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US 12,616,590 B2Granted
Assistive device with hybrid control systems
AssigneeRehabilitation Institute of Chicago
InventorsTom Pickerill, James Lipsey
Life of this patent
Estimating the term…
Abstract
An assistive device is disclosed that includes a plurality of control systems for controlling active and passive tasks. The assistive device accommodates active power generation when needed, but is otherwise configured to switch to passive control for other tasks. The assistive device further includes a continuously variable transmission to optimize movement of the assistive device for a variety of tasks. The assistive device includes a lower limb embodiment defining an artificial knee joint controlled by the plurality of control systems.
Claims19
An assistive device with hybrid control systems, comprising:
- a knee joint;
- one or more actuating components for actuating the knee joint;
- a plurality of sensors positioned along the one or more actuating components that provide feedback data associated with the knee joint;
- a hybrid control system defined along the knee joint and in operable communication with the plurality of sensors, including:
- an active control system that provides net positive energy, and
- a passive control system that varies power dissipated at the knee joint to accommodate net zero or negative energy;
- a variable transmission mechanism defined by the one or more actuating components that adjusts a mechanical transmission ratio to optimize a mechanical power profile of the knee joint for predetermined active and passive tasks;
- a dynamic braking control mechanism configured for varying an amount of braking of the one or more actuating components in real time, comprising:
- a plurality of transistor pairs for braking control, each of the plurality of transistor pairs including an enhancement mode transistor and a depletion mode transistor, the plurality of transistor pairs engageable for unique braking conditions, and
- a pulse wave associated with the passive control system defining a duty cycle adjustable by the processing device to provide responsive control of the amount of braking;
- and
- a processing device in operable communication with the plurality of sensors and the hybrid control system, the processing device configured to determine a state of the knee joint based on the feedback data and engage either or both of the active control system or the passive control system based on the state of the knee joint.
9 more elements
A system for substituting a joint of the human body, comprising:
- an assistive device including a joint, one or more actuating components for engaging the joint, and a plurality of sensors;
- a hybrid control system for controlling the assistive device, including:
- an active control system that provides net positive energy, and
- a passive control system that varies power dissipated at the joint to accommodate net zero or negative energy, and
- a variable transmission mechanism defined by the one or more actuating components that adjusts a mechanical transmission ratio to optimize a mechanical power profile of the one or more actuating components for predetermined active and passive tasks;
- a dynamic braking control mechanism configured for varying an amount of braking of the one or more actuating components in real time, comprising:
- a plurality of transistor pairs for braking control, each of the plurality of transistor pairs including an enhancement mode transistor and a depletion mode transistor, the plurality of transistor pairs engageable for unique braking conditions, and
- a pulse wave associated with the passive control system defining a duty cycle adjustable by the processing device to provide responsive control of the amount of braking;
- and
- a processing device in operable communication with the plurality of sensors and the hybrid control system, the processing device configured to determine a state of the joint and engage either or both of the active control system or the passive control system.
7 more elements
A method of manufacturing an assistive device, comprising:
- forming an assistive device including one or more actuating components and a plurality of sensors;
- and
- forming a hybrid control system that receives data from the plurality of sensors and includes a processing element for controlling the assistive device, including:
- forming an active control system that provides net positive energy,
- forming a passive control system that varies power dissipated at a joint to accommodate net zero or negative energy, and
- forming a dynamic braking control mechanism configured for varying an amount of braking of the one or more actuating components in real time, comprising:
- a plurality of transistor pairs for braking control, each of the plurality of transistor pairs including an enhancement mode transistor and a depletion mode transistor, the plurality of transistor pairs engageable for unique braking conditions, and
- a pulse wave associated with the passive control system defining a duty cycle adjustable by the processing device to provide responsive control of the amount of braking,
- wherein the processing element is configured to determine a state of the joint and engage either or both of the active control system or the passive control system.
6 more elements
Dependencies are inferred from the claim text.