified preceding interval of the incoming myoelectric signals and compares the data in that interval with the stored average pattern. If the incoming data is sufficiently similar to the stored average pattern, a recognition occurs and the device switches degrees of freedom.

Abstract: A motor actuated screw device for the transmission of torque over articulating surfaces finding particular use in prosthetic devices used as mechanical artificial hands. The device employs a high torque motor mounted on a support platform which is attached to a cable or universal joint having at least one externally threaded cincture affixed to the cable. The placement of at least one articulating member hingedly mounted to the support platform with an internally threaded guide bushing affixed to the articulating member allows the cincture to be placed therethrough allowing the motion to rotate the cable/cincture causing the articulating member to rotate about the hinge connection to the support base. The use of multiple members attached to the articulating member together with hinges placed therebetween, allows the use of the instant device to move all of the members according to predetermined threaded engagement providing each member with nearly a direct torque transfer from the motor.

Abstract: An implantable microstimulator system employs a miniature ferrite-cored coil contained with an hermetically sealed housing to receive control signals and operating power from an RF telemetry system. The tiny coil receives the electromagnetic energy which is transmitted from a non-implantable transmitter which generates a code-modulated carrier. Demodulator circuitry in the implantable microcircuit is employed to extract the control information, while applying the electromagnetic energy to power the electronic circuitry therein and charge a capacitor which will provide the electrical stimulation to the living being. The electrical stimulation is delivered by a stimulating electrode which has a waffle-like configuration whereby a plurality of iridium oxide electrode pads, coupled in parallel, so as to be characterized by a long effective edge distance, transfer the stimulating charge.

Abstract: A primary fluid actuated, secondary fluid propelling system, suitable for use, for example, as an implantable, artificial heart device, comprises a unidirectional pump for pumping electrorheological fluid, two return loops connected to the pump, and for each return loop, two electrorheological valves therein in series flow, and a primary fluid actuated, secondary fluid propelling device connected to that loop at a position between the two electrorheologocal valves therein. The primary fluid actuated, secondary fluid propelling devices may comprise a casing having the interior thereof divided by a pressure transmitting flexible diaphragm into a first cavity for receiving electrorheological fluid from that return loop, and a second cavity for propelling the secondary fluid. The electrorheological valves are actuated to pressurize one first cavity while emptying the other and vice versa.

Abstract: A therapeutic electronic range of motion apparatus includes a remote subsystem for generating motion commands which are transmitted to a local subsystem at an orthosis, prosthesis or CPM machine. The local subsystem includes a local controller for controlling and monitoring the position, speed, and direction of an actuator which moves an orthotic brace, prosthesis or CPM machine mounting. The apparatus is programmable enabling a patient to program stopping positions which thereafter are selectable by command. When the actuator is not in motion the local controller enters a sleep mode to conserve power. The controller is automatically awakened when a motion command is received.

Abstract: A robotic knee for mounting on an upper leg stump of an allows movement from a standing position to a normal walking position and then to a kneeling position and return to a standing position. A mounting plate receives the upper leg stump of an amputee. The knee includes a housing having a drive motor which can be rotated in one direction to bend the knee and then reversed to straighten the knee. The drive motor turns a worm gear which engages a main drive gear. A pair of extension pulleys is mounted on a main drive gear shaft attached to the main drive gear. A pair of extension cables is attached at a first end to the extension pulleys and wrapped thereon. A second end of the extension cables is attached to a front portion of a mounting plate. A pair of flexion pulleys is also attached to the main drive gear. A pair of flexion cables is attached at a first end to the flexion pulleys and wrapped thereon. A second end of the flexion cables is attached to a rear portion of the mounting plate.

Abstract: A sensory input discrimination system for use with a prosthetic limb such as the prosthetic lower arm includes touch pressure transducers such that information regarding pressure upon portions of the prosthesis, temperature therein, and changes in position of joints thereof will result in a sonic frequencies of characteristic pattern. Such characteristic sonic frequency patterns are communicated to the sonic proximity vibratory receptors existent upon a bone stump of an amputation site correspondent to the connection of the prosthetic limb. Such receptors will resulting generate neural impulses having a signal pattern correlating to the sonic output patterns of a system power unit that will travel from the stump to the posterior columns of the spinal cord and, therefrom, to the brain. Discrimination of such impulses will be accomplished to enable recognition of pressure, upon the prosthesis.

