Abstract: A method and an apparatus for setting a sports mode are provided. Two metal endpoints on an outer surface of an intelligent device are respectively used as an output end and a receive end of signals. A signal sent by the output end is compared with a signal received by the receive end to determine whether the intelligent device currently meets a preset condition. First sports characteristic data detected by a sports sensing apparatus is obtained to determine whether the first sports characteristic data matches preset sports characteristic data corresponding to a swimming mode. When two determining results are both “yes”, it can be determined that the intelligent device meets a setting condition of the swimming mode.

Abstract: A wearable apparatus recognizes an exercise move of a user based on motion information of the user, determines torque reference information based on a result of the recognizing, determines torque command information based on the determined torque reference information and a predetermined factor, and outputs a torque based on the determined torque command information.

Abstract: High-resolution, selective, and self-optimizing haptic and electrotactile display and methods of use. In an embodiment of a feedback system referenced herein, the feedback system includes a prosthesis configured to be worn by an individual, including at least one prosthesis sensor configured to detect a state or condition in an environment of the at least one prosthesis sensor, and at least one actuator in communication with the at least one prosthesis sensor and configured to receive data relating to the detected state or condition and to stimulate a nerve of the individual; a neural sensor positioned upon or within the individual, configured to detect a neural response relating to the stimulation of the nerve by the at least one actuator; and a processor in communication with at least one of the at least one prosthesis sensor, at least one of the at least one actuator, and the neural sensor.

Abstract: Biometric robustness systems and methods are described for detecting biometric signals of a user and adaptively adjusting signal output to control biometric devices(s). In various aspects, the biometrics robustness systems and methods comprise determining a biometric signal pattern of the user based on analysis of biometric signals of the user. The biometric signals of the user are detected by one or more biometric sensors. The biometrics robustness systems and methods may comprise generating, by a processor communicatively coupled to the one or more biometric sensors, an adjusted control output based on an anomaly as detected within the biometric signal pattern. The biometrics robustness systems and methods may comprise providing, by the processor, an adjusted control output to a biometric device to control operation of the biometric device.

Abstract: Generator systems and methods are provided for generating a neuromuscular-to-motion decoder from a healthy limb. The generator system is configured to receive neuromuscular signals from neuromuscular sensors associated to predefined muscle/nerve locations of at least one pair of agonist and antagonist muscles/nerves of the healthy limb, obtained during performance by the person of a predefined exercise (defined by predefined exercise data) with the healthy limb; to receive motion signals from motion sensors associated to predefined positions of the healthy limb, during performance by the person of the predefined exercise with the healthy limb; and to generate the neuromuscular-to-motion decoder by mapping the neuromuscular signals to the motion signals over time using a mapping method. Rehabilitation systems are also provided for rehabilitating a paretic limb by using a neuromuscular-to-motion decoder produced by a generator system.

Abstract: Various aspects of this disclosure relate to a prosthetic cover comprising an array of sensors, which transmit signals to an array of electrodes in a liner that fits over a residual limb of an amputee. Different interactions with the prosthetic cover cause different activation of the electrodes to transmit electrical current through different areas of the residual limb and modulate neurons differently within the residual limb.

Abstract: The subject of the invention is a method for calibrating a direct neural interface. The calibration is performed by considering a so-called input calibration tensor, formed on the basis of measured electrophysiological signals and so-called output calibration tensor, formed on the basis of measured output signals. The method comprises the application of a least squares multivariate regression implemented by considering a covariance tensor and a cross-covariance tensor which are established on the basis of input and output calibration tensors corresponding to a current calibration period. The method takes into account covariance and cross-covariance tensors established during an earlier calibration period prior to the current calibration period, these tensors being weighted by a forget factor.

