# US 10,945,863 B2 · Method for controlling an artificial orthotic or prosthetic knee joint > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,945,863 B2 - Document ID: US10945863B2 - Status: Granted - Kind: B2 - Application number: 15/920,176 - Filed: 2018-03-13 - Published: 2018-07-19 - Granted: 2021-03-16 - Earliest claimed: 2013-08-22 - Assignees: Otto Bock Healthcare Products GmbH - Applicants: Otto Bock Healthcare Products GmbH - Inventors: Roland Auberger; Martin Seyr; Clemens Mandl; Dirk Seifert; Hans Dietl - Web page: https://patentgrep.com/patent/US10945863B2 ## CPC - A61F 2/70: electrical - A61F 2/64: Knee joints - A61F 2/68: Operating or control means - A61F 5/0123: {for the knees (A61F5/0106 takes precedence)} - A61F 2/482: {Electrical means} - A61F 2002/5007: {having elastic means different from springs, e.g. including an elastomeric insert} - A61F 2002/503: {for adjusting elasticity, flexibility, spring rate or mechanical tension} - A61F 2002/5033: {for adjusting damping} - A61F 2002/5072: {having spring elements} - A61F 2002/6818: {for braking} - A61F 2002/704: {computer-controlled, e.g. robotic control} - A61F 2002/7625: {for measuring angular position} - A61F 2002/764: {for measuring acceleration} - A61F 2002/7645: {for measuring torque, e.g. hinge or turning moment, moment of force} - A61F 2005/0155: {with actuating means} - A61F 2250/0012: for adjusting elasticity, flexibility, spring rate or mechanical tension - A61F 2250/0096: Markers and sensors for detecting a position or changes of a position of an implant, e.g. RF sensors, ultrasound markers - A61F: FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS (dental prosthetics A61C) ## Abstract A method for controlling an artificial orthotic or prosthetic knee joint, on which a lower-leg component is arranged and with which a resistance device is associated, the bending resistance of which resistance device is changed in dependence on sensor data that are determined by at least one sensor during the use of the orthotic or prosthetic knee joint, wherein a linear acceleration of the lower-leg component is determined, the determined linear acceleration is compared with at least one threshold value, and, if a threshold value of the linear acceleration of the lower-leg component is reached, the bending resistance is changed. ## Claims ### Claim 1 A method for controlling an artificial orthotic or prosthetic knee joint, the orthotic or prosthetic knee joint including a resistance device, the method comprising: providing at least one sensor and a below-knee component positioned on the orthotic or prosthetic knee joint; determining sensor data via the at least one sensor during use of the orthotic or prosthetic knee joint; changing a flexion resistance applied by the resistance device using the sensor data; determining a linear acceleration at a sole level of the below-knee component with the sensor data; comparing the determined linear acceleration with at least one threshold value; reducing flexion resistance if the threshold value is reached, the threshold value being zero acceleration in a horizontal direction. ### Claim 2 (depends on 1) The method as claimed in claim 1, further comprising determining an extended stride position of a prosthesis or orthosis having the artificial prosthetic or orthotic knee joint, and reducing the flexion resistance when the extended stride position is present. ### Claim 3 (depends on 1) The method as claimed in claim 1, further comprising determining an absolute angle of the below-knee component in order to detect a terminal stance phase, and reducing the flexion resistance if a predefined limit value for the absolute angle of the below-knee component is exceeded. ### Claim 4 (depends on 3) The method as claimed in claim 3, further comprising measuring the absolute angle of the below-knee component from an absolute angle of a thigh component and a knee angle or directly with an inertial angle sensor. ### Claim 5 (depends on 1) The method as claimed in claim 1, further comprising determining a knee angle via the at least one sensor, and reducing the flexion resistance if a predefined limit value for the knee angle is not reached. ### Claim 6 (depends on 1) The method as claimed in claim 1, further comprising determining a knee angle velocity, and reducing the flexion resistance only when a limit value is exceeded. ### Claim 7 (depends on 1) The method as claimed in claim 1, further comprising calculating or detecting an angular velocity of the below-knee component via the at least one sensor, and reducing the flexion resistance only when the angular velocity is below a limit value. ### Claim 8 (depends on 1) The method as claimed in claim 1, wherein, after a reduction of the flexion resistance, the method further comprising increasing the flexion resistance again if, within a predefined time interval, no bending of the knee joint took place, or if, within an enclosed knee angle, a limit value for an acceleration is exceeded. ### Claim 9 (depends on 1) The method as claimed in claim 1, wherein the at least one sensor includes an inertial sensor and an acceleration sensor. ### Claim 10 A method to control an artificial orthotic or prosthetic knee joint, the method comprising: providing an inertial sensor or inertial angle sensor, a below-knee component positioned on the orthotic or prosthetic knee joint, and a resistance device, the below-knee component including a sole member; determining sensor data via the inertial sensor or inertial angle sensor during use of the orthotic or prosthetic knee joint; changing a flexion resistance applied by the resistance device using the sensor data; determining a linear acceleration at a level of the sole member with the sensor data; comparing the determined linear acceleration with at least one threshold value; reducing the flexion resistance if the threshold value is reached; using the linear acceleration as a basis for the control. ### Claim 11 (depends on 10) The method as claimed in claim 10, further comprising determining an extended stride position of a prosthesis or orthosis having the artificial prosthetic or orthotic knee joint, and reducing the flexion resistance when the extended stride position is present. ### Claim 12 (depends on 10) The method as claimed in claim 10, further comprising determining an absolute angle of the below-knee component in order to detect a terminal stance phase, and reducing the flexion resistance if a predefined limit value for the absolute angle of the below-knee component is exceeded. ### Claim 13 (depends on 12) The method as claimed in claim 12, further comprising measuring the absolute angle of the below-knee component from an absolute angle of a thigh component and a knee angle or directly with the inertial sensor or inertial angle sensor. ### Claim 14 (depends on 10) The method as claimed in claim 10, further comprising determining a knee angle via at least one sensor, and reducing the flexion resistance if a predefined limit value for the knee angle is not reached. ### Claim 15 (depends on 10) The method as claimed in claim 10, further comprising determining a knee angle velocity, and reducing the flexion resistance only when a limit value is exceeded. ### Claim 16 (depends on 10) The method as claimed in claim 10, further comprising calculating or detecting an angular velocity of the below-knee component via at least one sensor, and reducing the flexion resistance only when the angular velocity is below a limit value. ### Claim 17 (depends on 10) The method as claimed in claim 10, wherein, after a reduction of the flexion resistance, the method further comprising increasing the flexion resistance again if, within a predefined time interval, no bending of the knee joint took place, or if, within an enclosed knee angle, a limit value for an acceleration is exceeded. ### Claim 18 (depends on 10) The method as claimed in claim 10, wherein the threshold value is zero acceleration in a horizontal direction. ### Claim 19 (depends on 10) The method as claimed in claim 10, further comprising an acceleration sensor. ### Claim 20 A method to control an artificial orthotic or prosthetic knee joint, the method comprising: providing at least one sensor, a below-knee component positioned on the orthotic or prosthetic knee joint, and a resistance device, the below-knee component including a sole member, the at least one sensor including an inertial sensor and an acceleration sensor; determining sensor data via the at least one sensor during use of the orthotic or prosthetic knee joint; changing a flexion resistance applied by the resistance device using the sensor data; determining a linear acceleration at a level of the sole member with the sensor data; reducing the flexion resistance if the linear acceleration is zero in a horizontal direction.