Powered leg prosthesis and control methodologies for obtaining near normal gait

摘要

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.

主权项

1. A powered leg prosthesis, comprising:
a powered knee comprising a knee joint and a knee motor unit for delivering power to the knee joint; a powered ankle coupled to the knee joint comprising 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 real-time input; and at least one controller for controlling movement of the prosthesis based on real-time input, wherein at least one of the knee motor unit or the ankle motor unit comprises at least one drive stage, the at least one drive stage comprising a first rotary element for generating torque, a second rotary element, and at least one torque transmission element surrounding the first rotary element and the second rotary element and configured for transmitting the torque between the first rotary element and the second rotary element, wherein the second rotary element is coupled to a joint to be actuated and causes the joint to be actuated via transmission of torque, and wherein at least one of the powered knee or the powered ankle provides net power for gait during all types of walking activities.