Abstract: Mechanisms including: receiving a first set of observed spike counts (FSoOSCs) for the spiking cells; determining a set of probabilities (SoPs) by: retrieving the SoPs from stored information (SI); or calculating the SopS based on the SI, wherein the SI regards possible biological states (BSs) of a subject, wherein each of the possible BSs belongs to at least one of a plurality of time sequences (PoTSs) of BSs, wherein each of the PoTSs of BSs corresponds to a possible action of the subject, and wherein each probability in the set of probabilities indicates a likelihood of observing a possible spike count for one of the plurality of spiking cells; identifying using a hardware processor a first identified BS of the subject from the possible BSs based on the FSoOSCs and the set of probabilities; and determining an action to be performed based on the first identified BS.

Abstract: A finger motion rail is provided for a therapy device for carrying out passive and/or actively-assisted motion of the fingers and thumb of the hand. The therapy device has an upper shell, to which a kinematic motion mechanism of the finger motion rail for each selected finger is connected, each mechanism has a motion drive that is in control engagement with a control system. The kinematic motion mechanism of the finger motion rail, which mechanism has a carriage that moves in a rail provided around the metacarpophalangeal joint and a pivoting lever, is located at the side of each finger for the passive and/or actively-assisted motion of the selected fingers. This allows an individual finger motion rail with the kinematic motion mechanism to be provided for each selected finger, the rail being located at the side of each finger, thus permitting each selected finger to bend and/or stretch without constraint.

Abstract: The present disclosure is directed to an autonomous exoskeleton device that includes one or more actuators, one or more controllers, one or more sensors with one or more unidirectional transmissions. The control system includes an exoskeleton member configured and arranged on a limb of a user; a control device, a control device connected to the at least one exoskeleton member; an actuator mechanically connected to the limb of the user; and a sensor configured and arranged to sense a global angle of the exoskeleton device relative to the ground. The control device is configured and arranged to use the global angle to control the exoskeleton member.

Abstract: Data is received that is generated by at least one sensor forming part of a surgical instrument. The sensor(s) on the surgical instrument can characterize use of the surgical instrument in relation to a patient. A force profile segmentation model can construct a force profile using the received data. The force profile includes a plurality of force patterns. The force profile segmentation model includes at least one first machine learning trained using historical surgical instrument usage data. In addition, a plurality of features are extracted from the received data. Thereafter, one or more attributes characterizing use of the surgical instrument are determined by a force profile pattern recognition model using the constructed force profile and the extracted features. The force profile pattern recognition model includes at least one second machine learning model. Data characterizing the determination can be provided (e.g., displayed to a surgeon, etc.).

Abstract: A method for controlling a damping modification in an artificial knee joint of an orthosis, an exoskeleton, or a prosthesis. The artificial knee joint has an upper part pivotally connected to a lower part A resistance unit is secured between the upper part and the lower part in order to provide a resistance against a flexion or extension. The resistance unit is paired with an adjustment device to modify the resistance when a sensor signal of a control unit paired with the adjustment device activates the adjustment device. The flexion resistance is reduced for the swing phase. A curve of at least one load characteristic is detected when walking or standing; a maximum of the load characteristic curve when standing is ascertained; and the flexion damping is reduced to a swing-phase damping level during the standing phase when a threshold of the load characteristic below a maximum is reached.

Abstract: Methods and systems to interface between physiological devices and a prosthetic device, including to receive a plurality of types of physiological activity signals from a user, decode a user movement intent from each of the plurality of signals types, and fuse the movement intents into a joint decision to control moveable elements of the prosthetic device.

Abstract: The invention relates to a method for setting up a control, and to a control for a technical orthopedic device, and a technical orthopedic device as such. Actuations of the technical orthopedic device (1) are provided by means of an output device (2, 3), biomettric signals are received by sensors (12), and said signals are associated with the respective actuations.

Abstract: A load carrying device to be worn on a user's limb is described. The load carrying device has a distal cuff, a proximal cuff, and several elongated compression members. The ends of the elongated compression members removably attach to the distal and proximal cuffs, and are designed to compress the limb's soft tissue and stabilize the bone. The alternative of compression and relief zones captures lost motion between the limb and the device when the device is worn on the user's limb. The load carrying device can be used in conjunction with a load distribution system.

