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US 12,290,455 B2Granted
Semi-active ankle and foot prosthesis powered by a lockable series-elastic actuator
AssigneeUniversity of Utah Research Foundation
InventorsTommaso Lenzi, Lukas R. Gabert, Connelly Ray Buchanan, Samuel Westgard, Minh Tran
Life of this patent
Estimating the term…
Abstract
A semi-powered foot and ankle prosthesis (100) has a foot member (128) coupled to the ankle frame (112) and movable with respect to the ankle frame (112). A linear actuator (144) is coupled to and between the ankle frame (112) and the foot member (128) to move the foot member (128) with respect to the ankle frame (112). The linear actuator (144) has a drive motor (150). A locking mechanism (104) selectively engages the drive motor (150) to selectively lock movement of the drive motor (150) to resist a force on the foot member (128) from backdriving the linear actuator (144).
Claims27
A semi-powered foot and ankle prosthesis, comprising:
- an ankle frame configured to be coupled to a connector and the ankle frame having a first joint;
- a foot member coupled to the ankle frame and movable with respect to the ankle frame, the foot member comprising a toe frame spaced-apart from and movable with respect to the ankle frame, and the toe frame having a second joint;
- a linear actuator coupled to and between the ankle frame and the foot member, and coupled to and between the first and second joints, and configured to move the foot member with respect to the ankle frame, and the linear actuator having a drive motor;
- a locking mechanism selectively engaging the drive motor and configured to selectively lock movement of the drive motor to resist a force on the foot member from backdriving the linear actuator;
- a foot shell pivotally coupled to and between an ankle joint of the ankle frame and a toe joint of the toe frame, the foot shell forming a rigid link between the ankle joint and the toe joint, the foot shell having a hollow therein;
- and
- at least one of:
- the linear actuator and the locking mechanism being at least partially located in the hollow of the foot shell;
- and
- the drive motor being at least partially located in the hollow of the foot shell.
7 more elements
A semi-powered foot and ankle prosthesis, comprising:
- an ankle frame configured to be coupled to a connector;
- a foot member coupled to the ankle frame and movable with respect to the frame;
- a linear actuator coupled to and between the ankle frame and the foot member, and configured to move the foot member with respect to the ankle frame, and the linear actuator having a drive motor;
- and
- a locking mechanism selectively engaging the drive motor and configured to selectively lock movement of the drive motor to resist a force on the foot member from backdriving the linear actuator, the locking mechanism comprising:
- a rotor coupled to a drive shaft of the motor;
- at least one brake pad positioned proximate the rotor and selectively abutting the rotor;
- a cam engaging the at least one brake pad and having a lobe with a greater radial length configured to press the brake pad towards the rotor, and a heel with a lesser radial length configured to release the brake pad from the rotor;
- and
- a brake motor coupled to and selectively turning the cam.
7 more elements
A semi-powered foot and ankle prosthesis, comprising:
- an ankle frame configured to be coupled to a connector;
- a foot shell pivotally coupled to the ankle frame;
- a toe frame pivotally coupled to the foot shell opposite the ankle frame;
- a spring coupled between the ankle frame and the toe frame;
- a prismatic joint coupled between the ankle frame and the toe frame;
- the prismatic joint and the spring being coupled in series;
- the prismatic joint comprising a nut coupled to the spring and a screw extending between the ankle frame and the nut;
- a drive motor coupled to the screw and configured to rotate the screw relative to the nut;
- a locking mechanism coupled to the drive motor and configured to selectively lock movement of the drive motor to resist a force on the foot and ankle prosthesis from backdriving the linear actuator, the locking mechanism comprising:
- a rotor rotationally coupled to the screw and an output of the drive motor;
- a brake pad proximate the rotor and selectively engagable with the rotor to resist rotation of the rotor and thus the screw;
- a cam engaging a piston and having a lobe with a greater radial length configured to press the brake pad towards the rotor, and a heel with a lesser radial length configured to release the brake pad from the rotor;
- and
- a brake motor coupled to and selectively turning the cam.
11 more elements
A semi-powered foot and ankle prosthesis, comprising:
- an ankle frame configured to be coupled to a connector;
- a foot member coupled to the ankle frame and movable with respect to the ankle frame;
- a linear actuator coupled to and between the ankle frame and the foot member, and configured to move the foot member with respect to the ankle frame, and the linear actuator having a drive motor;
- and
- a locking mechanism selectively engaging the drive motor and configured to selectively lock movement of the drive motor to resist a force on the foot member from backdriving the linear actuator, wherein the locking mechanism further comprises:
- a rotor coupled to a drive shaft of the motor;
- and
- at least one brake pad positioned proximate the rotor and selectively abutting the rotor.
5 more elements
Dependencies are inferred from the claim text.