Prosthetic, orthotic or exoskeleton device

A method applied to a prosthesis, orthosis or exoskeleton apparatus comprising a proximal member, a distal member, a joint connecting the proximal and distal members, the joint adapted to permit flexion and extension between the proximal and distal members, a motorized actuator configured to apply a joint torque to the joint, a walking speed sensor configured to output a measurement from which a walking speed is derived, and a controller, the method comprising:

• accessing a first torque response configured to be applied at a first walking speed;
• accessing a second torque response configured to be applied at a second walking speed, wherein the first walking speed is slower relative to the second walking speed;
• deriving the walking speed from the measurement of the walking speed sensor;
• blending the first torque response and the second torque response based on the derived walking speed to determine a blended torque response;
• and
• applying the blended torque response with the motorized actuator.

A non-transitory computer-readable storage medium, the computer-readable storage medium including instructions that when executed by a controller, cause the controller to modulate a torque applied to a prosthesis, orthosis or exoskeleton apparatus comprising a proximal member, a distal member, a joint connecting the proximal and distal members, the joint adapted to permit flexion and extension between the proximal and distal members, a motorized actuator configured to apply a joint torque to the joint, and a walking speed sensor configured to output a measurement from which a walking speed is derived, the instructions comprising instructions to:

• access a first torque response configured to be applied at a first walking speed;
• access a second torque response configured to be applied at a second walking speed wherein the first walking speed is slower relative to the second walking speed;
• derive the walking speed from the measurement of the walking speed sensor;
• blend the first torque response and the second torque response based on the derived walking speed to determine a blended torque response;
• and
• apply the blended torque response with the motorized actuator.