Abstract: A prosthetic device control apparatus includes at least one sensor worn by a user. The sensor(s) determines a user's movement. A control module is in communication with the sensor(s). The control module communicates movement information to a prosthetic. A method for controlling a prosthetic device includes sensing a user's movement, communicating the movement through a control module to a prosthetic device; and controlling the movement of a prosthetic device.

Abstract: A prosthetic device. The prosthetic device may include a flexure cut and/or a sensor to detect movement in accordance with a degree of movement. In an embodiment, the sensor may be disposed within the flexure cut. Other embodiments include at least one wire configured to connect a sensor located in a distal portion to a proximal portion, while annularly traversing a joint.

Abstract: A limb support device includes a variable stiffness mechanism. The limb support device can be an orthotic or prosthetic device. The variable stiffness mechanism can include, for example, a rate-sensitive or speed-dependent material or a damping mechanism. The variable stiffness mechanism causes the limb support device to exhibit different properties when the user of the limb support device is walking at high or fast walking speeds compared to low or slow walking speeds. The limb support device can exhibit high damping and energy absorption, and therefore stability, at slow speeds, and high energy return at faster speeds.

Abstract: Disclosed is a flexible and stretchable electronic device based on a biocompatible film. The biocompatible film is utilized as an encapsulation layer and a substrate layer of the device; a bonding layer is provided between the encapsulation layer and a functional layer; and an adhesion layer is arranged under the substrate layer. The functional layer employs a flexible and stretchable structure. Solution-based transfer printing technology is primarily used during the preparation of such a device to achieve integration of the functional layer and the flexible substrate layer. This device retains and even enhances the flexibility and stretchability structurally. Meanwhile, the biocompatibility properties thereof, such as being waterproof and air permeable, hypoallergenic, etc., allow it to work normally on the human body surface for more than 24 hours without foreign body sensation and discomfort, and thus, skin maceration, redness or other allergic reactions due to poor biocompatibility can be avoided.

Abstract: Systems and methods are described for enhancing sensorimotor learning using EEG decoding and closed-loop neuromodulation. A plurality of EEG electrodes and a plurality of stimulation electrodes are coupled to a learning subject. An output device of an adaptive learning system provides a sequence of instructions to the learning subject for performing a sensorimotor task in accordance with a defined learning schedule. The defined learning schedule is adjusted based on a monitored EEG signal while performing the task and, in some implementations, a neuromodulation stimulus signal is applied to the learning subject that is designed to cause the monitored EEG signal of the learning subject to approach at least one target EEG signal parameter.

Abstract: The present invention relates to a joint assembly (1) for a robot (100), comprising a housing (26) connected with an output part (8), the housing comprising a housing wall (26A), a strain wave gearing system (90) comprising a wave generator (7), a flexspline (13), and a circular spline (36) connected to the output part (8), wherein the wave generator (7) is rotated by a rotor shaft (3), the rotor shaft being driven by an electric motor (140) comprising a stator (15) and a rotor magnet (16), the rotor magnet (16) being affixed to the rotor shaft (3), and wherein the joint assembly (1) further comprises a rotor brake (30) configured to stop/prevent relative movement between the rotor shaft (3) and the flexspline (13), and sensors arranged to measure the position of the housing (26) in relation to the output part (8).

Abstract: A system for regeneration of at least one severed nerve conduit, configured for use in a living human or animal body. The at least one nerve conduit comprises at least one motor nerve conduction part and at least one sensory nerve conduction part. The system comprises: a motion device, configured for moving a body part of the human or animal body, for containing at least one skeletal muscle that is otherwise innervatable with the at least one severed nerve conduit, a signal generator, which generates a first electrical stimulation signal and a second electrical stimulation signal, including an evaluation and control, which controls the motion device and the signal generator to be coordinated with one another.

