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US 10,588,759 B2Granted
Artificial human limbs and joints employing actuators, springs and variable-damper elements
AssigneeMassachusetts Institute of Technology
InventorsHugh M. Herr, Daniel Joseph Paluska, Peter Dilworth
Life of this patent
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Abstract
It is to be understood that the methods and apparatus which have been described above are merely illustrative applications of the principles of the invention. Numerous modifications may be made by those skilled in the art without departing from the true spirit and scope of the invention.
Claims15
A device comprising:
- a mechanical joint;
- an actuator comprising:
- a motor adapted to impart a torque on the joint;
- a spring coupled in series with the motor;
- and
- a variable damper or clutch coupled parallel to the motor, wherein the variable damper or clutch is a motor-parallel variable damper or clutch, coupled parallel to the motor and not to the spring coupled in series with the motor;
- a sensory system comprising at least one sensor selected from the group consisting of a position sensor, a force sensor, and a velocity sensor;
- and
- a processor connected to the actuator and the sensory system for outputting control signals to control operation of the actuator;
- wherein the processor outputs control signals that modulate damping or clutching by the variable damper or clutch to cause the spring coupled in series with the motor to store energy during a portion of a gait cycle and release the stored energy in another portion of the gait cycle.
7 more elements
A device comprising:
- at least one of a mechanical knee joint and a mechanical hip joint;
- an actuator comprising:
- a motor adapted to impart a torque on the joint;
- a spring coupled in series with the motor;
- and
- a variable damper or clutch coupled parallel to the motor, wherein the variable damper or clutch is a motor-parallel variable damper or clutch, coupled parallel to the motor and not to the spring coupled in series with the motor;
- a sensory system comprising at least one sensor selected from the group consisting of a position sensor, a force sensor, and a velocity sensor;
- and
- a processor connected to the actuator and the sensory system for outputting control signals to control operation of the actuator;
- wherein the processor outputs control signals that modulate damping or clutching by the variable damper or clutch to cause the spring coupled in series with the motor to store energy by flexion of the joint in the case of the mechanical knee joint, and extension of the joint in the case of the mechanical hip joint, during a portion of a gait cycle and release the stored energy in another portion of the gait cycle.
7 more elements
Dependencies are inferred from the claim text.