Hybrid terrain-adaptive lower-extremity systems

摘要

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.

主权项

1. A motorized prosthesis, orthosis or exoskeleton apparatus, comprising:
a motor operatively coupled to a lower extremity joint; a power supply for supplying power to the motor; and a controller, connected via motor leads to the motor, for controlling the motor, wherein the controller is configured to short the motor leads upon detection of a loss of power to the motor so as to introduce damping behavior to the lower extremity joint within a range of motion between end-of-travel limits of the lower extremity joint.