Abstract: At least partial function of a human limb is restored by surgically removing at least a portion of an injured or diseased human limb from a surgical site of an individual and transplanting a selected muscle into the remaining biological body of the individual, followed by contacting the transplanted selected muscle, or an associated nerve, with an electrode, to thereby control a device, such as a prosthetic limb, linked to the electrode. Simulating proprioceptive sensory feedback from a device includes mechanically linking at least one pair of agonist and antagonist muscles, wherein a nerve innervates each muscle, and supporting each pair with a support, whereby contraction of the agonist muscle of each pair will cause extension of the paired antagonist muscle. An electrode is implanted in a muscle of each pair and electrically connected to a motor controller of the device, thereby simulating proprioceptive sensory feedback from the device.

Abstract: Methods of bionic control of a device include passing an alternating current through a muscle to cause the muscle to contract, recording an electrophysiological signal from the contracting muscle, processing the electrophysiological signal to determine a measurement of electrical impedance, forwarding the measurement of electrical impedance to a controller, and controlling the device with a control action. A change of electrical impedance during muscle contraction is used as a basis for the control action.

Abstract: In one embodiment, an orthotic gripper includes a flex sensor configured to detect flexion and extension of a wrist of a user of the gripper, and a gripping mechanism comprising a thumb link configured to attach to a thumb of the user and a finger link pivotally connected to the thumb link and configured to attach to one or more fingers of the user, the gripping mechanism being configured to move the finger link toward the thumb link when the flex sensor detects flexion of the wrist and to move the finger link away from the thumb link when the flex sensor detects extension of the wrist.

Abstract: A system and method for transferring proprioceptive and/or sensory information from a prosthesis or from a sensing system disposed at a body part having poor or no sensation, to the skin of a user wearing the prosthesis or the sensing system, includes: a device for providing electrotactile feedback in the form of an electrical stimulation pattern with coding scheme for at least one input signal; and at least one multi-pad electrode configured to be positioned on a part of the body of the user. The multi-pad electrode includes a plurality of pads configured to be selectively and discretely activated/deactivated according to the predefined stimulation pattern.

Abstract: Provided is a robotic hand which includes a palm, a plurality of phalanges adapted to reproduce a plurality of fingers, and an actuating mechanism. The actuating mechanism may include a first pulley located at each hinge and bound to the first element, second pulleys located at each of the hinges and bound to the second element, a single cable running in all of the pulleys and a motor adapted to act on the cable by controlling the rotation of the phalanges.

Abstract: Systems and methods for a running controller for a lower limb device including at least a powered knee joint are provided. The method includes collecting real-time sensor information for the lower limb device and configuring the lower limb device to a first state in a finite state model for an activity mode including the running mode. The method further includes, based on the sensor information, transitioning the lower limb device from a current state to a subsequent state in the finite state model for the detected mode when a pre-defined criteria for transitioning to the subsequent state is met, and repeating the transitioning until the activity mode changes. In the system and method, the finite state model includes at least one stance state and at least one swing state, where the at least one stance state includes at least one absorption state and at least one propulsion state.

Abstract: A powered leg prosthesis including a powered knee joint with a knee joint and a knee motor unit for delivering power to the knee joint, a powered ankle joint coupled to the knee joint including an ankle joint and an ankle motor unit to deliver power to the ankle joint, a prosthetic foot coupled to the ankle joint, a plurality of sensors for measuring a real-time input, and controller for controlling movement of the prosthesis based on the real-time input. In the powered leg prosthesis, at least one of the knee motor unit or the ankle motor unit includes at least one drive stage, where the drive stage includes a rotary element for generating torque and at least one looped element affixed around the rotary element and configured for transmitting the torque to another rotary element coupled to a joint to be actuated.

