Walking controller for powered ankle prostheses
US10016290B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Sep 17, 2013 |
| Grant date | Jul 10, 2018 |
| Priority date | — |
| Expiry date | Sep 17, 2033 |
Classification
- Technology area (CPC A)Human Necessities
- CPC primaryA61F2002/7645
- WIPO fieldMedical technology
- WIPO sectorInstruments
Abstract
Described herein are systems and methods for a powered ankle/foot prosthesis and controller that utilizes piecewise emulated passive impedances to provide for walking at various cadences and on various slopes and for ground slope adaptive standing. A powered prosthesis using these systems and methods is capable of emulating any physical behavior provided by the healthy joint, and additionally describes a control system that utilizes the sensing and actuation system on the prosthesis to provide appropriate ankle joint impedances. Further, the control system incorporates a finite-state-based structure, and within each state, emulates the behavior of the healthy joint with strictly passive impedance functions.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.