Systems and methods for actuating a prosthetic ankle

摘要

Systems and methods for sensing actuating a prosthetic ankle are disclosed. In one example, the system, such as an actuated prosthetic ankle joint, detects that the user has moved to a relaxed position, such as sitting, reclining, crawling, or leaning. In response, the actuated prosthetic ankle joint actively adjusts the angle between the members of the ankle to a relaxed state. The system may further detect when the user has moved to exit the relaxed position, and may actively adjust the angle between the members of the ankle to an exit state.

主权项

1. A prosthetic system comprising:
a prosthetic ankle joint comprising:
a foot unit; anda lower limb member operatively coupled to the foot unit and movable in relation thereto by a pivoting motion; an actuator configured to power the pivoting motion; a sensor module configured to measure variables relating to the prosthetic system; and a controller configured to process data received from the sensor module and control adjustments of the angle between the foot unit and the lower limb member according to a plurality of predefined states, wherein the control system is configured to determine adjustments during a transition from a first state to a second state, wherein when a user of the prosthetic system is in a relaxed position the controller is configured to cause the actuator to power a pivoting motion causing the prosthetic system to plantarflex, and wherein the controller is configured to actively power the pivoting motion to provide a decrease in angle between the foot unit and the lower limb member such that the foot unit becomes more dorsiflexed relative to the lower limb member, while exiting a relaxed position, based on receiving data from the sensor module indicative of a user of the prosthetic system exiting a relaxed position.