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 artificial foot device may include a core, a talus body operatively coupled with the core by a first joint, and a toe operatively coupled with the core by a second joint. The first joint may provides for constrained relative movement between the talus body and the core. The second joint may provide for constrained relative movement between the core and the toe. In some embodiments, the core may include a core assembly including a core body, an Achilles sheave coupled with the core body and a toe bracket coupled with the core body. The toe bracket may be operatively coupled with the toe, and the Achilles sheave may be operatively coupled with the talus body. Constrained relative movement between the talus body and the core may substantially correspond to a coordinated movement of a first natural joint and a second natural joint during ambulation of a natural human foot.

Abstract: The present invention relates to an improved system for use in rehabilitation and/or physical therapy for the treatment of injury or disease to the lower limbs or extremities. The system can enable an amputee to proceed over any inclined or declined surface without overbalancing. The system is mechanically passive in that it does not utilize motors, force generating devices, batteries, or powered sources that may add undesirable weight or mass and that may require recharging. In particular the system is self-adapting to adjust the torque moment depending upon the motion, the extent of inclination, and the surface topography. An additional advantage of the improvement is that the system can be light and may also be simple to manufacture.

Abstract: An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.

Abstract: Biomimetic Hybrid Actuators employed in biologically-inspired musculoskeletal architectures employ an electric motor for supplying positive energy to and storing negative energy from an artificial joint or limb, as well as elastic elements such as springs, and controllable variable damper components, for passively storing and releasing energy and providing adaptive stiffness to accommodate level ground walking as well as movement on stairs and surfaces having different slopes.

Abstract: An ultrasound treatment system in accordance with the present invention comprises an ultrasonic transducer, a handpiece, a probe, a sheath, a clamping member, an operation unit, an operating member, a suction base, and a perfusion base. The ultrasonic transducer generates ultrasonic vibrations. The handpiece has the ultrasonic transducer incorporated therein and serves as an operation unit. The probe is connected to the ultrasonic transducer, and serves as a vibration transmitting member for transmitting ultrasonic vibrations to a distal member realizing a stationary portion that is a treatment portion for treating a living tissue. The sheath serves as a protecting member for shielding the probe. The clamping member is opposed to the distal member at the distal end of the sheath, and realizes a movable portion that is another treatment portion for clamping a living tissue in cooperation with the distal member.

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: An artificial ankle and foot is disclosed. The ankle and foot comprise a tibia, a rear-midfoot, and a forefoot (toes), which contact each other at cam surfaces. Extensible elastic ties interconnect the tibia and rear-midfoot and the rear-midfoot and the forefoot. The ties are attached to the respective components at points or zones of attachment which are movable with respect to each other in accordance with the forces acting on the foot and ankle and the rolling motion of the cam surfaces. The relative movement of the zones of attachment alters the tension in the elastic ties, thereby limiting or increasing mobility in the joints between the tibia and rear-midfoot and between the rear-midfoot and the forefoot.

Abstract: The invented artificial limb includes a shin, ankle and foot. The shin includes a first mount, a second mount positioned below the first mount, and a plurality of rods extending between the first and second mounts, where at least one rod is a load bearing rod. The foot includes an elongate member having a toe section and a heel section. In many applications, the elongate member is arched. The shin is coupled to the foot by an ankle. The ankle allows the shin to rotate around an axis substantially perpendicular to a line between the toe and heel sections of the foot. A rotation controlling element such as an elastic band or a compression spring is connected to both the ankle and to the elongate member to restrict rotation of the shin toward the heel section of the foot. The ankle may also allow the shin to move around a second axis to simulate lateral rotation of the ankle.

Abstract: The invention relates to a prosthetic foot, including a hollow cosmesis (7) with a spring (1) fixed therein, and extending in the longitudinal direction of the foot for operative connection to an adapter (4) for connection to a leg prosthesis (5). The spring (1) is adapted to absorb energy on heel strike and to release this energy on toe-off. In accordance with the invention the spring (1) includes at least one spring element (8) which in the rear portion of the foot has a curved portion in a vertical direction, and a snubbing element in association with the curved spring portion or portions (15).