Abstract: A device for attaching a prosthesis to an above-the-knee amputee. The device includes a frame which is vertically adjustable for different working heights. A motor is mounted on the frame, and is controlled by a switch. One end of a shaft is connected to the motor, which turns the shaft. The other end of the shaft is disposed in a bearing supported by the frame. A clip holds one end of a tubular stocking in contact with the shaft. As the shaft turns, the stocking is wrapped around the shaft, drawing the stocking toward the shaft.

Abstract: A six degree of freedom limb movement resistance system is described in which a linkage system of links and joints couples a fixed point in space to a movable end-point of the linkage. A limb coupling cuff is attached to the end point. Variable resistance force can be applied to the linkage via computer controls through a feedback path from position and velocity sensors. The linkage endpoint force acting to resist limb motion is in a direction opposite to the endpoint velocity vector.

Abstract: Systems are disclosed which utilize implanted glucose sensitive living cells to monitor blood glucose levels. The implanted cells produce a detectable electrical or optical signal in response to changes in glucose concentration in surrounding tissue. The signal is then detected and interpreted to give a reading indicative of blood glucose levels. Capsules containing glucose sensitive cells and electrodes for detecting electrical activity are also disclosed. Method of monitoring blood glucose are also described utilizing the systems and capsules disclosed.

Abstract: A teaching playback swing-phase-controlled above-knee prosthesis comprises a thigh frame, a leg frame, an air cylinder interconnecting the thigh and leg frames and provided with adjusting means for adjusting the degree of opening the valve of the air cylinder to a plurality of degrees respectively for a plurality of walking speeds selected during trial walking, a mode selecting switch having positions respectively for setting degrees of opening of the valve of the air cylinder in a teaching mode and for a playback mode in which one of the degrees of opening is selected according to an actual walking speed, an opening detector for detecting the degree of opening of the valve of the air cylinder, an opening storage device for storing a plurality of set degreess of opening of the valve of the air cylinder, a phase detector for detecing swing phases and stance phases, walking speed detector for detecting an actual walking speed, and control unit for adjusting the degree of opening of the valve of the air cylinder

Abstract: A teaching playback swing-phase-controlled above-knee prosthesis comprises a thigh frame, a leg frame an air cylinder interconnecting the thigh and leg frames and provided with adjusting means for adjusting the degree of opening the valve of the air cylinder to a plurality of degrees respectively for a plurality of walking speeds selected during trial walking, a gait selecting switch having positions respectively for setting degrees of opening of the valve of the air cylinder in a teaching mode and for playback mode in which one of the degrees of opening is selected according to an actual walking speed, an opening detector for detecting the degree of opening of the valve of the air cylinder, an opening storage device for storing a plurality of set degrees of opening of the valve of the air cylinder, a phase detector for detecting swing phases and stance phases, walking speed detector for detecting an acutal walking speed, and control unit for adjusting the degree of opening of the valve of the air cylinder in

Abstract: An improved double capstan drive allows mechanical amplification for increased power output from stepper motors, servo motors, and other control devices. Tensile members are attached to loads, wrapped around two continuously driven capstan drums, and attach to the stepper motors. The stepper motors, when energized, supply tailing forces to the tensile members which then engage frictionally on the capstan drums. Amplification of forces is achieved. Each wrap provides for slightly less than 2 times amplification of the tailing force with no upper limit to the number of wraps. Elastic bands attach to each wrap of the tensile members approximately midway between the two drums to provide for immediate and responsive release when stepper motors deenergize or reverse direction. Grooves or rings on the periphery of the drums provide tracks for wrapping the tensile member.

Abstract: A modified shape memory alloy fibers exhibits a rapid twitch response under timulation by an action potential such as the heating effect of an electromagnetic pulse; in particular the relaxation time of the twitch response is considerably shortened as compared with that of the unmodified fibers; the modification is achieved by simultaneous application of a stretching force and a short, powerful electromagnetic pulse effective to bring about contraction resulting from the shape memory and change material properties; this application is carried out a plurality of times.