Abstract: Systems and methods are provided for discerning the intent of a device wearer primarily based on movements of the eyes. The system can be included within unobtrusive headwear that performs eye tracking and controls screen display. The system can also utilize remote eye tracking camera(s), remote displays and/or other ancillary inputs. Screen layout is optimized to facilitate the formation and reliable detection of rapid eye signals. The detection of eye signals is based on tracking physiological movements of the eye that are under voluntary control by the device wearer. The detection of eye signals results in actions that are compatible with wearable computing and a wide range of display devices.

Abstract: Methods of operating a prosthesis (10a) having at least one moveable component (12) and an electronic control device (18) are provided, where the at least one moveable component (12) has two or more operating modes (30) and at least one operating parameter (28). The method comprises receiving at least one input control signal (p1,p2,pn) from the wearer of the prosthesis (10a), comparing the at least one input control signal (p1,p2,pn) with an operating profile (26) stored in the electronic control device in order to determine a desired operating mode (30) and operating parameter (28), and instructing the moveable component (12) to move in accordance with the desired operating mode (30) and operating parameter (28).

Abstract: Systems and methods for simultaneous position and impedance control for myoelectric interfaces are disclosed herein. Properties such as control refinement, retention, generalization, and transfer allow users to learn simultaneous and proportional motion simply by interacting with a myoelectric interface, regardless of its initial intuitiveness. The presently disclosed technology expands on these motor learning approaches by implementing a multidirectional impedance controller in this framework. Using sEMG inputs from upper limb muscles, users simultaneously control both the stiffness and set-point of 3-DOFs. Users stabilize control in the presence of external forces in an analogous way to natural limb movements. Despite having no haptic feedback, subjects learn to tune the stiffness of the object being controlled to stabilize movement along desired paths.

Abstract: Methods and systems for assisting hemiplegic and hemiparetic patients are described herein. A wearable gripper system assists a user with one functional hand to independently perform basic tasks. A wearable gripper is located on the forearm above a disabled hand. The user controls the wearable gripper easily and intuitively based on gestures measured by an instrumented wristband device. Movements detected at the functioning wrist and forearm are translated into the motion control commands communicated to the actuators of the wearable gripper. In this manner, the wearable gripper assists the user to manipulate objects in lieu of the disabled hand. In some embodiments, a number of conductive, stretchable string sensors are wrapped around the hand of a user to estimate wrist and hand motion. In some embodiments, a gripper actuator includes two or more fingers, each having a location dependent shape profile and compliance to accommodate different manipulation tasks.

Abstract: A sliding mode biomimetic (BSM) controller for a prosthetic device, such as a prosthetic hand, includes an input classification component that receives electromyogram (EGM) signals from two or more electromyogram (EGM) sensors that are positioned on an amputee's body. The input classification component compares the EGM input signals based on predetermined activation threshold values and identifies an input class to determine the amputee's intended movement of the prosthetic device. A finite state machine utilizes the current position of the prosthetic hand and the identified input class to identify the coordinates of a lookup table to determine the next state or position of the prosthetic device. As a result, the biomimetic controller is able to simultaneously control two or more degrees of freedom (DOFs) or functions of the prosthetic hand using only two EGM input signals.

Abstract: Devices and methods are described that provide improved diagnosis from the processing of physiological data. The methods include use of multiple algorithms and intelligently combing the results of multiple algorithms to provide a single optimized diagnostic result. The algorithms are adaptive and may be customized for particular data sets or for particular patients. Examples are shown with applications to electrocardiogram data, but the methods taught are applicable to many types of physiological data.

Abstract: Systems and methods for controlling a weight bearing member having at least one powered joint are provided. A system includes a velocity reference module for receiving myoelectric control signals from a user during a non-weight bearing mode for the powered joint and generating a velocity reference for the powered joint based on the myoelectric control signals. The system further includes a volitional impedance module for generating a torque control signal for actuating the powered joint based at least on the velocity reference.

