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AssigneeOtto Bock Healthcare Products GmbH
InventorsPhilipp Kampas, Martin Seyr, Roland Pawlik, Sven Kaltenborn
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The invention relates to a device and method for controlling an artificial orthotic or prosthetic joint of a lower extremity, comprising a resistance unit with which at least one actuator is associated, via which the bending and/or stretching resistance is varied depending on sensor data. During the use of the joint, status information is provided via sensors. According to the invention, the resistance is increased in the standing phase or while standing from a starting value depending on the ground reaction force up to a locking point of the joint.
A method for controlling an orthotic or prosthetic joint of a lower extremity with a resistance device, which is assigned at least one actuator by way of which the bending and/or stretching resistance is changed in dependence on sensor data, information pertaining to the state being provided by way of sensors during the use of the joint, characterized in that, in the standing phase or when standing, the resistance is increased from an initial value up until a locking of the joint in dependence on the measured ground reaction force.
The method as claimed in one of the preceding claims, characterized in that the resistance is increased in dependence on a joint angle and/or inertial angle of a joint component.
The method as claimed in one of the preceding claims, characterized in that the resistance is increased or locked in dependence on the distance of the ground reaction force from a reference point on a connection part on the joint or in dependence on a torque about the reference point.
The method as claimed in one of the preceding claims, characterized in that, after increasing, the resistance is reduced in dependence on an inertial angle, a changing of the inertial angle and/or the inertial angle velocity of a connection part of the joint.
The method as claimed in one of the preceding claims, characterized in that, after the increasing, the resistance is reduced in dependence on a measured joint angle and/or a measured joint angle velocity.
The method as claimed in one of the preceding claims, characterized in that, after the increasing, the resistance is reduced again to the initial value in dependence on a distance and/or the changing of the distance of the ground reaction force from a reference point on a connection part on the joint.
The method as claimed in one of the preceding claims, characterized in that the criteria for increasing and/or reducing the resistance are combined with one another directly in a characteristic diagram.
The method as claimed in one of the preceding claims, characterized in that there are a number of control algorithms, which operate on the basis of measured values of different devices for detecting angles and forces, so that, in the case of failure of one device for detecting angles and forces, the other measured values are used for controlling the changing of the stretching and/or bending resistance.
A device for carrying out the method as claimed in one of the preceding claims, with a settable resistance device, which is arranged between two components of an artificial orthotic or prosthetic joint that are arranged one against the other in a jointed manner, with a control device and sensors that detect information pertaining to the state of the device, characterized in that a setting device is provided and in that a loading-dependent change in resistance can be activated and/or can be deactivated by way of the setting device.
Dependencies are inferred from the claim text.