Abstract: An electro-mechanical grasping device that simulates the movements of a human hand suitable for use as an artificial hand prosthesis that is lightweight, agile and includes a firm grasp. A lightweight platform houses a plurality of very small high torque electrical motors, each having its own linear gear rack, all of which is connected by suitable wire-like actuating member to a plurality of jointed members each of which represents a particular digit of the hand. A stiff cable is connected between all the simulated digits and the gear racks, the cables being mounted through eyelets that act as harness guides for providing the proper strength and movement of each of the digits. Control of the artificial hand and the digits may be through the receipt of myogram signals from the human muscles in the appropriate situation while power is received from a small DC battery.

Abstract: A teaching playback swing-phase-controlled above-knee prosthesis has a thigh frame, a leg frame, an air cylinder interconnecting the thigh and leg frames and provided with adjusting means for adjusting the degree of opening the valve of the air cylinder to a plurality of degrees respectively for a plurality of walking speeds selected during trial walking. A mode selecting switch has positions respectively for setting degrees of opening of the valve of the air cylinder in a teaching mode and for a playback mode in which one of the degrees of opening is selected according to an actual walking speed. An opening detector detects the degree of opening of the valve of the air cylinder. An opening storage device for stores a plurality of set degrees of opening of the valve of the air cylinder.

Abstract: A material handling system in the form of a grappling device or of a robotic or prosthetic limb is provided which can function for performing work. The system includes a plurality of magnets including at least one electromagnet. In preferred embodiments the magnets are hinged together at opposite ends and disposed inside a sheath. By reversing the polarity of selected electromagnets in the limb, the limb or an associated material handling device can be moved from an open position to a closed position for gripping an object. In turn, by again reversing the polarity of the electromagnets, the object can be released and the limb returned to an open position. The limb may be in the form of an anatomical hand, an arm or a foot, and the resilient casing may take the form and appearance of an artificial skin. The outer skin may be a glove with the inside of the glove having electrical conductors deposited thereon with contacts engaging opposite ends of the selected magnets.

Abstract: An apparatus and method for transmitting prosthetic information to the brain contains an array of sensory elements that receive energy from an external stimulus and process those signals via neural filters and neural waveforms to produce a pulse or `spike` train that is temporally encoded with information that is functionally related to the external stimulus. The simulated spike trains, when applied to an appropriate area of the brain, produce perceptions that are functionally related to the sensed external stimuli so that a subject can discriminate between different spike trains representative of different external stimuli.

Abstract: An orthosis for powering the walking movement of a paralyzed wearer, comprises torso members to be firmly connected to the opposite sides of the wearer's torso. A pair of leg braces is connected to the torso members. Each leg brace comprises a thigh member pivotally mounted at a hip joint to one torso member on one side of the wearer. A shank member connected to the shank and foot of the wearer, is pivotally mounted at a knee joint to each thigh member. A four link drive mechanism which is powered by a rechargeable power unit mounted on the torso member, swings the thigh member forwardly and rearwardly about the hip joint. A knee lock keeps the knee joint locked during the rearward movement of the thigh member and during a portion of the forward movement of the thigh member. At an appropriate point during the forward movement of the thigh member, a cam operated crank unlocks the knee joint and swings the shank member rearwardly to simulate a natural forward step.

Abstract: An antithrombogenic, non-calcifying, and elastic material on a basis of polyurethane, characterized by the addition of fatty-acid esters and optionally by the further addition of cross-linking agents that react with water.

Abstract: A hearing aid includes an electronic amplifier, an electric power source and a switch for automatically breaking or making the connection between the amplifier and the power source depending on whether the hearing aid is in use or out of use. The switch is provided in such a manner so as to be responsive to switching criterion defined by a change of state such as change in temperature, moisture etc. The switch is disposed at a wall surface which is subjected to the change of state.

Abstract: An artificial dexterous hand is provided for grasping and manipulating objects. The hand includes left and right thumbs that are operatively connected to an engagement assembly which causes movement of the left and right thumbs. The left thumb has a left thumb base and is movable about three separate first left thumb axes which run through the left thumb base. Correspondingly, the right thumb has a right thumb base and is movable about three separate first right thumb axes which run through the right thumb base. The engagement assembly has a gear assembly which is operatively connected to a motor assembly. Upon actuation by the motor assembly, the gear assembly causes movement of the left and right thumbs about the first left thumb axes and first right thumb axes respectively. The hand can also have a center finger which is operatively connected to the engagement assembly and which is interposed between the left and right thumbs.