Abstract: Systems and methods of operating a lower limb device having at least a powered joint are provided. A method includes configuring the device to a first state in a finite state model for a current activity mode including a stair ascent mode or a stair descent mode. The method also includes, based on real-time sensor information, transitioning the device between different states in the finite state model when pre-defined criteria for transitioning among the different states are met. In the method, the finite state model for stair ascent includes lifting and swing phases, where the lifting phase includes a powered knee extension and a powered ankle push-off. The finite state model for stair descent includes yielding and swing states, where the swing states include providing a powered plantarflexion of the powered ankle joint and the yielding states include providing a resistive and passive plantarflexion of the powered ankle joint.

Abstract: There is provided a motion reproducing system and a motion reproducing apparatus that store human motions and reproduce them. The motion reproducing system includes a data acquiring apparatus acquiring body motion data representing a motion of a subject during the motion, and transmitting the body motion data, a data managing apparatus receiving the body motion data from the data acquiring apparatus, the data managing apparatus including a memory storing the body motion data, and a motion reproducing apparatus receiving the body motion data stored in the memory from the data managing apparatus, and allowing a reproducer to reproduce the motion of the subject using the body motion data, the motion being performed at the time of acquisition of the body motion data.

Abstract: A prosthesis (1) or an orthosis and method of operating the same. The prosthesis or orthosis comprising a moveable component (2), a motor (7) operable to move the component, wherein the motor has at least one operating parameter, the application of which to the motor results in the component having at least one operating condition; and an electronic device (28) operable to: determine at least one operating parameter of the motor and determine at least one instantaneous operating condition of the component from a predetermined operating profile of the motor and component and the determined at least one operating parameter of the motor, the predetermined operating profile of the motor and component being based on one or more operating parameter inputs to the motor and one or more resulting operating condition outputs of the component.

Abstract: Systems and methods are described that relate to the control of a powered lower limb assistive device with one or more joints, where a controller of the assistive device is configured to receive one or more user-generated signals, determine control information using information in the one or more user-generated signals, select one or more joint impedance parameters of the assistive device for adjustment, and, for a mode and state of the assistive device, adjust the selected joint impedance parameters as a function of the control information. Additionally, systems and methods are described that relate to the control of such an assistive device, where a controller of the assistive device is configured to receive one or more user-generated signals containing information about the ankle angle of the assistive device, and adjust the stiffness of the ankle joint of the assistive device as a function of the ankle angle.

Abstract: A control system for control of a prosthetic device having a plurality of actuators receives an orientation signal indicative of a desired movement. The control system evaluates whether the prosthetic device may move as desired with a current angle of rotation and commands at least one actuator to move the prosthetic device as desired by maintaining the current angle of rotation or by adjusting the angle of rotation if the prosthetic device cannot move as desired with the current angle. The control system may alternate between commanding a first subset of actuators and a second subset of actuators each time the orientation signal is indicative of a neutral position. The control system may include a position sensor and a compliance sensor and may command at least one actuator based on a combination of positional control using the position sensor and force control using the compliance sensor.

Abstract: Embodiments of the invention provide for a prosthesis guided training system that includes a plurality of sensors for detecting electromyographic activity. A computing device, which can include a processor and memory, can extract data from the electromyographic activity. A real-time pattern recognition control algorithm and an autoconfiguring pattern recognition training algorithm can be stored in the memory. The computing device can determine movement of a prosthesis based on the execution of the real-time pattern recognition control algorithm. The computing device can also alter operational parameters of the real-time pattern recognition control algorithm based on execution of the autoconfiguring pattern recognition training algorithm.

Abstract: The present disclosure provides methods and systems for receiving, with processing circuitry of an implant device, an electrical signal from a free tissue graft attached to a portion of a nerve (e.g., a nerve branch or fascicle) through an electrical conductor in electrical communication with the free tissue graft (e.g., muscle graft), the nerve having reinnervated the free tissue graft. The electrical signal from the free tissue graft has a voltage amplitude of greater than or equal to about 150 microvolts. The processing circuitry stores signal data corresponding to the electrical signal from the free tissue graft in a memory accessible to the processing circuitry.

