Interface for adjusting the motion of a powered orthotic device through externally applied forces
AssigneeEkso Bionics, Inc.
InventorsKurt Amundson, Nathan Harding, James Stryker
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Abstract
A lower extremity orthosis, including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, is provided with a handle including a force sensor configured to produce a signal representing a force applied to the handle. A controller, which is in communication with the force sensor and the at least one actuator, is configured to modify the motion based on the signal from the force sensor. The system can be particularly employed to enable a physical therapist to have input in controlling and modifying the positions and/or forces prescribed by the lower extremity orthosis during rehabilitation of the person.
Claims21
A lower extremity orthosis comprising:
- at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis, wherein the at least one actuator includes a first actuator configured to move a hip of the person and a second actuator configured to move a knee of the person;
- a handle provided on the orthosis, the handle including a force sensor configured to produce a signal representing a force applied to the handle by an individual other than the person wearing the orthosis;
- and
- a controller in communication with the force sensor and the at least one actuator, wherein the controller is configured to modify the motion based on the signal from the force sensor, said controller being configured to modify the motion through at least one of the first and second actuators based on the signal from the force sensor.
A method of controlling a lower extremity orthosis including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis comprising:
- receiving a signal from a force sensor representing a force applied by an individual other than the person wearing the orthosis to a handle provided on the orthosis;
- and
- modifying the motion based on the signal from the force sensor, wherein modifying the motion comprises controlling at least one of a first actuator to move a hip of the person and a second actuator to move a knee of the person.
A method of controlling a lower extremity orthosis including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis comprising:
- receiving a signal from a force sensor representing a force applied by an individual other than the person wearing the orthosis to a handle provided on the orthosis;
- modifying the motion based on the signal from the force sensor;
- and
- monitoring an orientation of the orthosis and, when the force signal exceeds a threshold, controlling the at least one actuator to counteract gravitational forces based on the orientation of the orthosis.
A method of controlling a lower extremity orthosis including at least one actuator configured to control a motion of at least one joint of a person wearing the orthosis comprising:
- receiving a signal from a force sensor representing a force applied by an individual other than the person wearing the orthosis to a handle provided on the orthosis;
- modifying the motion based on the signal from the force sensor;
- and
- changing a parameter based on the force signal, wherein the parameter is used to generate a trajectory and the trajectory comprises the motion.
Dependencies are inferred from the claim text.