Abstract: An artificial dexterous hand is provided for conformally engaging and manipulating objects. The hand includes an articulated digit which is connected to an engagement sub-assembly and has a first shape adaption mechanism associated with it. The digit has a digit base and first and second phalanges. The digit base is operatively interconnected to the first phalange by a base joint having a base pulley. The phalanges are operatively interconnected by a separate first phalange joint having a first phalange pulley. The engagement sub-assembly includes a tendon, which is received by the base pulley and by the first phalange pulley, and an actuation device for selectively tensioning the tendon. The first shape adaption mechanism is responsive to and receives the tendon. It is also situated between the base joint and the first phalange joint and is connected to the first phalange.

Abstract: The invention embodies the construction and implementation of synthetic muscle elements into numerous prosthetic devices. The aforesaid synthetic muscle elements consist of piezoelectric Gels; which function to motivate artificial limbs, rotate artificial joints, institute peristaltic motion in synthetic muscle systems and perform other activities consistant with the operation of organic muscle tissue. Sensory elements and ancillary systems embodied within said synthetic muscle means are responsive to evoked potentials generated by the neurons or other impulse conducting structures of the user. The aforesaid synthetic muscle has the additional capacity to sense, measure and act in a compensatory fashion to adjust their operation to biochemicals emitted by the user including, neural humoral secretions, endocrine levels, the formation of metabolites and the tension or partial pressures of gases such as CO.sub.2, O.sub.2, or other substances.

Abstract: Devices and methods for transmitting neural signals from a proximal stump of a transected nerve to a prosthetic apparatus are disclosed employing microelectrodes, preferably conductive fiber networks, capable of sensing electrical signals from a nerve and transmitting such signals to a prosthetic apparatus; and a semipermeable guidance channel disposed about the microelectrodes. The channels include an opening adapted to receive the proximal stump of a transected nerve, such that the channel promotes the growth of the stump and the formation of an electrical connection between the transected nerve and the microelectrode.

Abstract: An electronic pneumatic limb control system for a pneumatically actuated flexible limb is disclosed. The system includes a computer for providing signal data corresponding to a plurality of successive events of air introduction and non-air introduction, respectively, into the flexible limb during a predetermined limb movement. The computer signal data provides for time-varying the air introduction to the non-air introduction for the successive events thereof during the limb movement so as to minimize oscillation and overshoot. The system also provides for successive events of air exhaustion and non-air exhaustion to return the limb to a position of rest after the predetermined limb movement.

Abstract: At least one actuating element emits a signal in response to blowing and/or suction airflow from a person and is connected to a mouthpiece, and is coupled by way of an evaluation circuit to the appliance to be controlled. In order to maximize the total number of possible combinations of control signal and/or control data, two position transmitters (X-pos, Y-pos) are coupled to further inputs of the evaluation circuit, which incorporates at least one microprocessor, and, when the mouthpiece is used, each transmitter emits a coordinate signal characteristic of the position of the mouthpiece in a coordinate system. The microprocessor is adapted to process the signals from the actuating element, which is in the form of an impact pressure transducer and also the coordinate signals from the position transmitters (X-pos, Y-pos) to produce control data for the appliance.

Abstract: Hand movement assistance apparatus of both the active and passive types and usable for movement stabilization by either a normal human subject seeking to perform a task of great precision or a neurologically impaired human subject having Parkinson's disease or similar dysfunction. Both the active and passive apparatus provide a glove-like receptacle for the subject's hand; the passive system applies closed-loop feedback system generated forces to the glove and the active system provides a hand guidance track arrangement for the subject's hand. Three axis stabilization forces and rotationally oriented forces are alternatively provided by the active system, along with responses particularly adopted to the Parkinson's tremor frequency.