Abstract: A walking training apparatus 1 includes a leg robot 2 attached to a leg of a walking trainee, a motor 261 configured to rotationally drive a knee joint 22 of the leg robot 2, a control unit 332 configured to control the motor 261 so that the motor 261 rotationally drives the knee joint 22 in a leg-idling period in a gait motion of the walking trainee, a motor torque detection unit 262 configured to detect a motor torque, the motor torque being a torque generated by the motor 261, and a determination unit 333 configured to determine whether or not the walking trainee is in a spasticity state or a rigidity state by using a value of the motor torque detected in the leg-idling period by the motor torque detection unit 262.

Abstract: Electrical feedback is provided to a user who cannot receive full sensation from a body part due to amputation, neuropathy or other condition. A sensor array includes an array of capacitive force-sensing elements operative to sense axial and shear forces applied to that element. Temperature may also be sensed at each force-sensor location. An electrode matrix, adapted for external placement in an area on a user of the sensor array, includes an array of electrodes in physical correspondence to the array of capacitive sensing elements of the sensor array. An electronic controller is configured to receive electrical signals representative of the axial and shear forces applied to the sensor array and drive the electrode matrix with electrical stimulation signals corresponding to the electrical signals received from the sensor array, thereby enabling the user to experience force and/or temperature sensations experienced by the body part through the electrode matrix.

Abstract: The invention relates to a pneumatic, electromyographic exoskeleton. The exoskeleton includes a rigid frame designed to be secured to at least a portion of a user's body, a number of pneumatic actuators, each fixed to opposite sides of a hinge on the rigid frame; a storage tank designed to store compressed air to power the pneumatic actuators; valves coupled to the pneumatic actuators to control activation of the pneumatic actuators; electromyographic (EMG) sensors for sensing EMG signals in skeletal muscles of the user; differential amplifiers for amplifying each EMG signal to generate an amplified EMG signal; and a microprocessor programmed to receive the amplified EMG signals and to output activation signals for the pneumatic actuators.

Abstract: Certain embodiments of the invention relate to increasing the functionality of a transfemoral prosthetic device. In one embodiment, the transfemoral prosthetic device is configured such that the prosthetic knee maintains a load consistent with a healthy knee walking on level ground, while the prosthetic ankle adjusts for the incline or decline. In certain embodiments, adjustments, such as a toe lift function, are automatically performed after about three strides of the transfemoral prosthetic device user and/or when each of the strides has a stride speed of at least about 0.55 meters/second.

Abstract: A jointed mechanical device is provided. The device includes at least one element having a fixed end and a deflectable end. The device also includes at least one actuating structure having a first end coupled to at least the deflectable end of the element, where the actuating structure includes at least one elastic element in series with at least one non-elastic element. The device further includes at least one force actuator configured to apply an actuator force to a second end of the actuating structure. Additionally, the device includes a control system for adjusting an operation of the force actuator based at least one actuation input, an amount of the actuator force, and an amount of displacement generated by the force actuator.

Abstract: Described is a system for automatically tuning the sensor feedback of a prosthetic device. The system comprises an electrode or plurality of electrodes in contact with a peripheral nerve of a user wearing a prosthetic device for administering the sensory feedback and an additional stimulus that evokes a muscle response in the user. A sensor is used to measure the muscle response. One or more processors generate a current stimulation pattern that encodes a posture of the prosthetic device. The current stimulation pattern is used in a spinal cord simulation to produce predicted muscle activations. Using the muscle response and the predicted muscle activations, an adjusted stimulation pattern is determined.

Abstract: A mechanical finger comprises a plurality of phalanges coupled to a single actuator using a kinematic linkage and a differential linkage arranged in parallel. The mechanical finger is capable of exhibiting consistent predictable motion when moving in free space or when contacting an object at the fingertip, and of curling in order to conform to an object when the contact is at other locations on the finger.