Methods, apparatuses and systems for amputee gait capacity assessment

A device for assessing gait capacity of lower leg amputees, comprising:

• a platform supporting a mounting for rigidly fixing the platform to a leg of a user;
• a toe portion, rotatable about a pivot point configured to simulate an ankle of the user, the toe portion representing a forefoot of the user;
• a sensor configured to measure an angle of rotation of the toe portion about the pivot point;
• a heel portion attached by a first resilient member to the platform;
• a second resilient member attached at a first end to the toe portion and at a second end to a linkage, the second end being opposite the first end;
• a motor, attached to the linkage, the motor configured to provide tension to the second resilient member;
• a tension sensor configured to collect tension data regarding tension applied to the second resilient member by the linkage and send the tension data to a controller;
• and
• a spring member, attached at one end to said toe portion and at an opposite end to the platform, the spring member configured to control rotation of the toe portion when the tension applied by the motor is released;
• wherein the controller is configured to control an angular stiffness of the pivot point to at least one reference value.

A device for assessing gait capacity of lower leg amputees, comprising:

• a platform supporting a mounting for rigidly fixing the device to a leg of a user;
• a lateral toe portion, rotatable about a pivot point, the pivot point simulating an ankle of the user;
• the lateral toe portion having a first end for contacting a walking surface and a second end extending past the pivot point;
• a lateral sensor, for sensing an angle of rotation of the lateral toe portion about the pivot point;
• a lateral linkage, attached to the second end of the lateral toe portion;
• a lateral dorsiflexion spring, attached at one end near the first end of the lateral toe portion and at an opposite end to the platform;
• a medial toe portion, rotatable about the pivot point, the medial toe portion having a first end for contacting a walking surface and a second end extending past the pivot point;
• a medial sensor, for sensing the angle of rotation of the medial toe portion about the pivot point;
• a medial linkage, attached to the second end of the medial toe portion;
• a medial dorsiflexion spring, attached at one end near the first end of the medial toe portion and at an opposite end to the platform;
• a heel portion, attached via a resilient member, to the platform;
• and
• one or more motors, attached to the lateral linkage for applying tension to the second end of the lateral toe portion and attached to the medial linkage for applying tension to the second end of the medial toe portion.

A device for assessing gait capacity of a user, comprising:

• a platform supporting a mounting for rigidly fixing the platform to a leg of a user;
• a plurality of pivoting portions being able to pivot with respect to the platform to simulate a plurality of degrees of freedom of movement of a foot with respect to the leg;
• a plurality of sensors, each sensor of the plurality of sensors being associated with a corresponding one of the plurality pivoting portions, each sensor being configured to sense a range of motion of the corresponding pivoting portion;
• a plurality of linkages, each of the plurality of linkages being attached at a first end to a corresponding one of the plurality of pivoting portions;
• a plurality of motors, each motor being attached to a second end of a linkage of the plurality of linkages for applying tension to a respective pivoting portion to which a respective linkage is attached, configured to cause the respective pivoting portion to pivot through at least a portion of a range of motion of the respective pivoting portion in one direction;
• and
• one or more springs, each of the springs being attached at a first end to one of the plurality of pivoting portions and at a second end to the platform, each of the springs configured to apply tension to its corresponding pivoting portion in a direction opposite the corresponding linkage.

A system for assessing gait capacity of lower leg amputees, comprising:

• an end effector shaped to receive a limb of an amputee and to attach to the limb of the amputee, the end effector having a lower leg portion that includes a foot portion, wherein the lower leg portion is rotatable about a leg joint;
• a motor that is located off-board relative to the end-effector;
• a cable, attached to the motor and linked to the lower leg portion, for tensioning the lower leg portion;
• a controller, for controlling the motor;
• and
• one or more end effector sensors, mounted on the end effector, the one or more end effector sensors configured to send data regarding one or more operation parameters of the end effector to the controller;
• wherein the controller is configured to control an angular stiffness of the leg joint to at least one reference value,
• wherein the controller includes a plurality of models of different prostheses having different hardware configurations and is configured to simulate the operation of each prosthesis of the different prostheses via control of the motor.

A system for assessing gait capacity of lower leg amputees, comprising:

• an end effector, attachable to an amputee, the end effector having a toe portion rotatable about a pivot point, the toe portion representing a forefoot of a user;
• a motor that is located off-board relative to the end-effector;
• a cable, attached to the motor and linked to the toe portion, for tensioning the toe portion;
• a controller, for controlling the motor;
• and
• one or more end effector sensors, mounted on the end effector, the one or more end effector sensors configured to send data regarding one or more operation parameters of the end effector to the controller;
• wherein the controller is configured to control an angular stiffness of the pivot point to at least one reference value and
• wherein the controller includes a plurality of models of different prostheses having different hardware configurations and is configured to simulate the operation of each prosthesis of the different prostheses via control of the motor.