Abstract: A controller for enabling a person with limited physical abilities to control one or more electrically operated machines. A movable mouthpiece actuates a pressure transducer in response to blowing or sucking air and a plurality of position transducers are connected to and measure the position of the mouthpiece in a plurality of planes. A controller receives the output of the pressure transducer and position transducers and provides control signals to control one or more machines. The operator can calibrate and adjust the controller to compensate for his/her individual disabilities.

Abstract: A system for controlling muscular responses in living beings utilizes electrical stimulation of the muscle and acoustic monitoring of muscle performance. In one aspect, muscle functioning during a physical activity can be monitored acoustically, and the resulting signal compared against predetermined signal characteristics. Deviation of the muscle function from the desired characteristic can be corrected by applying a responsive electrical signal. Additionally, the response of a muscle to electrical stimulation can be monitored acoustically and an appropriate responsive correction to the electric signal, such as in its amplitude, frequency, spectral composition, duty cycle, can be made. In this manner, the invention permits control of muscle functions in dynamic and static states.

Abstract: A sensory input discrimination system for use with a prosthetic limb such as a prosthetic hand having five digits. The discrimination system includes pairs of sonic frequency generators in electrical communication with pressure transducers which are disposed proximally to each other and within the extremity of corresponding digits of the prosthetic hand, the frequency generators having discrete sonic frequencies. The electrical communication between each frequency generator and the pressure sensor is open in the absence of contact pressure, and closed in the presence of contact pressure. Such closure generates a discrete sonic frequency output from the digit to which the contact pressure has been applied. In the prosthesis, a power unit amplifies the frequency outputs and provides power for the operation of the frequency generators and pressure transducers. The power unit exhibits an output including a voltage and a sonic frequency.

Abstract: A blood pump is powered by an implantable motive power source. The blood pump has four actively pumping chambers, two of the chambers simulating ventricles and two of the chambers simulating atria, wherein the ventricular and atrial chambers are driven in a reciprocating manner by a pivoting wedge hinged to a septal wall partition separating the ventricular from the atrial chambers. The pivoting wedge is hydraulically powered through systole and diastole by means of hydraulic motors harnessed individually to respective skeletal muscles and responsive to the contraction of these muscles which are sequentially contracted by control stimulation means. The hydraulic pressure from the hydraulic motors is transmitted through hydraulic lines to the blood pump.

Abstract: An artificial hand comprises a palm member and thumb and finger members movable towards and away from one another by an actuator. A cosmesis covering the actuator has a touch sensor in a cavity of the cosmesis that deforms on contact with an object. The cavity is connected via a conduit with a microphone that picks up pressure waves resulting from stick/slip motion of the object along the surface of the cosmesis. The distance between the thumb and finger members is determined by a position sensor, and muscle sensor means responsive to contraction of first and second muscle groups supplies position and control signals in first and second channels.

Abstract: An apparatus for performing a specified task within the human body has an implanted electromagnetic device for use in conjunction with an external electromagnetic field. The electromagnetic device includes a drive member which is a rotor of an electric motor. The drive member, when located within an electromagnetic field, will drive a pump to pump fluid from a reservoir such as to a pair of prosthesis cylinders implanted in the penis. The external electromagnetic field is an AC stator that has an aperture for positioning over the rotor, which is located in a sealed housing implanted in the scrotum.

Abstract: An assembly robot comprises a breastplate adapted to be attached to the chest of a human operator, an upper arm member connected to the breastplate and adapted to be attached to the upper arm of a human operator, a lower arm member attached to the upper arm member and adapted to be attached to the lower arm of a human operator, a hand member having finger and thumb units into which the hand, finger and thumb of the human operator can be inserted, and a support structure taking the form of a movable chair to which the breastplate is attached and on which the human operator may sit. The robot members, their length, the joints between members, and the axes of these joints correspond to those of a human arm, hand and fingers whereby the robot can make the same movements as the human operator. Each joint is associated with a sensor-motor device.

Abstract: A prosthetic vision system is provided with a lens implanted in an ocular socket to focus light onto a coherent fiberoptic bundle. The fiberoptic bundle conveys the received light to photovoltaic semiconductors mounted in a gate array. The gate array is mounted in the region of the calcarine fissure in the user's cortex. The photovoltaic semiconductors stimulate the optic tract or visual cortex much in the manner done in a person having sight.